Trinamic stepper driver plugin

This plugin adds settings, M-Code extensions and reports for TMC2130, TMC2209, TMC2660 and TMC5160 stepper drivers.

M-codes

Some Marlin-style M-codes are supported: M122, M569, M911, M912, M913, M914 and M919 - some with extensions and some with a sligthly different syntax.

M122 - output debug info or reset driver.

M122 axisletters <H-> <S-> <Q-> <I>

• H - 0 = SFILT off, 1 = SFILT on (TMC2130) only.
• I - reinitialize driver.
• S - 0 = disable StallGuard and live output of sg-value, 1 = enable StallGuard and live output.
• Q - not yet enabled.

Examples:
M122 - output debug info for all enabled drivers. This is a plain text report, do not issue from a sender!
M122 Y - output debug info for Y axis only. This is a plain text report, do not issue from a sender!
M122 I - reset drivers.
M122 X S1 - enable live output of StallGuard value for tuning. Do not enable when running g-code jobs!

M569 - Set chopper timing.

M569 axisletters <S->

Toggle between, or switch to, StealthChop™ and/or SpreadCycle™ mode. Available for TMC2130, TMC2209 and TMC5160 drivers.

• S - 0 = disable StealthChop, 1 = enable StealthChop.

Examples:
M569 X S1 - Set X-axis mode to StealthChop.
M569 X - Toggle X-axis mode.
M569 XY S1 - Set X- and Y-axis mode to StealthChop.
M569 - output the current configuration.

M906 - set stepper current

M906 axiswords

Example:
M122 X700 Y950 - set stepper current for X-motors to 700mA RMS and Y-motors to 950mA.

Note

Stepper current is not permanently stored.

M911 - Report prewarn flags

M911

M912 - Clear prewarn flags

M912

M913 - Set hybrid threshold

M913 axiswords

Example:
M913 X31

Note

Hybrid threshold is not permanently stored.

M914 - Set homing sensitivity.

M914 axiswords

Example:
M914 X31

Note

Homing sensitivity is not permanently stored.

M919 - Set chopper timing.

M919 axisletters <O-> <P-> <S->

• O - Time-off (toff: 1..15) value, if omitted reset to default value.
• P - Hysteresis end (hend: -3..12) value, if omitted reset to default value.
• S - Hysteresis start (hstart: 1..8) value, if omitted reset to default value.

Examples:
M919 X O4 - Set X-axis time-off to 4.
M919 - output the current configuration.

Note

hstart + hend must be ≤ 15.

Note

Currently default values are common for all axes and changing the configuration via $-settings will overwrite any values set by M919.

Note

Chopper timings are not permanently stored.

Settings

Settings are provided for axis enable, homing, stepper current, microsteps and sensorless homing. More to follow.

$14x - Stepper current. x = 0 for X-axis, 1 for Y axis etc.

$15x - Motor microsteps. x = 0 for X-axis, 1 for Y axis etc.

Valid values are 1, 2, 4, , 8, 16, 32, 64, 128 and 256.

$20x - StallGuard sensitivity, fast (locate) threshold. x = 0 for X-axis, 1 for Y axis etc.

Range is -64 to 63 for Stallguard2 (TMC2130, TMC5160), 0 - 255 for StallGuard4 (TMC2209).

$21x - Hold current as percentage of stepper current. x = 0 for X-axis, 1 for Y axis etc.

$22x - StallGuard sensitivity, slow (seek) threshold. x = 0 for X-axis, 1 for Y axis etc.

Range is -64 to 63 for Stallguard2 (TMC2130, TMC5160), 0 - 255 for StallGuard4 (TMC2209).

$338 - Driver enable

Parameter is a axismask where value is sum of X=1, Y=2, Z=4 etc.

Note

Some boards does not allow mixed drivers, for these this setting is not available.

$339 - Sensorless homing enable

Parameter is a axismask where value is sum of X=1, Y=2, Z=4 etc.

Sensorless homing requires tuning of parameters, the datasheet has information about how to:

TMC2130
TMC2209
TMC2660
TMC5160

Some parameters are hard coded and require recompilation/reflashing to change.

Note that tuning is not trivial, for one-off machines it is likely that endstop switches will be the best/easiest option to implement.

Advanced settings

It is possible to enable settings for some chopper mode and CoolStep parameters by adding/uncommenting this line in my_machine.h and recompiling:

#define TRINAMIC_EXTENDED_SETTINGS 1

$651 - Chopper off time (toff).

Range is 1 to 15.

$652 - Chopper blanking time (tbl).

Range is 0 to 3.

$653 - Chopper mode (chm).

0 - Spreadcycle, 1 - Constant toff.

$654 - Chopper hysteresis start (hstrt).

Range is 1 to 8.

$655 - Chopper hysteresis end (hend).

Range is -3 to 12.

$656 - Chopper hysteresis interval decrement (hdec).

Range is 0 to 3.

$657 - Chopper random time off enable (hdec).

0 - fixed, 1 - random.

$659 - Lower CoolStep threshold (semin).

0 - CoolStep off, 1 - 15 threshold range.

$660 - CoolStep current increment (seup).

Range is 0 to 3.

$661 - Upper CoolStep threshold (semax).

Range is 0 to 15.

$662 - CoolStep sample count (sedn).

Range is 0 to 3.

$663 - CoolStep current factor (seimin).

0 - ½, 1 - ¼.

Note

These settings will be applied to all drivers, use M919 if you want to change some chopper parameters per driver.
If this option is enabled or disabled all plugin settings will be reset to default values.

Note

For a detailed description of what these settings applies to please refer to the relevant driver datasheet linked above.

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The driver and driver configuration has to be extended to support these plugins.

Dependencies:

Trinamic library

Trinamic TMC2130 I2C<>SPI Bridge (optional)

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2024-11-18