Datasheet

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 24
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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)
In combination with stealthChop mode, setting
IHOLD=0 allows to choose freewheeling or coil
short circuit for motor stand still.
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 and stallGuard feature. Further it is the upper
operation velocity for stealthChop. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably. The stop on stall function (enable with
sg_stop when using internal motion controller) becomes
enabled when exceeding this velocity. It becomes disabled
again once the velocity falls below this threshold. This allows
for homing procedures with stallGuard by blanking out the
stallGuard signal at low velocities (will not work in
combination with stealthChop).
VHIGH ≥ |VACT| VCOOLTHRS:
- coolStep and stop on stall are enabled, if configured
- Voltage PWM mode stealthChop is switched off, 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).
- If vhighfs is set, the motor operates in fullstep mode.
- Voltage PWM mode stealthChop is switched off, if
configured
(Only bits 22..8 are used for value and for comparison)