TMC5072 Datasheet, PDF (89/107 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5072 DATASHEET (Rev. 1.21 / 2016-APR-22)
TUNING STEALTHCHOP AND SPREADCYCLE
SC2
Try motion with desired
acceleration and
deceleration (not exceeding
VCOOLTHRS)
Coil current
overshoot upon
deceleration?
N
PWMCONF
Y increase PWM_GRAD
(max. 15)
Move slowly, try
different velocities
Motor current
stable?
Y
Try motion also
above VCOOLTHRS,
if used
PWMCONF
N
change PWM_FREQ or
slightly drecrease
PWM_GRAD
Coil current
overshoot upon
deceleration?
N
Go to motor stand
still and check
motor current
PWMCONF
Y
decrease PWM_AMPL
(do not go below about
50)
Stand still current
too high?
CHOPCONF, PWMCONF
Y
decrease TBL or PWM
frequency and check
impact on motor motion
N
Optimize spreadCycle
configuration if VCOOLTHRS
used
Figure 18.2 Tuning stealthChop and spreadCycle
89
spreadCycle
Configuration
PWMCONF
Disable stealthChop by
setting PWM_GRAD=0
CHOPCONF
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
Current zero
crossing smooth?
N
CHOPCONF
increase HEND (max. 15)
Y
Move motor very slowly or
try at stand still
Audible Chopper
noise?
CHOPCONF
Y
set TOFF=4 (min. 3), try
lower / higher TBL or
reduce motor current
Move motor at medium
velocity or up to max.
velocity
Audible Chopper
noise?
CHOPCONF
Y
decrease HEND and
increase HSTART (max.
7)
Finished or Enable
coolStep
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