Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
138/230
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
dcStep requires a minimum operation velocity DC_VEL [pps]. DC_VEL must be set to
the lowest operating velocity at which dcStep provides a reliable detection of motor
operation. In case an overload appears, an internal dcStep signal is generated that
pauses internal step generation. Because dcStep operates the motor in fullstep mode,
a minimum fullstep frequency f
FS
can be assigned.
Therefore, a dcStep low speed timer must be assigned to achieve the following
minimum fullstep frequency:
f
FS
= f
CLK
/ DC_LSPTM .
In order to set up a minimum dcStep velocity, do as follows:
Action:
 Set the low speed timer DC_LSPTM register 0x62, as explained above.
 Set DC_VEL register 0x60 as threshold velocity value [pps] at which dcStep is
activated.
Result:
Whenever the internal velocity | VACTUAL | > DC_VEL , dcStep is activated,
if enabled.
Figure 60: Velocity Profile with Impact through Overload Situation
Turn Page for important information about the chopper settings for microstep and fullstep/dcStep mode.
v(t)
t
dcStep active
DC_VEL
0
VBREAK
VMAX
AMAX
DMAX
DFINAL
ASTART
Nominal ramp profile Ramp profile with torque overload and same target position
overload
Setup: Minimum
dcStep Velocity