TMC262硬件寄存器手册(中文).doc

TMC262寄存器手册（中文）关于TMC262全部写配置寄存器的一览表如表一所示：具体的包含5个寄存器：驱动控制寄存器（DRVCTRL)、斩波器控制寄存器（CHOPCONF)、智能控制寄存器（AMARTEN,也为COOLSETP）、负载监控控制寄存器（SGCSCONF）、控制配置寄存器（DRVCONF）。表一1、 Driver Control Register (DRVCTRL) 驱动控制寄存器它这里主要分为2种模式SETP/DIR模式与SPI模式，而这2中模式的选择取决于：控制配置寄存器中的：SDOFF mode bit。DRVCTRLDriver Control in STEP/DIR Mode (SDOFF=0)位 名字功能注释（Write 000X）190Register address bit 180Register address bit170保留160保留150保留140保留130保留120保留110保留100保留9INTPOLEnable STEP interpolation 0: Disable STEP pulse interpolation. 1: Enable STEP pulse multiplication by 16. STEP信号修改的使能0：禁止对STEP脉冲信号的插补1：允许，为16clock模式8DEDGE Enable double edgeSTEP pulses 0: Rising STEP pulse edge is active, falling edge is inactive. 1: Both rising and falling STEP pulse edges are active. 对于STEP信号脉冲沿方式的选择0：STEP信号为上升沿有效，下降沿无效。1：STEP信号为双沿有效（上升沿、下降沿都有效）70保留60保留50保留40保留 3 MRES3Microstep resolution for STEP/DIR mode/微步距进度配置Microsteps per 90: %0000: 256 %0001: 128 %0010: 64 %0011: 32 %0100: 16 %0101: 8 %0110: 4 %0111: 2 (halfstep) %1000: 1 (fullstep) 2 MRES2 1MRES100001000 一共 9 种方式：256，128，64，32，16，8，4，2，1 0MRES02、 Chopper Control Register (CHOPCONF) 斩波控制寄存器CHOPCONF Chopper Configuration位 名字功能注释（Write 100X）191Register address bit 180Register address bit170Register address bit 16TBL1Blanking time/斩波的空白时间（也就是关断时间）此时间需要安全的覆盖切换事件与持续的时间去响应检测电阻Blanking time interval, in system clock periods: %00: 16 %01: 24 %10: 36 %11: 54 15TBL0设置斩波控制的空白时间00-11，对应16-54个时钟周期。14CHM Chopper mode/斩波模式的选择This mode bit affects the interpretation of the HDEC, HEND, and HSTRT parameters shown below.0 ： Standard mode (spreadCycle) 1 ： Constant tOFF with fast decay time. Fast decay time is also terminated when the negative nominal current is reached. Fast decay is after on time. 此位对：HDEC，HEND，HSTRT参数的设置有影响。0：斩波模式, 1: 常系数模式，一般选择0。13RNDTF Random TOFF time Enable randomizing the slow decay phase duration: 0: Chopper off time is fixed as set by bits tOFF 1: Random mode, tOFF is random modulated by dNCLK= -12 +3 clocks. 随机TOFF时间。0：斩波时间固定 1：斩波时间可调 12HDEC1Hysteresis decrementinterval or Fast decay mode /磁滞损耗和快速衰减模式 (CHM=0: Hysteresis decrement period setting, in system clock periods: %00: 16 %01: 32 %10: 48 %11: 64)(CHM=1: HDEC1=0:current comparator can terminate the fast decay phase before timer expires. HDEC1=1: only the timer terminates the fast decay phase. HDEC0: MSB of fast decay time setting. )11HDEC0CHM=0:磁滞衰减周期设置： 00： 11：16，32，48，64 CHM=1常系数模式设置：HDEC1=1 禁止电流比较器作为快衰减的终止HDEC0：快衰减的时间最高位设置10HEND3 Hysteresis end (low) value or Sine wave offset /迟滞低位值或者正弦波偏置 CHM=0: %0000 %1111: Hysteresis is -3, -2, -1, 0, 1, , 12(1/512 of this setting adds to current setting) This is the hysteresis value which becomes used for the hysteresis chopper.CHM=1: %0000 %1111: Offset is -3, - 2, -1,0, 1, , 12 ,This is the sine wave offset and 1/512 of the value becomes added to the absolute value of each sine wave entry. 9HEND2 8HEND1 0000：1111：迟滞为-3，-212，当 CHM=1 时，这个表示正弦波偏置 7 HEND0 6HSTRT2Hysteresis start value or Fast decay time Setting/迟滞开始值或快衰时间设置CHM=0: Hysteresis start offset from HEND: %000: 1 %100: 5 %001: 2 %101: 6 %010: 3 %110: 7 %011: 4 %111: 8 Effective: HEND+HSTRT must be 15 CHM=1 :Three least-significant bits of the duration of the fast decay phase. The MSB is HDEC0. Fast decay time is a multiple of system clock periods: NCLK= 32 x (HDEC0+HSTRT) 5HSTRT14HSTRT0CHM=0: DAC 迟滞设置 000011：对应的HEND 增加5，68且 HEND+HSTRT must be 15 才有效。