adi,tmc51xx-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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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. (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) and the stall
output signal become enabled when exceeding this velocity. In
non-DcStep mode, it becomes disabled again once the velocity
falls below this threshold.
TCOOLTHRS ≥ TSTEP ≥ THIGH:
- CoolStep is enabled, if configured
- StealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
- Stop on stall is enabled, if configured
- Stall output signal (DIAG0/1) is enabled, 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)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
- CoolStep is disabled (motor runs with normal current
scale)
- StealthChop voltage PWM mode is disabled
- 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,
and the stall detection becomes switched over to
DcStep stall detection.
Default value: Value range: |
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This is the upper velocity for StealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
- StealthChop PWM mode is enabled, if configured
- DcStep is disabled
Default value: Value range: |
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TPOWERDOWN sets the delay time after stand still (stst) of the
motor to motor current power down. Time range is about 0 to
4 seconds.
Attention: A minimum setting of 2 is required to allow
automatic tuning of StealthChop PWM_OFS_AUTO.
Reset Default = 10
0…((2^8)-1) * 2^18 tCLK
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,tmc51xx-stepper-ctrl” compatible.
(None)