TMC260 Datasheet, PDF (22/53 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
22
6.8 stallGuard2 Control Register (SGCSCONF)
SGCSCONF
Bit Name
19 1
18 1
17 0
16 SFILT
15 0
14 SGT6
13 SGT5
12 SGT4
11 SGT3
10 SGT2
9 SGT1
8 SGT0
70
60
50
4 CS4
3 CS3
2 CS2
1 CS1
0 CS0
stallGuard2™ and Current Setting
Function
Comment
Register address bit
Register address bit
Register address bit
stallGuard2 filter
enable
Reserved
stallGuard2 threshold
value
0: Standard mode, fastest response time.
1: Filtered mode, updated once for each four fullsteps to
compensate for variation in motor construction, highest
accuracy.
The stallGuard2 threshold value controls the optimum
measurement range for readout. A lower value results in
a higher sensitivity and requires less torque to indicate
a stall. The value is a two’s complement signed integer.
Values below -10 are not recommended.
Range: -64 to +63
Reserved
Reserved
Reserved
Current scale
(scales digital
currents A and B)
Current scaling for SPI and step/direction operation.
%00000 … %11111: 1/32, 2/32, 3/32, … 32/32
This value is biased by 1 and divided by 32, so the
range is 1/32 to 32/32.
Example: CS=0 is 1/32 current
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