Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
139/230
© 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 
Different chopper settings for microstep and fullstep/dcStep mode of
TMC26x stepper driver can be transferred automatically during motion.
Switching between dcStep mode and microstep mode often requires different chopper
settings for TMC26x stepper motor drivers.
It is possible to automatically transfer cover datagrams to TMC26x (see section 10.3.7,
page 99). Thereby, it is possible to switch the chopper settings of TMC26x rapidly,
shortly before reaching the dcStep velocity.
NOTE:
 It is recommended to use this feature because dcStep requires constant off-time
chopper settings; whereas driving with µSteps and a spreadCycle chopper
provides better driving characteristics.
In order to set up a TMC26x dcStep configuration, do as follows:
Action:
 Set the SPI_SWITCH_VEL register 0x1D value a little bit smaller than the DC_VEL
register 0x60 value.
 Fill in the COVER_LOW 0x6C register the chopper settings for spreadCycle chopper
below the DC_VEL.
 Fill in the COVER_HIGH 0x6D register the chopper settings for a constant off-time
chopper during dcStep operation (fullstep mode) .
 Set automatic_cover = 1 ( REFERENCE_CONF register 0x01).
Result:
In case dcStep mode is not activated – because | VACTUAL | < DC_VEL – the
spreadCycle chopper mode is activated, which is best suited for microstep operation.
In case dcStep is activated, the more suited constant off-time chopper mode for
fullstep operation is activated.
 Turn Page for more information on enabling dcStep for TMC2130 stepper motor
driver.
AREAS OF
SPECIAL
CONCERN
!