TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino
Based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
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The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site:
The TMC262 is the first energy efficient high current high precision microstepping driver IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™ is used to for the world’s first integrated load dependent current control feature called coolStep™. The ability to read out the load and detect an overload makes the TMC262 an optimum choice for drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed decay chopper scheme ensures best zero crossing performance as well as high speed operation. The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface. Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches highest energy efficiency and allows driving of a high motor current without cooling measures even at high environment temperatures.
The unique features of the TMC26X are that everything can (and must) be controlled in software:
- the motor current
- microstepping
- stall protection
- current reduction according to load
- stallGuard2™ sensorless load detection
- coolStep™ load dependent current control
- spreadCycle hysteresis PWM chopper
- microPlyer 16-to-256 μStep multiplier
- full protection and diagnostics
This makes the TMC26X a bit harder to use than other stepper motors but much more versatile. This library resolves all the complicated stuff so that you can use TMC26X straight away. Furthermore, all the settings are implemented in high level interfaces so that configuring your motor is a breeze.
Check out the Setup Guide here: And the How To here: