TMC262 DATASHEET (Rev. 2.07 / 2013-FEB-14)
23
6.8 stallGuard2 Control Register (SGCSCONF)
SGCSCONF
Bit
19
18
17
16
Name
1
1
0
SFILT
stallGuard2™ and Current Setting
Function
Register address bit
Register address bit
Register address bit
stallGuard2 filter
enable
Comment
0: Standard mode, fastest response time.
1: Filtered mode, updated once for each four fullsteps to
compensate for variation in motor construction, highest
accuracy.
The stallGuard2 threshold value controls the optimum
measurement range for readout and stall indicator
output (SG_TST). A lower value results in a higher
sensitivity and less torque is required to indicate a stall.
The value is a two’s complement signed integer. Values
below -10 are not recommended.
Range: -64 to +63
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
0
SGT6
SGT5
SGT4
SGT3
SGT2
SGT1
SGT0
0
0
0
CS4
CS3
CS2
CS1
CS0
Reserved
stallGuard2 threshold
value
Reserved
Reserved
Reserved
Current scale
(scales digital
currents A and B)
Current scaling for SPI and STEP/DIR operation.
%00000 … %11111: 1/32, 2/32, 3/32, … 32/32
This value is biased by 1 and divided by 32, so the
range is 1/32 to 32/32.
Example: CS=20 is 21/32 current.
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