User Manual

TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 21
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6.4.3 coolStep Dialogue
This dialogue is designed for adjusting coolStep. The coolStep current is shown in red and the
stallGuard2 load in blue. The coolStep current value increases/decreases adequate to the measured load
on the axis. Energy savings can be optimized.
The input data area fields for the two motors are related to the COOLCONF register of the TMC5031.
Figure 6.13 coolStep dialogue
0X6D, 0X7D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2
Bit
Name
Function
Comment
24
sfilt
stallGuard2 filter
enable
0
Standard mode, high time resolution for
stallGuard2
1
Filtered mode, stallGuard2 signal updated for each
four fullsteps only to compensate for motor pole
tolerances
22
sgt6
stallGuard2 threshold
value
This signed value controls stallGuard2 level for stall
output and sets the optimum measurement range for
readout. A lower value gives a higher sensitivity. Zero is
the starting value working with most motors.
-64 to +63: A higher value makes stallGuard2 less
sensitive and requires more torque to
indicate a stall.
21
sgt5
20
sgt4
19
sgt3
18
sgt2
17
sgt1
16
sgt0
15
seimin
minimum current for
smart current control
0: 1/2 of current setting (IRUN)
1: 1/4 of current setting (IRUN)
14
sedn1
current down step
speed
%00: For each 32 stallGuard2 values decrease by one
%01: For each 8 stallGuard2 values decrease by one
%10: For each 2 stallGuard2 values decrease by one
%11: For each stallGuard2 value decrease by one
13
sedn0
11
semax3
stallGuard2 hysteresis
value for smart current
control
If the stallGuard2 result is equal to or above
(SEMIN+SEMAX+1)*32, the motor current becomes
decreased to save energy.
%0000 … %1111: 0 … 15
10
semax2
9
semax1
8
semax0
6
seup1
current up step width
Current increment steps per measured stallGuard2 value
%00 … %11: 1, 2, 4, 8
5
seup0
3
semin3
minimum stallGuard2
value for smart current
control and
smart current enable
If the stallGuard2 result falls below SEMIN*32, the motor
current becomes increased to reduce motor load angle.
%0000: smart current control coolStep off
%0001 … %1111: 1 … 15
2
semin2
1
semin1
0
semin0
Table 6.4 Abridgement of COOLCONF register