Notebook: May 2026

🎥 Motion Controller ESP32

TMC2130 settings / troubleshooting

[NOTE] : The follow config control fine tune drivers behaviour, make sure all the config in diff functions all match up

IHOLD/IRUN - current levels (too low gives weak torque) :

reg.I_scale_analog - how current are manage / use:

• [ 0 ] - use internal digital current scaling from IHOLD_IRUN

internal_Rsense - current calculations :

• [ 0 ] - use external sense resistors

vsense - this changes current scaling range / sense voltage limit :

• [ 0 ] - low sensitivity (high V_fs, max torque/current range for motion rigs)

• [ 1 ] - high sensitivity (low V_fs, limits max current, runs quieter if small motor)

tpowerdown - can silently reduce current after idle timeout :

• [ low ] - motor relaxes after a second or two / change sound after sitting

StealthChop :

pwm_autoscale - automatic PWM tuning - off can cause screaming, unstable idle, weak torque

pwm_ampl - base PWM strength - too low gives weak hold, too high gives vibration/noise :

• too low - weak torque / poor startup

• too high - buzzing / harshness / idle vibration

• normal - 96 to 160, 255 is usually excessive

Pwm_grad - How aggressively PWM adapts - too low feels weak/sloppy, too high can buzz or oscillate :

• low - softer / smoother / weaker response

• too low - weak holding / drift / unstable autoscale

• high - more aggressive / tighter / stronger response

• too high - buzzing / vibration / twitching

Pwm_freq - PWM carrier frequency - higher values can increase driver heat / lower torque resolution :

• [ 0 ] - default frequency (~31.25kHz), lowest heat, best torque stability

• [ 1 ] - medium high frequency (~46.87kHz)

• [ 2 ] - high frequency (~62.5kHz)

• [ 3 ] - ultra high frequency (~78.12kHz)

SpreadCycle :

toff - Chopper enabled time - wrong values can destabilize current regulation (0 = driver disabled)

tbl - Blank time base - affects current sensing stability / filters spikes

hstrt/hend - SpreadCycle hysteresis - ignored entirely in StealthChop, only active in SpreadCycle

tpwmthrs - Speed threshold for StealthChop - wrong value can switch modes unexpectedly

[WIP] movie function

• keyframe control

• motion type (normal / spline)

• preset

• motor fine tune

🎥 Motion Control Rig

[WIP] motion control rig

• light weight slider redesign for finer adjustment

• HD slider with ballscrew

🤖 ECU Piggyback / Copilot Controller (Pinout)