TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
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1.9 dcStep – Load Dependent Speed Control
dcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If the
mechanical load on the motor increases to the stalling load, the motor automatically decreases
velocity so that it can still drive the load. With this feature, the motor will never stall. In addition to
the increased torque at a lower velocity, dynamic inertia will allow the motor to overcome mechanical
overloads by decelerating. dcStep directly integrates with the ramp generator, so that the target
position will be reached, even if the motor velocity needs to be decreased due to increased
mechanical load. A dynamic range of up to factor 10 or more can be covered by dcStep without any
step loss. By optimizing the motion velocity in high load situations, this feature further enhances
overall system efficiency.
Benefits are:
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Motor does not loose steps in overload conditions
Application works as fast as possible
Highest possible acceleration automatically
Highest energy efficiency at speed limit
Highest possible motor torque using fullstep drive
Cheaper motor does the job
1.10 Encoder Interface
The TMC5161 provides an encoder interface for external incremental encoders. The encoder provides
automatic checking for step loss and can be used for homing of the motion controller (alternatively to
reference switches). A programmable prescaler allows the adaptation of the encoder resolution to the
motor resolution. A 32 bit encoder counter is provided.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
