TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 23

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5.3.2
At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC
level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents
are then set to their hold values Ihold. The figure below illustrates the mechanism:
Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are
available for Irun current and 16 values for Ihold current. The table below shows the corresponding
current values.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
i
Transition Irun to Ihold
Irun / Ihold setting
(hexadecimal)
Figure 12: Transition Irun to Ihold
Table 12: Irun / Ihold Settings
I = I
0xC
0xD
0xA
0xB
0xE
0xF
0x0
0x1
0x2
0x3
0x4
0x5
0x6
0x7
0x8
0x9
run
Peak Current
[mA]
100
119
141
168
200
238
283
336
400
476
566
673
800
59
71
84
I = I
hold
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t