TMC5130A-TA_17 Datasheet, PDF (37/128 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
37
6.3.2 Ramp Generator Driver Feature Control Register Set
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (0X30…0X36)
R/W Addr n Register
Description / bit names
Automatic commutation dcStep becomes enabled above
velocity VDCMIN (unsigned) (only when using internal ramp
generator, not for STEP/DIR interface – in STEP/DIR mode,
dcStep becomes enabled by the external signal DCEN)
W 0x33 23 VDCMIN
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. Activate stop on stall (sg_stop)
to detect step loss.
0: Disable, dcStep off
|VACT| ≥ VDCMIN ≥ 256:
- Triggers the same actions as exceeding THIGH setting.
- Switches on automatic commutation dcStep
Hint: Also set DCCTRL parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
RW
0x34 11 ^SW_MODE
Switch mode configuration
See separate table!
R+C
0x35
14
RAMP_STAT
Ramp status and switch event status
See separate table!
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
R 0x36 32 XLATCH
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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