TMC5041 Datasheet, PDF (31/85 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5041 DATASHEET (Rev. 1.12 / 2016-APR-22)
31
5.4.1 CHOPCONF – Chopper Configuration
0X6C, 0X7C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
31 -
30 diss2g
29 -
28 -
27 mres3
26 mres2
25 mres1
24 mres0
Function
reserved
short to GND
protection disable
reserved
reserved
MRES
micro step resolution
23 -
reserved
22 -
21 -
20 -
19 vhighchm high velocity chopper
mode
18 vhighfs
high velocity fullstep
selection
17 vsense
16 tbl1
15 tbl0
14 chm
sense resistor voltage
based current scaling
TBL
blank time select
chopper mode
13 rndtf
random TOFF time
12 disfdcc
fast decay mode
Comment
set to 0
0: Short to GND protection is on
1: Short to GND protection is disabled
set to 0
set to 0
%0000:
Native 256 microstep setting.
Use this setting for normal operation.
%0001 … %1000:
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution (only for special use!).
The resolution gives the number of microstep entries per
sine quarter wave.
Especially when switching to a low resolution of 8
microsteps and below, take care to switch at certain
microstep positions. The switching position determines the
sequence of patterns.
step width=2^MRES [microsteps]
Hint: Different microstep resolutions are only intended
for special cases to extend the acceleration or position
range
set to 0
This bit enables switching to chm=1 and fd=0, when VHIGH
is exceeded. This way, a higher velocity can be achieved.
Can be combined with vhighfs=1. If set, the TOFF setting
automatically becomes doubled during high velocity
operation in order to avoid doubling of the chopper
frequency.
This bit enables switching to fullstep, when VHIGH is
exceeded. Switching takes place only at 45° position.
The fullstep target current uses the current value from
the microstep table at the 45° position.
0: Low sensitivity, high sense resistor voltage
1: High sensitivity, low sense resistor voltage
%00 … %11:
Set comparator blank time to 16, 24, 36 or 54 clocks
Hint: %01 or %10 recommended for most applications
0 Standard mode (spreadCycle)
1 Constant off time with fast decay time.
Fast decay time is also terminated when the
negative nominal current is reached. Fast decay is
after on time.
0 Chopper off time is fixed as set by TOFF
1 Random mode, TOFF is random modulated by
dN_CLK= -12 … +3 clocks.
chm=1:
disfdcc=1 disables current comparator usage for termi-
nation of the fast decay cycle
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