Datasheet

TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28) 45
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high velocity fullstep
microstep + coolStep microstep + coolStep
microstepping microstepping
motor stand still
motor going to standby
motor in standby motor in standby
v
t
VSTOP
VSTART
0
V1
VMAX
AMAX
DMAX
D
1
A
1
VACTUAL
VCOOLTHRS
VHIGH
current
TZEROWAIT
RMS current
I_HOLD
I_RUN
dI * IHOLDDELAY
coolStep current reduction
Figure 9.3 Ramp generator velocity dependent motor control
Note
Since it is not necessary to differentiate the velocity to the last detail, the velocity thresholds use a
reduced number of bits for comparison and the lower eight bits of the compare values become
ignored.