TMC211 DATASHEET (V. 1.04 / January 7, 2005)
23
5.3.2 Transition Irun to Ihold
At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC
level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents
are then set to their hold values Ihold. The figure below illustrates the mechanism:
i
t
I = Irun
I = Ihold
Figure 12: Transition Irun to Ihold
Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are
available for Irun current and 16 values for Ihold current. The table below shows the corresponding
current values.
Irun / Ihold setting Peak Current
(hexadecimal)
0x0
[mA]
59
0x1
71
0x2
84
0x3
100
119
141
168
200
238
283
336
400
476
566
673
800
0x4
0x5
0x6
0x7
0x8
0x9
0xA
0xB
0xC
0xD
0xE
0xF
Table 12: Irun / Ihold Settings
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
