Datasheet

TMC5130A DATASHEET (Rev. 1.11 / 2015-OCT-08) 8
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1.4 Moving and Controlling the Motor
1.4.1 Integrated Motion Controller
The integrated 32 bit motion controller automatically drives the motor to target positions, or
accelerates to target velocities. All motion parameters can be changed on the fly. The motion
controller recalculates immediately. A minimum set of configuration data consists of acceleration and
deceleration values and the maximum motion velocity. A start and stop velocity is supported as well
as a second acceleration and deceleration setting. The integrated motion controller supports
immediate reaction to mechanical reference switches and to the sensorless stall detection stallGuard2.
Benefits are:
- Flexible ramp programming
- Efficient use of motor torque for acceleration and deceleration allows higher machine throughput
- Immediate reaction to stop and stall conditions
1.4.2 STEP/DIR Interface
The motor can optionally be controlled by a step and direction input. In this case, the motion
controller remains unused. Active edges on the STEP input can be rising edges or both rising and
falling edges as controlled by another mode bit (DEDGE). Using both edges cuts the toggle rate of the
STEP signal in half, which is useful for communication over slow interfaces such as optically isolated
interfaces. On each active edge, the state sampled from the DIR input determines whether to step
forward or back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128,
or 256 microsteps per fullstep. During microstepping, a step impulse with a low state on DIR
increases the microstep counter and a high decreases the counter by an amount controlled by the
microstep resolution. An internal table translates the counter value into the sine and cosine values
which control the motor current for microstepping.
1.5 stealthChop Driver with Programmable Microstepping
Wave
Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Up to three chopper
modes are available: a traditional constant off-time mode and the spreadCycle mode as well as the
unique stealthChop. The constant off-time mode provides higher torque at highest velocity, while
spreadCycle mode offers smoother operation and greater power efficiency over a wide range of speed
and load. The spreadCycle chopper scheme automatically integrates a fast decay cycle and guarantees
smooth zero crossing performance. In contrast to the other chopper modes, stealthChop is a voltage
chopper based principle. It guarantees that the motor is absolutely quiet in standstill and in slow
motion, except for noise generated by ball bearings. The extremely smooth motion is beneficial for
many applications.
Programmable microstep shapes allow optimizing the motor performance.
Benefits of using stealthChop:
- Significantly improved microstepping with low cost motors
- Motor runs smooth and quiet
- Absolutely no standby noise
- Reduced mechanical resonances yields improved torque
1.6 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.