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TMC4210 Datasheet(PDF) 27 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 27 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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27 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 27 www.trinamic.com 6.1.10 lp, RAMP_MODE, and REF_CONF (IDX=%1010) The configuration words REF_CONF and RAMP_MODE are accessed via a common address. LP , RAMP_MODE, AND REF_CONF Bit or Register Function RAMP_MODE The two bits RAMP_MODE (R_M) select one of the four possible stepping modes. lp The bit called lp (latched position) is a read only status bit. REF_CONF The configuration bits REF_CONF select the behavior of the reference switches. 6.1.10.1 RAMP_MODE Register TMC4210 MOTION MODES RAMP_MODE bits Mode Function %00 ramp_mode Default mode for positioning applications with trapezoidal ramp. This mode is provided as default mode for positioning tasks. %01 soft_mode Similar to ramp_mode, but with soft target position approaching. The target position is approached with exponentially reduced velocity. This feature can be useful for applications where vibrations at the target position have to be minimized. %10 velocity_mode Mode for velocity control applications, change of velocities with linear ramps. This mode is for applications, where stepper motors have to be driven precisely with constant velocity. %11 hold_mode The velocity is controlled by the microcontroller, motion parameter limits are ignored. This mode is provided for motion control applications, where the ramp generation is completely controlled by the microcontroller. |
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