TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
22
6.8 stallGuard2 Control Register (SGCSCONF)
SGCSCONF
stallGuard2™ and Current Setting
Bit
Name
Function
Comment
19
18
17
16
1
1
0
Register address bit
Register address bit
Register address bit
stallGuard2 filter
enable
SFILT
0: Standard mode, fastest response time.
1: Filtered mode, updated once for each four fullsteps to
compensate for variation in motor construction, highest
accuracy.
15
14
13
12
11
10
9
0
Reserved
SGT6
SGT5
SGT4
SGT3
SGT2
SGT1
SGT0
0
stallGuard2 threshold The stallGuard2 threshold value controls the optimum
value
measurement range for readout. A lower value results in
a higher sensitivity and requires less torque to indicate
a stall. The value is a two’s complement signed integer.
Values below -10 are not recommended.
Range: -64 to +63
8
7
Reserved
6
0
Reserved
5
0
Reserved
4
3
2
1
CS4
CS3
CS2
CS1
CS0
Current scale
(scales digital
currents A and B)
Current scaling for SPI and step/direction 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=0 is 1/32 current
0
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