Datasheet

TMC5130A DATASHEET (Rev. 1.11 / 2015-OCT-08) 97
www.trinamic.com
+IMAX
-IMAX
0
Phase
Current
(one phase
shown)
STEP
DCEN
DCO
STEP_FILT_INTERN
∆2
INTCOM
∆2 ∆2 ∆2 ∆2 ∆2 ∆2
DC_OUT TIMEOUT
(in controller)
Long pulse = override motor block
situation
TIMOUT
counter in
controller
Theoretical sine
wave
corresponding to
fullstep pattern
Increasing mechanical load forces slower motion
∆2 = MRES (number of microsteps per fullstep)
Figure 19.5 DCO Interface to motion controller – step generator stops when DCO is asserted