TMC428 – Application Note - Trinamic

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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 Copyright © 2005-2008 TRINAMIC Motion Control GmbH & Co. KG
TMC428 – Application Note – TMC428 Getting Started – Including StallGuard TM 3 (v. 2.00 / April 14, 2008) 2. Initialization of the TMC428 On first sight, the sample C code included within the ZIP archive 'tmc428demo.zip' might give the impression that the initialization of the TMC428 is a complicated task due to a couple of different routines used. The intent of this sample C code and its different routines is to demonstrate how to access the registers of the TMC428. All together, these routines just perform a sequence of SPI datagrams that perform the initialization of the TMC428. So, for those who are familiar with the TMC428 and its SPI datagrams, the program structure might become more compact and the initialization code might look like for (i=0; i
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TMC428 – Application Note - Trinamic

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