User Manual

TMC5031-EVAL Manual / Firmware V1.00 (Rev. 1.00 / 2013-FEB-22) 27
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MOTOR DRIVER REGISTER SET (MOTOR 1: 0X60…0X6F, MOTOR 2: 0X70…0X7F)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
W
0x60
0x70
32
MSLUT1[0]
MSLUT2[0]
microstep
table entries
0…31
Each bit gives the difference between
microstep x and x+1 when combined with
the corresponding MSLUTSEL W bits:
0: W= %00: -1
%01: +0
%10: +1
%11: +2
1: W= %00: +0
%01: +1
%10: +2
%11: +3
This is the differential coding for the first
quarter of a wave. Start values for CUR_A and
CUR_B are stored for MSCNT position 0 in
START_SIN and START_SIN90_120.
ofs31, ofs30, …, ofs01, ofs00
…
ofs255, ofs254, …, ofs225, ofs224
32x 0 or 1
reset default=
sine wave
table
W
0x61
…
0x67
0x71
…
0x77
7
x
32
MSLUT1[1...7]
MSLUT2[1...7]
microstep
table entries
32…255
7x
32x 0 or 1
reset default=
sine wave
table
W
0x68
0x78
32
MSLUTSEL1
MSLUTSEL2
This register defines four segments within
each quarter MSLUT wave. Four 2 bit entries
determine the meaning of a 0 and a 1 bit in
the corresponding segment of MSLUT.
See separate table in TMC5031 datasheet.
0<X1<X2<X3
reset default=
sine wave
table
W
0x69
0x79
8
+
8
MSLUTSTART
bit 7… 0: START_SIN
bit 23… 16: START_SIN90_120
START_SIN gives the absolute current at
microstep table entry 0.
START_SIN90_120 gives the absolute current
for microstep table entry at positions 256.
Start values are transferred to the microstep
registers CUR_A and CUR_B, whenever the
reference position MSCNT=0 is passed.
START_SIN
reset default
=0
START_SIN90_1
20
reset default
=247
Table 6.7 Abridgement of motor driver register set
Please refer to the TMC5031 datasheet for detailed information about microstep table registers.