CHM=1: 快衰时间设置。NCLK= 32 x (HDEC0+HSTRT) 3TOFF3Off time/MOSFET disable /off time驱动使能（斩波慢衰减时间，影响开关频率）控制着慢衰减时间的持续时间，并控制着斩波的最大频率Duration of slow decay phase. If TOFF is 0, the MOSFETs are shut off. If TOFF is nonzero, slow decay time is a multiple of system clock periods: NCLK= 12 + (32 x TOFF) (Minimum time is 64clocks.) %0000: Driver disable, all bridges off %0001: 1 (use with TBL of minimum 24 clocks) %0010 %1111: 2 15 2TOFF2 1TOFF10000：禁止所有驱动器晶体管，电机可以自由转 0001：TBL 最小 24 个时钟周期00101111：215 0TOFF03、 coolStep Control Register (SMARTEN)智能控制寄存器SMARTEN Chopper Configuration位 名字功能注释（Write 1010X）191Register address bit 180Register address bit171Register address bit 160保留15SEIMINMinimum coolStep current /智能电流控制的最小电流0: CS current setting 1: CS current setting 0：设置电流的 1/2 1：设置电流的1/4 14SEDN1 Current decrement speed /智能电流的减少速度Number of times that the stallGuard2 value must be sampled equal to or above the upper threshold for each decrement of the coil current: %00: 32 %01: 8 %10: 2 %11: 1 13SEDN000：每 32 个负载衰减值电流减小一个单位 01：每 8 个负载衰减值电流减小一个单位10：每 2 个负载衰减值电流减小一个单位 11：每个负载衰减值电流减小一个单位 120保留11SEMAX3 Upper coolStep threshold as an offset from the lower threshold /最小电流控制时负载的磁滞值（高位安全门限） If the stallGuard2 measurement value SG is sampled equal to or above (SEMIN+SEMAX+1) x 32 enough times, then the coil current scaling factor is decremented. 10SEMAX2 9SEMAX1 8SEMAX0如果负载检测值（SEMIN+SEMAX+1）*32 电机电流回到安全值。00001111：015 70 保留6SEUP1 Current increment size /智能电流的增加速度Number of current increment steps for each time that the stallGuard2 value SG is sampled below the lower threshold: %00: 1 %01: 2 %10: 4 %11: 8 5SEUP0 每个负载测量值：0011：1，2，4，8 40保留 3SEMIN3Lower coolStep threshold/coolStep disable ）/智能电流控制的最小负载检测值和电流使能If SEMIN is 0, coolStep is disabled. If SEMIN is nonzero and the stallGuard2 value SG falls below SEMIN x 32, the coolStep current scalingfactor is increased. 2SEMIN2 1SEMIN10000：禁止电流控制如果负载检测值SEMIN*32，电机电流减小，负载转动角度将增加。 00011111：015 0SEMIN04、stallGuard2 Control Register (SGCSCONF) 负载监控控制寄存器SMARTEN Chopper Configuration位 名字功能注释（Write 110X）191Register address bit 181Register address bit170Register address bit 16SFILT stallGuard2 filter enable /负载检测滤波使能0: Standard mode, fastest response time. 1: Filtered mode, updated once for each four fullsteps to compensate for variation in motor construction, highest accuracy. 0：标准模式，最快的响应速度。1：滤波模式：每4个整步时信号偏差才补偿，最高时间精度150保留14SGT6 stallGuard2 threshold value / 负载阀值的设定 The stallGuard2 threshold value controls the optimum measurement range for readout and stall indicator output (SG_TST).A lower value results in a higher sensitivity and less torque is required to indicate a stall. The value is a twos complement signed integer. Values below -10 are not recommended. Range: -64 to +63 13SGT512SGT4这里的信号值控制负载的阀值输出，为输出设置最优化的边界，设定值越低，灵敏度越高，0 为大部分电机的工作开始值，设定值越高，灵敏度越低，需要更低转矩来决定负载值，不建议小于-10。11SGT3 10SGT2 9SGT18SGT070保留60保留50保留4CS4Current scale (scales digital currents A and B) /电流的标准A相或B相Current scaling for SPI and STEP/DIR operation. %00000 %11111: 1/32, 2/32, 3/32, 32/32 This value is biased by 1 anddivided by 32, so the range is 1/32 to 32/32. Example: CS=20 is 21/32 current. 