Datasheet

TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 110
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22 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but
concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may
decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
Current Setting
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Configure Chopper to
test current settings
Check hardware
setup and motor
RMS current
GCONF
set en_pwm_mode
stealthChop
Configuration
PWMCONF
set pwm_autoscale,
set pwm_autograd
PWMCONF
select PWM_FREQ with
regard to fCLK for 20-
40kHz PWM frequency
CHOPCONF
Enable chopper using basic
config., e.g.: TOFF=5, TBL=2,
HSTART=4, HEND=0
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Is performance
good up to VMAX?
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
N
SC2
Y
Execute
automatic
tuning
procedure AT
Set GLOBALSCALER as
required to reach
maximum motor current
at I_RUN=31
Figure 22.1 Current setting and first steps with stealthChop