Datasheet

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 35
www.trinamic.com
5.5 Voltage PWM mode stealthChop
MOTOR DRIVER PWM REGISTER SET (MOTOR 1: 0X10…0X17, MOTOR 2: 0X18…0X1F)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
W
0x10
0x18
22
PWMCONF
Voltage PWM mode chopper configuration
See separate table!
R
0x11
0x19
8
PWM_
STATUS
Actual PWM scaler (255=max. Voltage)
0…255
5.5.1 PWMCONF – Voltage PWM mode stealthChop
0X10, 0X18: PWMCONF – VOLTAGE MODE PWM
Bit
Name
Function
Comment
…
-
reserved
Set to 0
21
freewheel1
Allows different
standstill modes
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
20
freewheel0
19
-
reserved
Set to 0
18
pwm_
autoscale
PWM automatic
amplitude scaling
0
User defined PWM amplitude. The current settings
have no influence.
1
Enable automatic current control
Attention: When using a user defined sine wave
table, the amplitude of this sine wave table should
not be less than 244. Best results are obtained with
247 to 252 as peak values.
17
pwm_freq1
PWM frequency
selection
%00: f
PWM
=2/1024 f
CLK
%01: f
PWM
=2/683 f
CLK
%10: f
PWM
=2/512 f
CLK
%11: f
PWM
=2/410 f
CLK
16
pwm_freq0
15
PWM_
GRAD
User defined
regulation loop
gradient
(bits 15…12 currently
unused, set to 0)
pwm_
autoscale=0
0: stealthChop disabled
1…15: stealthChop enabled (the actual
value is not used)
14
13
12
11
pwm_
autoscale=1
0: stealthChop disabled
1…15: User defined maximum PWM
amplitude change per half wave (1
to 15)
10
9
8
7
PWM_
AMPL
User defined amplitude
pwm_
autoscale=0
User defined PWM amplitude
The resulting amplitude (0…255) is set by
this value.
6
5
4
3
pwm_
autoscale=1
User defined maximum PWM amplitude
when switching back from current chopper
mode to voltage PWM mode (switch over
velocity defined by TPWMTHRS). Do not set
too low values, as the regulation cannot
measure the current when the actual PWM
value goes below a setting specific value.
Settings above 0x40 recommended.
2
1
0