Datasheet

TMC5160 DATASHEET (Rev. 1.10 / 2019-FEB-05) 54
www.trinamic.com
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit
Name
Function
Comment
17
pwm_freq1
PWM frequency
selection
%00: f
PWM
=2/1024 f
CLK
(Reset default)
%01: f
PWM
=2/683 f
CLK
%10: f
PWM
=2/512 f
CLK
%11: f
PWM
=2/410 f
CLK
16
pwm_freq0
15
PWM_
GRAD
User defined amplitude
gradient
Velocity dependent gradient for PWM amplitude:
PWM_GRAD * 256 / TSTEP
This value is added to PWM_AMPL to compensate for
the velocity-dependent motor back-EMF.
Use PWM_GRAD as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_GRAD to the determined, application specific value,
with pwm_autoscale=0. Only afterwards, set
pwm_autoscale=1. Enable StealthChop when finished.
Hint:
After initial tuning, the required initial value can be read
out from PWM_GRAD_AUTO.
14
13
12
11
10
9
8
7
PWM_
OFS
User defined amplitude
(offset)
User defined PWM amplitude offset (0-255) related to full
motor current (CS_ACTUAL=31) in stand still.
(Reset default=30)
Use PWM_OFS as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_OFS to the determined, application specific value,
with pwm_autoscale=0. Only afterwards, set
pwm_autoscale=1. Enable StealthChop when finished.
PWM_OFS = 0 will disable scaling down motor current
below a motor specific lower measurement threshold.
This setting should only be used under certain
conditions, i.e. when the power supply voltage can vary
up and down by a factor of two or more. It prevents
the motor going out of regulation, but it also prevents
power down below the regulation limit.
PWM_OFS > 0 allows automatic scaling to low PWM duty
cycles even below the lower regulation threshold. This
allows low (standstill) current settings based on the
actual (hold) current scale (register IHOLD_IRUN).
6
5
4
3
2
1
0