HF-TMC51x0 Driver (TMC5130 & TMC5160) 0.1.0-dev
Hardware Agnostic C++ Driver for the TMC51x0 (TMC5130 & TMC5160)
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Static Public Attributes | List of all members
tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369 Struct Reference

Motor Configuration for Applied Motion 5034-369 NEMA 34 Stepper Motor. More...

#include <esp32_tmc51x0_test_config.hpp>

Static Public Attributes

static constexpr uint16_t RATED_CURRENT_MA = 4170
 
static constexpr float GEAR_RATIO = 1.0f
 
static constexpr uint16_t MOTOR_FULL_STEPS = 200
 
static constexpr uint16_t OUTPUT_FULL_STEPS = MOTOR_FULL_STEPS
 
static constexpr uint32_t RESISTANCE_MOHM = 840
 
static constexpr float INDUCTANCE_MH = 10.4f
 
static constexpr uint32_t SUPPLY_VOLTAGE_MV = 24000
 
static constexpr uint16_t TARGET_RUN_CURRENT_MA = 4170
 
static constexpr uint16_t TARGET_HOLD_CURRENT_MA = 2150
 
static constexpr tmc51x0::MicrostepResolution MRES = tmc51x0::MicrostepResolution::MRES_256
 
static constexpr bool INTERPOLATION = true
 
static constexpr uint8_t TOFF = 5
 
static constexpr uint8_t HEND = 3
 
static constexpr uint8_t HSTRT = 4
 
static constexpr uint8_t TBL = 2
 
static constexpr bool STEALTH_AUTOSCALE = true
 
static constexpr bool STEALTH_AUTOGRAD = true
 
static constexpr uint8_t STEALTH_FREQ = 1
 
static constexpr uint8_t STEALTH_OFS = 30
 
static constexpr float RAMP_VSTART_RPM = 5.0f
 
static constexpr float RAMP_VSTOP_RPM = 3.0f
 
static constexpr float RAMP_VMAX_RPM = 60.0f
 
static constexpr float RAMP_AMAX_REV_S2 = 5.0f
 
static constexpr float RAMP_DMAX_REV_S2 = 5.0f
 
static constexpr float RAMP_A1_REV_S2 = 2.5f
 
static constexpr float RAMP_D1_REV_S2 = 2.5f
 
static constexpr float RAMP_V1_RPM = 18.0f
 
static constexpr float RAMP_TPOWERDOWN_MS = 100.0f
 
static constexpr float RAMP_TZEROWAIT_MS = 0.0f
 
static constexpr float IHOLDDELAY_MS = 400.0f
 
static constexpr float STEALTH_VELOCITY_THRESHOLD_RPM = 500.0f
 

Detailed Description

Motor Configuration for Applied Motion 5034-369 NEMA 34 Stepper Motor.

Model: Applied Motion Products 5034-369

  • Rated Current (Bipolar Series): 4.17A / Phase
  • Step Angle: 1.8°
  • Holding Torque (Bipolar Series): 636 oz-in (4.5 Nm)
  • Resistance (Bipolar Series): 0.84 Ohms/phase
  • Inductance (Bipolar Series): 10.4 mH/phase
  • Gear Ratio: 1.0:1 (Direct Drive)
  • Steps/Rev (Output Shaft): 200 steps

Driver Settings:

  • Microsteps: 256 (MRES=0) for maximum smoothness
  • Current: Run=4.17A (100% rated), Hold=2.08A (50% rated)
  • Global Scaler: 256 (Full scale for maximum current capacity)
  • Chopper: TOFF=5, HEND=3, HSTRT=4 (Typical for NEMA34)

NOTE: This motor requires significantly higher current than NEMA 17 motors. Ensure power supply can deliver adequate current (5A+ recommended).

Member Data Documentation

◆ GEAR_RATIO

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::GEAR_RATIO = 1.0f
staticconstexpr

◆ HEND

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::HEND = 3
staticconstexpr

◆ HSTRT

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::HSTRT = 4
staticconstexpr

◆ IHOLDDELAY_MS

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::IHOLDDELAY_MS = 400.0f
staticconstexpr

◆ INDUCTANCE_MH

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::INDUCTANCE_MH = 10.4f
staticconstexpr

◆ INTERPOLATION

constexpr bool tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::INTERPOLATION = true
staticconstexpr

◆ MOTOR_FULL_STEPS

constexpr uint16_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::MOTOR_FULL_STEPS = 200
staticconstexpr

◆ MRES

constexpr tmc51x0::MicrostepResolution tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::MRES = tmc51x0::MicrostepResolution::MRES_256
staticconstexpr

◆ OUTPUT_FULL_STEPS

constexpr uint16_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::OUTPUT_FULL_STEPS = MOTOR_FULL_STEPS
staticconstexpr

◆ RAMP_A1_REV_S2

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_A1_REV_S2 = 2.5f
staticconstexpr

◆ RAMP_AMAX_REV_S2

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_AMAX_REV_S2 = 5.0f
staticconstexpr

◆ RAMP_D1_REV_S2

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_D1_REV_S2 = 2.5f
staticconstexpr

◆ RAMP_DMAX_REV_S2

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_DMAX_REV_S2 = 5.0f
staticconstexpr

◆ RAMP_TPOWERDOWN_MS

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_TPOWERDOWN_MS = 100.0f
staticconstexpr

◆ RAMP_TZEROWAIT_MS

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_TZEROWAIT_MS = 0.0f
staticconstexpr

◆ RAMP_V1_RPM

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_V1_RPM = 18.0f
staticconstexpr

◆ RAMP_VMAX_RPM

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_VMAX_RPM = 60.0f
staticconstexpr

◆ RAMP_VSTART_RPM

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_VSTART_RPM = 5.0f
staticconstexpr

◆ RAMP_VSTOP_RPM

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RAMP_VSTOP_RPM = 3.0f
staticconstexpr

◆ RATED_CURRENT_MA

constexpr uint16_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RATED_CURRENT_MA = 4170
staticconstexpr

◆ RESISTANCE_MOHM

constexpr uint32_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::RESISTANCE_MOHM = 840
staticconstexpr

◆ STEALTH_AUTOGRAD

constexpr bool tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::STEALTH_AUTOGRAD = true
staticconstexpr

◆ STEALTH_AUTOSCALE

constexpr bool tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::STEALTH_AUTOSCALE = true
staticconstexpr

◆ STEALTH_FREQ

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::STEALTH_FREQ = 1
staticconstexpr

◆ STEALTH_OFS

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::STEALTH_OFS = 30
staticconstexpr

◆ STEALTH_VELOCITY_THRESHOLD_RPM

constexpr float tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::STEALTH_VELOCITY_THRESHOLD_RPM = 500.0f
staticconstexpr

◆ SUPPLY_VOLTAGE_MV

constexpr uint32_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::SUPPLY_VOLTAGE_MV = 24000
staticconstexpr

◆ TARGET_HOLD_CURRENT_MA

constexpr uint16_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::TARGET_HOLD_CURRENT_MA = 2150
staticconstexpr

◆ TARGET_RUN_CURRENT_MA

constexpr uint16_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::TARGET_RUN_CURRENT_MA = 4170
staticconstexpr

◆ TBL

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::TBL = 2
staticconstexpr

◆ TOFF

constexpr uint8_t tmc51x0_test_config::MotorConfig_AppliedMotion_5034_369::TOFF = 5
staticconstexpr
The documentation for this struct was generated from the following file: