These famous silent stepper drivers integrate the following advanced features:
- stealthChop (TMC2130 – TMC2208 ) / stealthChop2 (TMC2100)
- coolStep (TMC2130)
- stallguard (TMC2130)
- dcStep-load (TMC2130)
Features in detail:
Here is the description of each feature
- StealthChop & Spreadcycle
StealthChop allows to have silent and performant stepper motors
Stepper motors running at low speed show a phenomenon called magnetostriction producing high pitch audible frequencies.
The driver is regulating the voltage modulation of the motor in order to minimize current fluctuations. The resulted noise level is around 10dB(A) which is lower than standard modes.
The Stealthchop performances are described in details here: Pdf available here
Torque Comparison between StealthChop vs Spreadcycle (disponible en pdf ici)
Here is a summary chart showing you which mode is better suited for your application
–For low speeds and average acceleration: use mode Stealthchop
–For average/fast speeds and accelerations : prefer mode SpreadCycle
here is the official video about Stealthchop and SpreadCycle
- Stallguard2 & Coolstep
– full documentation of StallGuard2 & Coolstep available here
Stallguard2 Allows to senselessly measure with high precision the load resistance using back EMF feedbacks inside the motor coils.
In order to get reliable measurements, the stepper motor must work in micro stepping mode.
Coolstep adapts the current inside the coils based on the load on the motor shaft measured Stallguard2 . The energy consumption can be reduced by 75%. Heat dissipation is also greatly impacted.
Here is another official video showing Stallguard and Coolstep modes
- DcStep (documentation here)
When an open loop driver is about to loose a step feature DcStep will reduce the motor speed in order to adapt to the load. DcStep maintains the motor position and step count.
A working range is needed in order to make sure the feature is functioning properly so that the motor torque and speed are maintained in a reasonable range.
With this feature, the stepper motor is acting as a DC motor in terme of energy efficiency.Meaning that the speed is reduced if the load is too high in order to increase motor’s torque.This allows to keep the motor position and step counts.
This mode is used in average or high speed ranges
Here is a graphic showing the working range of DcStep
SPI cable for TMC2130
This cable is compatible with Ramps 1.4 / MKS GEN 1.4 / MKS GEN-L and is available here
It allows to connect 2 TMC2130 drivers to the SPI port (often used for X/Y axis).
it’s connected to the AUX-3 of the Ramps 1.4 board
Special Note about the SPI cable:
With Ramps 1.4 Using this as is requires that you don’t use any LCD screen as the SPI channel will be used / link with the LCD screen. You can still use this port + LCD screen if you somehow manage to attach the wire on top of the LCD connector bread board.
If you are using MKS GEN boards, you will have a separate sets of pins available and you will be able to use LCD screen without soldering.
Note however that pin D49 (black wire) is used for the SD card detect pin so it will be already in use when you will configure your Y axis driver!
Also note that pin D53 (Blue wire) is used for the SD card Init pin so it will be already in use when you will configure your X axis driver!
The workaround is to remove the black wire from the 2×4 pins connector and connect it to pin D44 on the AUX-2 .
Same for for the blue wire, connect it to D42 on the Aux-2
Tip with the Dupont housing: With the TMC2100 drivers you should already have a 4 pins cable with separate pins. You can remove 1 single pin black dupont connector housing and use it on the black wire you have just rewired.
On marlin side you just have to reroute the D49 pin to D44 and D53 into pin D42
Go into pins_RAMPS.h around
#define Y_CS_PIN 49
#define Y_CS_PIN 44
#define X_CS_PIN 53
#define X_CS_PIN 42