Datasheet

TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28) 23
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5.2.2 Ramp Generator Driver Feature Control Register Set
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (MOTOR 1: 0X30…0X36, MOTOR 2: 0X50…0X56)
R/W
Addr
n
Register
Description / bit names
W
0x30
0x50
5
+
5
+
4
IHOLD_IRUN
Bit
IHOLD_IRUN – Driver current control
4..0
IHOLD
Standstill current (0=1/32…31=32/32)
12..8
IRUN
Motor run current (0=1/32…31=32/32)
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
19..16
IHOLDDELAY
Controls the number of clock cycles for motor
power down after a motion as soon as TZEROWAIT
has expired. The smooth transition avoids a motor
jerk upon power down.
0: instant power down
1..15: Delay per current reduction step in multiple
of 2^18 clocks
W
0x31
0x51
23
VCOOLTHRS
This is the lower threshold velocity for switching on smart
energy coolStep. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably.
VHIGH ≥ |VACT| ≥ VCOOLTHRS:
- coolStep is enabled, if configured
(Only bits 22..8 are used for value and for comparison)
W
0x32
0x52
23
VHIGH
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
|VACT| ≥ VHIGH:
- coolStep is disabled (motor runs with normal current
scale)
- If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
- chopSync2 is switched off (SYNC=0)
- If vhighfs is set, the motor operates in fullstep mode.
(Only bits 22..8 are used for value and for comparison)
RW
0x34
0x54
11
SW_MODE
Switch mode configuration
See separate table!
R+C
0x35
0x55
14
RAMP_STAT
Ramp status and switch event status
See separate table!
R
0x36
0x56
32
XLATCH
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
time reference t for velocities: t = 2^24 / f
CLK
time reference ta² for accelerations: ta² = 2^41 / (f
CLK
)²