adi,tmc51xx-stepper

Description

Stallguard bindings for Trinamic stepper controller.

Properties

Properties not inherited from the base binding file.

Name

Type

Details

activate-stallguard2

boolean

 
Enable StallGuard2 feature, if the driver supports it.

stallguard-threshold-velocity

int

 
Threshold velocity for StallGuard2 to detect a stall event.
This value should be greater than zero.

Default value: 1

stallguard-velocity-check-interval-ms

int

 
Stallguard should not be enabled during motor spin-up.
This delay is used to check if the actual stepper velocity is greater than
stallguard-threshold-velocity before enabling stallguard.

Default value: 100

vstart

int

 
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: 1

a1

int

 
First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)

v1

int

 
First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)

0: Disables A1 and D1 phase, use AMAX, DMAX only

amax

int

 
Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned)
This is the acceleration and deceleration value
for velocity mode.

vmax

int

 
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.

dmax

int

 
Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)

d1

int

 
Deceleration between V1 and VSTOP in [µsteps/ta²](unsigned)

Attention: Do not set 0 in positioning mode,
even if V1=0!

Default value: 1

vstop

int

 
Motor stop velocity in [µsteps/t] (unsigned)

Attention: Set VSTOP ≥ VSTART!

Attention: Do not set 0 in positioning mode,
minimum 10 recommended!

Default value: 10

tzerowait

int

 
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.

ihold

int

 
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

irun

int

 
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.

iholddelay

int

 
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

tcoolthrs

int

 
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

thigh

int

 
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.

tpwmthrs

int

 
This is the upper velocity for StealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
- StealthChop PWM mode is enabled, if configured
- DcStep is disabled

tpowerdown

int

 
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: 10