Datasheet

TMC6200 DATASHEET (Rev. 1.04 / 2019-AUG-08) 28
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settling time can result from increased length of motor cables and capacitive load on the cables, or
parasitic inductivity of the sense resistors.
Figure 6.2 Amplifier Settling after coil switch event (Green: Coil output, Yellow: Amplifier output)
Figure 6.3 Output correctly sampled with sine wave current and 1.66V offset
Attention
Each switching event on one of the motor outputs will cause a spike on the related current
measurement amplifier output. Its settling time of roughly 2µs to 4µs (depending on supply voltage
and sense resistors) should be blanked away by ignoring the output voltage during this time. This can
be ensured, when the external ADC samples the output synchronously with the chopper period.
6.2 Current Amplifier Offset
6.2.1 Initial Offset
The amplifiers have a good amplification tolerance, but due to production stray, they show a random
offset voltage (see Figure 6.4). Offset voltage especially concerns input offset, as the input offset
voltage becomes amplified by the actual amplifications setting, i.e. factor 5, 10 or 20. Therefore, a
higher amplification setting means a higher offset voltage and higher offset stray. To compensate for
this offset (V
INOFS
), individually sample the amplifier outputs while the motor driver is disabled and use