Datasheet

TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 58
www.trinamic.com
AT#1
Stand still
AT#2
Homing
Ready
Power Up
stealthChop2 regulates to nominal
current and stores result to
PWM_OFS_AUTO
(Requires stand still for >130ms)
N
PWM_GRAD_AUTO becomes
initialized upon power up
Driver Enabled? N
Standstill re-
duction enabled?
Y
Issue (at least) a single step
pulse and stop again, to
power motor to run current
Y
Driver Enabled? N
Y
Move the motor, e.g. for homing.
Include a constant, medium velocity
ramp segment.
Store PWM_GRAD_AUTO to
CPU memory for faster
tuning procedure
Option with interface
PWM_
GRAD_AUTO
initialized from
CPU?
N
Y
stealthChop2 regulates to nominal
current and optimizes PWM_GRAD_AUTO
(requires 8 fullsteps per change of 1,
typically a few 100 fullsteps in sum)
stealthChop2 settings are optimized!
stealthChop2 keeps tuning during
subsequent motion and stand still periods
adapting to motor heating, supply
variations, etc.
Figure 7.2 stealthChop2 automatic tuning procedure
Attention
Modifying GLOBALSCALER or VS voltage invalidates the result of the automatic tuning process. Motor
current regulation cannot compensate significant changes until next AT#1 phase. Automatic tuning
adapts to changed conditions whenever AT#1 and AT#2 conditions are fulfilled in the later operation.