User Manual

TMCM-1276 Hardware Manual • Hardware Version V1.10 | Document Revision V1.00 • 2018-JUN-25

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1.2 TRINAMIC’s Unique Features

1.2.1 stealthChop™

stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage

mode PWM. During standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop

operated stepper motor applications are very suitable for indoor or home use. The motor operates

absolutely free of vibration at low velocities. With stealthChop, the motor current is applied by driving

a certain eﬀective voltage into the coil, using a voltage mode PWM. There are no more conﬁgurations

required except for the regulation of the PWM voltage to yield the motor target current.

Figure 1: Motor coil sine wave current using stealthChop (measured with current probe)

1.2.2 spreadCycle™

The spreadCycle chopper is a high-precision, hysteresis-based, and simple to use chopper mode, which

automatically determines the optimum length for the fast-decay phase. Several parameters are available to

optimize the chopper to the application. spreadCycle oﬀers optimal zero crossing performance compared

to other current controlled chopper algorithms and thereby allows for highest smoothness. The true target

current is powered into the motor coils.

Figure 2: spreadCycle principle

1.2.3 stallGuard2

stallGuard2 is a high-precision sensorless load measurement using the back EMF of the motor coils. It

can be used for stall detection as well as other uses at loads below those which stall the motor. The

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