Datasheet

TMC5130A DATASHEET (Rev. 1.11 / 2015-OCT-08) 77
www.trinamic.com
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 14.3 Ramp generator velocity dependent motor control
The velocity thresholds for the different chopper modes and sensorless operation features are coupled
to the time between each two microsteps TSTEP.