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KevinOConnor 2023-03-05 01:03:03 +00:00
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commit e6b2baba71
14 changed files with 131 additions and 1 deletions

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@ -1337,6 +1337,13 @@
[tmc2660]
</a>
</li>
<li class="md-nav__item">
<a href="#tmc2240" class="md-nav__link">
[tmc2240]
</a>
</li>
<li class="md-nav__item">
@ -3258,6 +3265,13 @@
[tmc2660]
</a>
</li>
<li class="md-nav__item">
<a href="#tmc2240" class="md-nav__link">
[tmc2240]
</a>
</li>
<li class="md-nav__item">
@ -6551,6 +6565,122 @@ run_current:
# HDEC) is interpreted as the MSB of HSTRT in this case).
</code></pre></div>
<h3 id="tmc2240">[tmc2240]<a class="headerlink" href="#tmc2240" title="Permanent link">&para;</a></h3>
<p>Configure a TMC2240 stepper motor driver via SPI bus. To use this
feature, define a config section with a "tmc2240" prefix followed by
the name of the corresponding stepper config section (for example,
"[tmc2240 stepper_x]").</p>
<div class="highlight"><pre><span></span><code>[tmc2240 stepper_x]
cs_pin:
# The pin corresponding to the TMC2240 chip select line. This pin
# will be set to low at the start of SPI messages and raised to high
# after the message completes. This parameter must be provided.
#spi_speed:
#spi_bus:
#spi_software_sclk_pin:
#spi_software_mosi_pin:
#spi_software_miso_pin:
# See the &quot;common SPI settings&quot; section for a description of the
# above parameters.
#chain_position:
#chain_length:
# These parameters configure an SPI daisy chain. The two parameters
# define the stepper position in the chain and the total chain length.
# Position 1 corresponds to the stepper that connects to the MOSI signal.
# The default is to not use an SPI daisy chain.
#interpolate: True
# If true, enable step interpolation (the driver will internally
# step at a rate of 256 micro-steps). The default is True.
run_current:
# The amount of current (in amps RMS) to configure the driver to use
# during stepper movement. This parameter must be provided.
#hold_current:
# The amount of current (in amps RMS) to configure the driver to use
# when the stepper is not moving. Setting a hold_current is not
# recommended (see TMC_Drivers.md for details). The default is to
# not reduce the current.
#rref: 12000
# The resistance (in ohms) of the resistor between IREF and GND. The
# default is 12000.
#stealthchop_threshold: 0
# The velocity (in mm/s) to set the &quot;stealthChop&quot; threshold to. When
# set, &quot;stealthChop&quot; mode will be enabled if the stepper motor
# velocity is below this value. The default is 0, which disables
# &quot;stealthChop&quot; mode.
#driver_MSLUT0: 2863314260
#driver_MSLUT1: 1251300522
#driver_MSLUT2: 608774441
#driver_MSLUT3: 269500962
#driver_MSLUT4: 4227858431
#driver_MSLUT5: 3048961917
#driver_MSLUT6: 1227445590
#driver_MSLUT7: 4211234
#driver_W0: 2
#driver_W1: 1
#driver_W2: 1
#driver_W3: 1
#driver_X1: 128
#driver_X2: 255
#driver_X3: 255
#driver_START_SIN: 0
#driver_START_SIN90: 247
#driver_OFFSET_SIN90: 0
# These fields control the Microstep Table registers directly. The optimal
# wave table is specific to each motor and might vary with current. An
# optimal configuration will have minimal print artifacts caused by
# non-linear stepper movement. The values specified above are the default
# values used by the driver. The value must be specified as a decimal integer
# (hex form is not supported). In order to compute the wave table fields,
# see the tmc2130 &quot;Calculation Sheet&quot; from the Trinamic website.
# Additionally, this driver also has the OFFSET_SIN90 field which can be used
# to tune a motor with unbalanced coils. See the `Sine Wave Lookup Table`
# section in the datasheet for information about this field and how to tune
# it.
#driver_IHOLDDELAY: 6
#driver_IRUNDELAY: 4
#driver_TPOWERDOWN: 10
#driver_TBL: 2
#driver_TOFF: 3
#driver_HEND: 2
#driver_HSTRT: 5
#driver_FD3: 0
#driver_TPFD: 4
#driver_CHM: 0
#driver_VHIGHFS: 0
#driver_VHIGHCHM: 0
#driver_DISS2G: 0
#driver_DISS2VS: 0
#driver_PWM_AUTOSCALE: True
#driver_PWM_AUTOGRAD: True
#driver_PWM_FREQ: 0
#driver_FREEWHEEL: 0
#driver_PWM_GRAD: 0
#driver_PWM_OFS: 29
#driver_PWM_REG: 4
#driver_PWM_LIM: 12
#driver_SGT: 0
#driver_SEMIN: 0
#driver_SEUP: 0
#driver_SEMAX: 0
#driver_SEDN: 0
#driver_SEIMIN: 0
#driver_SFILT: 0
# Set the given register during the configuration of the TMC2240
# chip. This may be used to set custom motor parameters. The
# defaults for each parameter are next to the parameter name in the
# above list.
#diag0_pin:
#diag1_pin:
# The micro-controller pin attached to one of the DIAG lines of the
# TMC2240 chip. Only a single diag pin should be specified. The pin
# is &quot;active low&quot; and is thus normally prefaced with &quot;^!&quot;. Setting
# this creates a &quot;tmc2240_stepper_x:virtual_endstop&quot; virtual pin
# which may be used as the stepper&#39;s endstop_pin. Doing this enables
# &quot;sensorless homing&quot;. (Be sure to also set driver_SGT to an
# appropriate sensitivity value.) The default is to not enable
# sensorless homing.
</code></pre></div>
<h3 id="tmc5160">[tmc5160]<a class="headerlink" href="#tmc5160" title="Permanent link">&para;</a></h3>
<p>Configure a TMC5160 stepper motor driver via SPI bus. To use this
feature, define a config section with a "tmc5160" prefix followed by