TMC2130_LA_17 Datasheet, PDF (86/103 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15)
86
CFG1 AND CFG2: SETS MICROSTEP RESOLUTION FOR STEP INPUT
CFG2, CFG1
GND, GND
Microsteps
1 (Fullstep)
Interpolation
N
Chopper Mode
spreadCycle
GND, VCC_IO 2 (Halfstep)
N
GND, open
2 (Halfstep)
Y, to 256 µsteps
VCC_IO, GND
4 (Quarterstep) N
VCC_IO, VCC_IO
VCC_IO, open
open, GND
open, VCC_IO
16 µsteps
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
N
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps
stealthChop
open, open
16 µsteps
Y, to 256 µsteps
Registers
MRES=8, intpol=0
MRES=7, intpol=0
MRES=7, intpol=1
MRES=6, intpol=0
MRES=4, intpol=0
MRES=6, intpol=1
MRES=4, intpol=1
MRES=6, intpol=1,
en_PWM_mode=1
MRES=4, intpol=1,
en_PWM_mode=1
CFG3: SETS MODE OF CURRENT SETTING
CFG3
Current Setting
GND
VCC_IO
open
Internal reference voltage. Current scale set by sense
resistors, only.
Internal sense resistors. Use analog input current on
AIN as reference current for internal sense resistor.
This setting gives best results when combined with
stealthChop voltage PWM chopper.
External reference voltage on pin AIN. Current scale set
by sense resistors and scaled by AIN.
Registers
internal_Rsense=1
I_scale_analog=1
CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION)
CFG4
HEND Setting
GND
5 (recommended, most universal choice)
VCC_IO
9
open
13
Registers
HEND=7
HEND=11
HEND=15
CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE)
CFG5
Blank time (in number of clock cycles)
Registers
GND
16
TBL=%00
VCC_IO
24 (recommended, most universal choice)
TBL=%01
open
36
TBL=%10
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