TMC5130A-TA_17 Datasheet, PDF (49/128 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
49
6.5.4 PWMCONF – Voltage PWM Mode stealthChop
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
…-
reserved
21 freewheel1 Allows different
20 freewheel0 standstill modes
19 pwm_
Force symmetric PWM
symmetric
Comment
set to 0
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
0 The PWM value may change within each PWM cycle
(standard mode)
18 pwm_
PWM automatic
autoscale amplitude scaling
1 A symmetric PWM cycle is enforced
0 User defined PWM amplitude. The current settings
have no influence.
1 Enable automatic current control
Attention: When using a user defined sine wave
table, the amplitude of this sine wave table should
not be less than 244. Best results are obtained with
247 to 252 as peak values.
17 pwm_freq1 PWM frequency
%00: f_PWM=2/1024 f_CLK
16 pwm_freq0 selection
%01: f_PWM=2/683 f_CLK
%10: f_PWM=2/512 f_CLK
%11: f_PWM=2/410 f_CLK
15 PWM_
User defined amplitude pwm_
Velocity dependent gradient for PWM
14 GRAD
(gradient)
autoscale=0 _amplitude:
13
or regulation loop
PWM_GRAD * 256 / TSTEP
12
gradient
is added to PWM_AMPL
11
pwm_
User defined maximum PWM amplitude
10
autoscale=1 _{change per half wave (1 to 15)}
9
8
7 PWM_
6 AMPL
5
4
User defined amplitude
(offset)
pwm_
autoscale=0
User defined PWM amplitude offset (0-255)
The resulting amplitude (limited to 0…255)
is:
PWM_AMPL + PWM_GRAD * 256 / TSTEP
3
pwm_
User defined maximum PWM amplitude
2
autoscale=1 _{when switching back from current chopper}
1
mode to voltage PWM mode (switch over
0
velocity defined by TPWMTHRS). Do not set
too low values, as the regulation cannot
measure the current when the actual PWM
value goes below a setting specific value.
Settings above 0x40 recommended.
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