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Arduino TMC26X Stepper Motor Controller Library
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===============================================
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License
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-------
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TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino
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based on the stepper library by Tom Igoe, et. al.
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Copyright (c) 2011, Interactive Matter, Marcus Nowotny
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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About
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-----
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The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site:
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The TMC262 is the first energy efficient high current high precision microstepping driver
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IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™
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is used to for the world’s first integrated load dependent current control feature called coolStep™.
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The ability to read out the load and detect an overload makes the TMC262 an optimum choice for
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drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed
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decay chopper scheme ensures best zero crossing performance as well as high speed operation.
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The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface.
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Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the
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input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device
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very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches
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highest energy efficiency and allows driving of a high motor current without cooling measures
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even at high environment temperatures.
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The unique features of the TMC26X are that everything can (and must) be controlled in software:
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* the motor current
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* microstepping
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* stall protection
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* current reduction according to load
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* stallGuard2™ sensorless load detection
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* coolStep™ load dependent current control
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* spreadCycle hysteresis PWM chopper
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* microPlyer 16-to-256 μStep multiplier
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* full protection and diagnostics
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This makes the TMC26X a bit harder to use than other stepper motors but much more versatile.
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This library resolves all the complicated stuff so that you can use TMC26X straight away.
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Furthermore, all the settings are implemented in high level interfaces so that configuring your
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motor is a breeze.
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How to use
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----------
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Check out the Setup Guide here:
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And the How To here:
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