TMC5041_17 Datasheet, PDF (64/85 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16)
64
SEMAX+SEMIN+1
SEMIN
0=maximum load
load
angle
optimized
motor current reduction area
motor current increment area
stall possible
current setting I_RUN
(upper limit)
½ or ¼ I_RUN
(lower limit)
Zeit
load angle optimized
load angle optimized
Figure 12.1 coolStep adapts motor current to the load
Five more parameters control coolStep and one status value is returned:
Parameter
SEUP
SEDN
SEIMIN
VCOOL
THRS
Description
Range
Sets the current increment step. The current 0…3
becomes incremented for each measured
stallGuard2 value below the lower threshold.
Sets the number of stallGuard2 readings above the 0…3
upper threshold necessary for each current
decrement of the motor current.
Sets the lower motor current limit for coolStep 0
operation by scaling the IRUN current setting.
1
Lower ramp generator velocity threshold. Below 1…
this velocity coolStep becomes disabled (not used 2^23
in Step/Dir mode). Adapt to the lower limit of the
velocity range where stallGuard2 gives a stable
result.
Comment
step width is
1, 2, 4, 8
number of stallGuard2
measurements per
decrement:
32, 8, 2, 1
0: 1/2 of IRUN
1: 1/4 of IRUN
VHIGH
Status
word
CSACTUAL
Hint: May be adapted to disable coolStep during
acceleration and deceleration phase by setting
identical to VMAX.
Upper ramp generator velocity threshold value. 1…
Above this velocity coolStep becomes disabled 2^23
(not used in Step/Dir mode). Adapt to the velocity
range where stallGuard2 gives a stable result.
Description
Range
Also controls additional
functions like switching
to fullstepping.
Comment
This status value provides the actual motor _0…31
current scale as controlled by coolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
1/32, 2/32, … 32/32
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