TMC5031-LA 参数 Datasheet PDF下载

TMC5031 DATASHEET (Rev. 1.07 / 2013-APR-30)

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1.2 SPI Control Interface

The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus

master to the bus slave, another bit is sent simultaneously from the slave to the master.

Communication between an SPI master and the TMC5031 slave always consists of sending one 40-bit

command word and receiving one 40-bit status word.

The SPI command rate typically is a few commands per complete motor motion.

1.3 Software

From a software point of view the TMC5031 is a peripheral with a number of control and status

registers. Most of them can either be written only or read only, some of the registers allow both read

and write access. In case read-modify-write access is desired for a write only register, a shadow

register can be realized in master software.

1.4 Moving and Controlling the Motor

1.4.1 Integrated Motion Controller

The integrated 32 bit motion controller automatically drives the motors to target positions, or

accelerates to target velocities. All motion parameters can be changed on the fly with the motion

controller recalculating immediately. A minimum set of configuration data consists of acceleration and

deceleration values and the maximum motion velocity. A start and stop velocity is supported as well

as a second acceleration and deceleration setting. It supports immediate reaction to mechanical

reference switches and to the sensorless stall detection stallGuard2.

Benefits are:

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Flexible ramp programming

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Efficient use of motor torque for acceleration and deceleration allows higher machine throughput

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Immediate reaction to stop and stall conditions

1.5 Precision Driver with Programmable Microstepping Wave

Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes

are available: a traditional constant off-time mode and the new spreadCycle mode. Constant off-time

mode provides higher torque at the highest velocity, while spreadCycle mode offers smoother

operation and greater power efficiency over a wide range of speed and load. The spreadCycle chopper

scheme automatically integrates a fast decay cycle and guarantees smooth zero crossing performance.

Programmable microstep shapes allow optimizing the motor performance.

Benefits are:

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Significantly improved microstepping with low cost motors

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Motor runs smooth and quiet

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Reduced mechanical resonances yields improved torque

1.6 stallGuard2

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Mechanical Load Sensing

stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall

detection as well as other uses at loads below those which stall the motor, such as coolStep load-

adaptive current reduction. This gives more information on the drive allowing functions like

sensorless homing and diagnostics of the drive mechanics.

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