Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
14. dcStep Support for TMC26x or TMC2130
dcStep is an automatic commutation mode for stepper motor drivers. It allows to run the
stepper with its nominal velocity, which is generated by the internal ramp generator for as long
as it can cope with the motor load.
In case the motor becomes overloaded, it slows down to a lower velocity at which the motor
can still drive the load. This avoids that the stepper motor stalls, and enables the stepper motor
to drive heavy loads as fast as possible. Its higher torque - available at lower velocity – in
combination with dynamic torque (from its flywheel mass) compensates mechanical torque
peaks without feedback.
Dedicated dcStep Pins
Pin Name
Pin Type
Remarks
MP1
Input
dcStep input signal.
MP2
Inout as Output
dcStep output signal.
Table 53: Dedicated dcStep Pins
Dedicated dcStep Registers
Register Name
Register Address
Remarks
GENERAL_CONF
0x00
RW
Bit22:21: dc_step_mode.
DC_VEL
0x60
W
Velocity at which dcStep starts (fullstep); 24 bit.
DC_TIME
0x61(7:0)
W
Upper PWM on time limit for internal dcStep calculation.
DC_SG
0x61(15:8)
W
Maximum PWM on time for step loss detection
(multiplied by 16!).
DC_BLKTIME
0x61(31:16)
W
dcStep blank time after fullstep release.
DC_LSPTM
0x62
W
dcStep low speed timer; 32 bit.
Table 54: Dedicated dcStep Registers
Turn page for more information on how dcStep increases the usable motor torque.