TMC5031 Datasheet, PDF (25/63 Pages) TRINAMIC Motion Control GmbH & Co. KG. – Dual, cost-effective controller and driver for up to two 2-phase bipolar stepper motors.

TMC5031 DATASHEET (Rev. 1.07 / 2013-APR-30)
25
MOTOR DRIVER REGISTER SET (MOTOR 1: 0X60…0X6F, MOTOR 2: 0X70…0X7F)
R/W Addr n Register
R
0x6F
0x7F
32
DRV_
STATUS
Description / bit names
stallGuard2 value and driver error flags
See separate table!
Range [Unit]
MIRCOSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT:
- i:[0… 255] is the table index
- The amplitude of the wave is 248. The resulting maximum positive value is 247 and the
maximum negative value is -248.
- The round function rounds values from 0.5 to 1.4999 to 1
5.3.1 MSLUTSEL – Look up Table Segmentation Definition
0X68, 0X78: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION
Bit Name
31 X3
30
29
28
27
26
25
24
23 X2
22
21
20
19
18
17
16
15 X1
14
13
12
11
10
9
8
7 W3
6
5 W2
4
3 W1
2
1 W0
0
Function
LUT segment 3 start
LUT segment 2 start
Comment
The sine wave look up table can be divided into up to
four segments using an individual step width control
entry Wx. The segment borders are selected by X1, X2
and X3.
Segment 0 goes from 0 to X1-1.
Segment 1 goes from X1 to X2-1.
Segment 2 goes from X2 to X3-1.
Segment 3 goes from X3 to 255.
For defined response the values shall satisfy:
0<X1<X2<X3
LUT segment 1 start
LUT width select from
ofs(X3) to ofs255
LUT width select from
ofs(X2) to ofs(X3-1)
LUT width select from
ofs(X1) to ofs(X2-1)
LUT width select from
ofs00 to ofs(X1-1)
Width control bit coding W0…W3:
%00: MSLUT entry 0, 1 select: -1, +0
%01: MSLUT entry 0, 1 select: +0, +1
%10: MSLUT entry 0, 1 select: +1, +2
%11: MSLUT entry 0, 1 select: +2, +3
www.trinamic.com