FlyingLotus1983
commented
8 years ago Here was the email response from Trinamic, when expaining our application, and asking them what settings we should use:
Hi Neil,
that sounds interesting. We have a new S-Ramp motion controller under preparation, it will be launched soon. The TMC2130 has been tested with it and performs great. S curves bring better acceleration values than trapezoidal, because of its lower jerk.
For the TMC2130, there is nothing special to consider:
In case you mix stealhChop and spreadCycle, you could either
- use stealthChop only for low velocity moves and / or standstill, or, use a low switching velocity, which probably would be within the first bow. At low velocities, switching does not cause a jerk.
- microPlyer makes the motor run smoothly also with S-curves, but you should use a basic microstep resolution of at least 8 microsteps, i.e. not try to extrapolate from fullstepping, as the pulses would be too few to give a smooth interpolation.
- ctOff mode - normally no reason to switch to it. Better use stealthChop and a low Toff (2-4)
- stallGuard - best try the motor on the evaluation board. It is good to see the stallGuard value while mechanically loading the motor to get a feeling for it and to find the applicable range.
- Concerning coolStep: You are right, you can just disable it. It makes most ense, when the load changes during a long constant velocity motion.
- All you should need for a precise motion is
- CHOPCONF (use spreadCycle, TOFF=4 for a start) and set a low hysteresis value, and set interpol flag.
- IRUNIHOLD setting
- later on add stealthChop for standstill and slow motion, using PWMCONF and GCONF.2. Then set the transistion velocity using TPWMTHRS.
Later on, you can use the diagnostic flags and stallGuard.
Best regards,
Bernhard
A page has been created to track the optimal TMC2130 settings:
https://github.com/TinWhiskers/fpd-design/wiki/Research---TMC2130-Settings