TMC5062-LA 데이터 시트보기 (PDF) - Unspecified

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TMC5062-LA

POWER DRIVER FOR STEPPER MOTORS

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TMC5062 DATASHEET (Rev. 1.10 / 2016-APR-28)

7

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. The motion

controller recalculates 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. The integrated motion controller supports

immediate reaction to mechanical reference switches and to the sensorless stall detection stallGuard2.

Benefits are:

- Flexible ramp programming

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

- 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:

- Significantly improved microstepping with low cost motors

- Motor runs smooth and quiet

- Reduced mechanical resonances yields improved torque

1.6 stallGuard2 – 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.

1.7 coolStep – Load Adaptive Current Control

coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement

information to adjust the motor current to the minimum amount required in the actual load situation.

This saves energy and keeps the components cool, making the drive an efficient and precise solution.

Benefits are:

- Energy efficiency

- Motor generates less heat

- Less or no cooling

- Use of smaller motor

power consumption decreased up to 75%

improved mechanical precision

improved reliability

less torque reserve required → cheaper motor does the job

Figure 1.2 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to

standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example.

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