TMC260-PA Datasheet, PDF (21/53 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC260/A and TMC261 DATASHEET (Rev. 2.10 / 2016-JUL-14)
21
CHOPCONF
Bit Name
3 TOFF3
2 TOFF2
1 TOFF1
0 TOFF0
Chopper Configuration
Function
Off time/MOSFET
disable
Comment
Duration of slow decay phase. If TOFF is 0, the MOSFETs
are shut off. If TOFF is nonzero, slow decay time is a
multiple of system clock periods:
N_CLK= 12 + (32 x TOFF) (Minimum time is 64clocks.)
%0000: Driver disable, all bridges off
%0001: 1 (use with TBL of minimum 24 clocks)
%0010 … %1111: 2 … 15
6.7 coolStep Control Register (SMARTEN)
SMARTEN
Bit Name
19 1
18 0
17 1
16 0
15 SEIMIN
14 SEDN1
13 SEDN0
12 0
11 SEMAX3
10 SEMAX2
9 SEMAX1
8 SEMAX0
70
6 SEUP1
5 SEUP0
40
3 SEMIN3
2 SEMIN2
1 SEMIN1
0 SEMIN0
coolStep Configuration
Function
Comment
Register address bit
Register address bit
Register address bit
Reserved
Minimum coolStep
current
Current decrement
speed
Reserved
Upper coolStep
threshold as an offset
from the lower
threshold
0: ½ CS current setting
1: ¼ CS current setting
Number of times that the stallGuard2 value must be
sampled equal to or above the upper threshold for each
decrement of the coil current:
%00: 32
%01: 8
%10: 2
%11: 1
If the stallGuard2 measurement value SG is sampled
equal to or above (SEMIN+SEMAX+1) x 32 enough times,
then the coil current scaling factor is decremented.
Reserved
Current increment
size
Reserved
Lower coolStep
threshold/coolStep
disable
Number of current increment steps for each time that
the stallGuard2 value SG is sampled below the lower
threshold:
%00: 1
%01: 2
%10: 4
%11: 8
If SEMIN is 0, coolStep is disabled. If SEMIN is nonzero
and the stallGuard2 value SG falls below SEMIN x 32,
the coolStep current scaling factor is increased.
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