TMC428 – Application Note - Trinamic
TMC428 – Application Note - Trinamic
TMC428 – Application Note - Trinamic
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<strong>TMC428</strong> <strong>–</strong> <strong>Application</strong> <strong>Note</strong> <strong>–</strong> <strong>TMC428</strong> Getting Started <strong>–</strong> Including StallGuard TM 2<br />
(v. 2.00 / April 14, 2008)<br />
Table of Contents<br />
1. Introduction ....................................................................................................................................... 1<br />
2. Initialization of the <strong>TMC428</strong> .............................................................................................................. 3<br />
2.1 <strong>TMC428</strong> Configuration RAM ..................................................................................................... 3<br />
2.2 Stepper Motor Global Parameter Register (JDX=%1111) ........................................................ 5<br />
2.3 Parameterizing Individual Stepper Motors ................................................................................ 6<br />
2.2.1 Velocity R[Hz] and Acceleration R[Hz/s] ......................................................................... 6<br />
2.2.2 Set the Reference Switch Configuration and the Ramp Mode .......................................... 8<br />
2.2.3 Set the Automatic Current Scaling [optional] ..................................................................... 8<br />
2.4 Running a Motor ........................................................................................................................ 8<br />
2.5 Communication Outline of tmc428demo and Sample428_236 ................................................ 9<br />
3. Reading Driver Chain Status Bits with <strong>TMC428</strong> ............................................................................. 10<br />
3.1 How to Get the Driver Chain Status Information <strong>–</strong> Code Example ......................................... 11<br />
3.2 How to Get the Status Bits of TMC246 / TMC249 <strong>–</strong> Code Example ....................................... 12<br />
3.3 How to Get the StallGuard Load Indicator (LD) Bits of TMC246 / TMC249 ............................ 12<br />
4. StallGuard Profiler .......................................................................................................................... 13<br />
4.1 StallGuard Demo <strong>–</strong> Source Code Example............................................................................. 13<br />
4.2 StallGuard Profiler <strong>–</strong> Source Code Example ........................................................................... 14<br />
4.3 StallGuard Profiler for continuous motion (VELOCITY MODE) .............................................. 14<br />
4.4 StallGuard Profiler for limited motion range (RAMP_MODE) ................................................. 14<br />
4.5 StallGuard <strong>–</strong> General Constrains ............................................................................................ 15<br />
4.6 How to Compare Different Motors Concerning StallGuard Qualification ................................ 16<br />
5. Overview of 'tmc428demo' ............................................................................................................. 17<br />
6. Overview of 'Sample428_236' ........................................................................................................ 17<br />
7. Literature & Links ........................................................................................................................... 18<br />
8. Revision History .............................................................................................................................. 18<br />
Table of Contents<br />
Figure 1 : SPI Chain Outline <strong>–</strong> Serial Transmitted Control Bits vs. Parallel Control Signals ................... 4<br />
Figure 2 : Stepper Motor Global Parameter Register Setting Example ................................................... 5<br />
Figure 3 : REF_CONF & RAMP_MODE Setting for Stepper Motor # 0 (smda = %00) ........................... 7<br />
Figure 4 : Automatic Current Scaling for a Stepper Motor ....................................................................... 8<br />
Figure 5 : Communication Outline for tmc428demo ................................................................................ 9<br />
Figure 6 : Example of status bit mapping for a chain of three TMC246 or TMC249 ............................. 10<br />
Figure 7 : StallGuard profiling (left continuous motion / right motion within limited range) .................... 14<br />
Figure 8 : Outline of a typical StallGuard Profile .................................................................................... 15<br />
Copyright © 2005-2008 TRINAMIC Motion Control GmbH & Co. KG