TMC5160 rotates at low speed, motor vibrates

Question

Please tell me when TMC5160 rotates at low speed (500pps~100pps) The motor vibrates, what is the reason? Or what parameters of the TMC5160 can be adjusted to change this situation?

BernhardDwersteg · Answer

Hi, 
 motor vibration can be due to uneven microstep behavior, or, when you work with low microstep resolution, you may notice each microstep. 
 --> Use max. microstep resolution and try adapting microstep table waveform in a way that fits your motor better.

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TMC5160 rotates at low speed, motor vibrates