Datasheet

TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 41
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6.3.2 Ramp Generator Driver Feature Control Register Set
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (0X30…0X36)
R/W
Addr
n
Register
Description / bit names
W
0x33
23
VDCMIN
Automatic commutation dcStep becomes enabled above
velocity VDCMIN (unsigned) (only when using internal ramp
generator, not for STEP/DIR interface – in STEP/DIR mode,
dcStep becomes enabled by the external signal DCEN)
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to XACTUAL. In
case the motor becomes heavily loaded, VDCMIN also is used
as the minimum step velocity. Activate stop on stall (sg_stop)
to detect step loss.
0: Disable, dcStep off
|VACT| ≥ VDCMIN ≥ 256:
- Triggers the same actions as exceeding THIGH setting.
- Switches on automatic commutation dcStep
Hint: Also set DCCTRL parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
RW
0x34
11
SW_MODE
Switch mode configuration
See separate table!
R+
WC
0x35
14
RAMP_STAT
Ramp status and switch event status
See separate table!
R
0x36
32
XLATCH
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
Hint: The encoder position can be latched to ENC_LATCH
together with XLATCH to allow consistency checks.
Time reference t for velocities: t = 2^24 / f
CLK
Time reference ta² for accelerations: ta² = 2^41 / (f
CLK
)²