TMC5072 Datasheet, PDF (34/107 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5072 DATASHEET (Rev. 1.21 / 2016-APR-22)
34
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (MOTOR 1: 0X30…0X36, MOTOR 2: 0X50…0X56)
R/W Addr n Register
Description / bit names
Automatic commutation dcStep becomes enabled above
velocity VDCMIN (unsigned)
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to XACTUAL. In
case the motor becomes heavily loaded, VDCMIN also is used
as the minimum step velocity.
W
0x33
0x53
23 VDCMIN
0: Disable, dcStep off
|VACT| ≥ VDCMIN ≥ 256:
- Triggers the same actions as exceeding VHIGH.
- Switches on automatic commutation dcStep
Hint: Also set bits vhighfs and vhighchm and set DCCTRL
parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
RW
0x34
0x54
12 ^SW_MODE
Switch mode configuration
See separate table!
R+C
0x35
0x55
14
RAMP_STAT
Ramp status and switch event status
See separate table!
Ramp generator latch position, latches XACTUAL upon a
R
0x36
0x56
32 XLATCH
programmable switch event (see SW_MODE).
Hint: The encoder position can be latched to ENC_LATCH
together with XLATCH to allow consistency checks.
Time reference t for velocities: t = 2^24 / f_CLK
Time reference ta² for accelerations: ta² = 2^41 / (f_CLK)²
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