3CS32CS2 1CS1驱动电流0-3100001111；分别对应 1/3232/32 0CS05、Driver Control Register (DRVCONF) 驱动配置寄存器DRVCONF Driver Configuration 位 名字功能注释（Write 111X）191Register address bit 181Register address bit171Register address bit 16TSTReserved TEST mode /为测试模式保留Must be cleared for normal operation. When set, the SG_TST output exposes digital test values, and the TEST_ANA output exposes analog test values. Test value selection is controlled by SGT1 and SGT0: TEST_ANA: %00: anatest_2vth, %01: anatest_dac_out, %10: anatest_vdd_half. SG_TST: %00: comp_A, %01: comp_B, %10: CLK, %11: on_state_xy 测试的时候必须清除的正常运行，设置为0，当设置为1时，SG_TST输出数字测试值，TEST_ANA 输出模拟测试值，输出测试值的选择由SGT1 and SGT0所决定。15SLPH1 Slope control, high side / 上功率管控制斜率 %00: Minimum %01: Minimum temperature compensation mode.%10: Medium temperature compensation mode. %11: Maximum In temperature compensated mode (tc), the MOSFET gate driver strength is increased if the overtemperature warning temperature is reached. This compensates for temperature dependency of high-side slope control. 14SLPH0 00：最小值，01：最小的温度补偿模式，10：中间值的温度补偿模式11：最大值在温度补偿模式中，随着温度的增加对MOSFET门级的驱动电流是增加的，如果超过警戒电流，温度的补偿模式会依靠上功率管斜率控制进行控制13SLPL1 Slope control, low side / 下功率管控制斜率%00: Minimum. %01: Minimum. %10: Medium. %11: Maximum. 12SLPL0 00&01：最小值，10：中间值，11：最大值110保留10DISS2GShort to GND protection disable / 短接到地保护使能0: Short to GND protection is enabled. 1: Short to GND protection is disabled. 0：使能，1：非使能 9TS2G1Short to GND detection timer /短接到地保护时间%00: 3.2s. %01: 1.6s. %10: 1.2s. %11: 0.8s.8TS2G07SDOFF STEP/DIR interface disable /STEP/DIR与SPI模式的选择0: Enable STEP/DIR operation. 1: Disable STEP/DIR operation. SPI interface is used to move motor. 0：STEP/DIR模式；1：SPI模式6VSENSESense resistor voltage-based current scaling /检测参考电压的边界0: Full-scale sense resistor voltage is 305mV. 1: Full-scale sense resistor voltage is 165mV. (Full-scale refers to a current setting of 31 and a DAC value of 255.) 0： 采样电压值最大 305mV,1:采样电压值最大165mV5RDSEL1 Select value for read out (RD bits) /读取返回项%00 Microstep position read back %01 stallGuard2 level read back %10 stallGuard2 and coolStep current level read back %11 Reserved, do not use 4RDSEL0 00：返回微步位置，01：返回负载值，10：读回负载和智能电流级别，11：保留，未使用 30保留20保留 10保留 00保留6、Read Response 读响应寄存器DRVSTATUS Read Response 位名字功能注释RDSEL=%00%01 %10 19MSTEP9 SG9SG9Microstep counter for coil A orstallGuard2 value SG9:0 or stallGuard2 value SG9:5 And coolStep value SE4:0 /一共有三种功能：1、返回 A 相在微步时的正弦列表值;2、 负载测试的 0-9 位;3、负载测试的9-5 位以及电流控制值. Microstep position in sine table for coil A in STEP/DIR mode. MSTEP9 isthe Polarity bit: 0: Current flows from OA1 pins to OA2 pins. 1: Current flows from OA2 pins to OA1 pins. /tallGuard2 value SG9:0. /stallGuard2 value SG9:5 and the actual coolStep scaling value SE4:0. 18MSTEP8 SG8SG817MSTEP7 SG7SG716MSTEP6 SG6SG615MSTEP5 SG5SG514MSTEP4 SG4SE4RDSEL=00:左示功能 1，RDSEL=01：左示功能 2 RDSEL=10:左示功能313MSTEP3 SG3SE312MSTEP2 SG2SE211MSTEP1 SG1SE110MSTEP0 SG0SE090807STST Standstill indicator /步进保持指示0: No standstill condition detected 1: No active edge occurred on the STEP input during the last 220 system clock cycles. 0：没有达到步进检测的条件1：指示在最近 220 次方时钟周期内没有步进脉冲6OLB Open load indicator /开路负载指示0: No open load condition detected. 1: No chopper event has happened during the last period with constant coil polarity. Only a current above 1/16 of the maximum setting can clear this bit! Hint: This bit is only a status indicator. The chip takes no other action when this bit is set. False indications may occur during fast motion and at standstill. Check this bit only during slow motion. 5OLA 0：无开路负载时。无斩波动作时为1，当有一个电流的最大设定值的1/16以上时，可以清除该位！注意：该位仅在一个状态指示灯。该芯片采取其他任何行动时，该位被设置。假的标志可能会出现在快速运动和静止状态。检查该位只在慢动作。4S2GB Short to GND detectio