adi,tmc50xx-stepper-ctrl
Description
Ramp Generator Motion Control Register-Set for Trinamic stepper controller.
Properties
Properties not inherited from the base binding file.
Name |
Type |
Details |
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This property is required. |
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Motor start velocity in [µsteps/t](unsigned)
Normally, set VSTOP ≥ VSTART! VSTART may be
set to a higher value, when motion distance is
sufficient to allow deceleration to VSTOP.
Default value: Value range: |
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First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)
Default value: Value range: |
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First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)
0: Disables A1 and D1 phase, use AMAX, DMAX only
Default value: Value range: |
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Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned)
This is the acceleration and deceleration value
for velocity mode.
Default value: Value range: |
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Motion ramp target velocity in [µsteps/t] (for positioning ensure VMAX ≥ VSTART) (unsigned)
This is the target velocity in velocity mode. It can be changed any time during a motion.
Default value: Value range: |
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Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)
Default value: Value range: |
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Deceleration between V1 and VSTOP in [µsteps/ta²](unsigned)
Attention: Do not set 0 in positioning mode,
even if V1=0!
Default value: Value range: |
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Motor stop velocity in [µsteps/t] (unsigned)
Attention: Set VSTOP ≥ VSTART!
Attention: Do not set 0 in positioning mode,
minimum 10 recommended!
Default value: Value range: |
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Waiting time after ramping down to zero velocity before next movement or direction
inversion can start and before motor power down starts. Time range is about 0 to 2
seconds. This setting avoids excess acceleration e.g. from VSTOP to -VSTART.
Default value: Value range: |
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Hold current in % of run current (0-100)
Standstill current (0=1/32…31=32/32)
In combination with StealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil
short circuit for motor stand still
Default value: Value range: |
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Motor run current (0=1/32…31=32/32)
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
Default value: Value range: |
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Controls the number of clock cycles for motor power down after a motion as soon as TZEROWAIT
has expired. The smooth transition avoids a motor jerk upon power down.
0: instant power down
1..15: Delay per current reduction step in multiple of 2^18 clocks
Default value: Value range: |
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This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard
feature. Further it is the upper operation velocity for StealthChop. (unsigned)
Set this parameter to disable CoolStep at low speeds, where it cannot work reliably.
The stop on stall function (enable with sg_stop when using internal motion controller)
becomes enabled when exceeding this velocity. It becomes disabled again once the velocity
falls below this threshold. This allows for homing procedures with StallGuard by blanking out
the StallGuard signal at low velocities (will not work in combination with StealthChop).
VHIGH ≥ |VACT| ≥ VCOOLTHRS:
- CoolStep and stop on stall are enabled, if configured
- Voltage PWM mode StealthChop is switched off, if configured
Default value: Value range: |
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This velocity setting allows velocity dependent switching into a different chopper mode and
fullstepping to maximize torque.(unsigned)
|VACT| ≥ VHIGH:
- CoolStep is disabled (motor runs with normal current scale)
- If vhighchm is set, the chopper switches to chm=1 with TFD=0
(constant off time with slow decay, only).
- If vhighfs is set, the motor operates in fullstep mode.
- Voltage PWM mode StealthChop is switched off, if configured
Default value: Value range: |
Deprecated properties not inherited from the base binding file.
(None)
Properties inherited from the base binding file, which defines common properties that may be set on many nodes. Not all of these may apply to the “adi,tmc50xx-stepper-ctrl” compatible.
(None)