TMC428 – Application Note - Trinamic

TMC428 – Application Note – TMC428 Getting Started – Including StallGuard TM 2
(v. 2.00 / April 14, 2008)
Table of Contents
1. Introduction ....................................................................................................................................... 1
2. Initialization of the TMC428 .............................................................................................................. 3
2.1 TMC428 Configuration RAM ..................................................................................................... 3
2.2 Stepper Motor Global Parameter Register (JDX=%1111) ........................................................ 5
2.3 Parameterizing Individual Stepper Motors ................................................................................ 6
2.2.1 Velocity R[Hz] and Acceleration R[Hz/s] ......................................................................... 6
2.2.2 Set the Reference Switch Configuration and the Ramp Mode .......................................... 8
2.2.3 Set the Automatic Current Scaling [optional] ..................................................................... 8
2.4 Running a Motor ........................................................................................................................ 8
2.5 Communication Outline of tmc428demo and Sample428_236 ................................................ 9
3. Reading Driver Chain Status Bits with TMC428 ............................................................................. 10
3.1 How to Get the Driver Chain Status Information – Code Example ......................................... 11
3.2 How to Get the Status Bits of TMC246 / TMC249 – Code Example ....................................... 12
3.3 How to Get the StallGuard Load Indicator (LD) Bits of TMC246 / TMC249 ............................ 12
4. StallGuard Profiler .......................................................................................................................... 13
4.1 StallGuard Demo – Source Code Example............................................................................. 13
4.2 StallGuard Profiler – Source Code Example ........................................................................... 14
4.3 StallGuard Profiler for continuous motion (VELOCITY MODE) .............................................. 14
4.4 StallGuard Profiler for limited motion range (RAMP_MODE) ................................................. 14
4.5 StallGuard – General Constrains ............................................................................................ 15
4.6 How to Compare Different Motors Concerning StallGuard Qualification ................................ 16
5. Overview of 'tmc428demo' ............................................................................................................. 17
6. Overview of 'Sample428_236' ........................................................................................................ 17
7. Literature & Links ........................................................................................................................... 18
8. Revision History .............................................................................................................................. 18
Table of Contents
Figure 1 : SPI Chain Outline – Serial Transmitted Control Bits vs. Parallel Control Signals ................... 4
Figure 2 : Stepper Motor Global Parameter Register Setting Example ................................................... 5
Figure 3 : REF_CONF & RAMP_MODE Setting for Stepper Motor # 0 (smda = %00) ........................... 7
Figure 4 : Automatic Current Scaling for a Stepper Motor ....................................................................... 8
Figure 5 : Communication Outline for tmc428demo ................................................................................ 9
Figure 6 : Example of status bit mapping for a chain of three TMC246 or TMC249 ............................. 10
Figure 7 : StallGuard profiling (left continuous motion / right motion within limited range) .................... 14
Figure 8 : Outline of a typical StallGuard Profile .................................................................................... 15
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