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TMC4210 Datasheet(PDF) 6 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 6 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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6 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 6 www.trinamic.com 1.4 Step Frequencies INITIALIZE THE STEP/DIR INTERFACE! The Step/Dir interface has to be initialized by writing 1 to en_sd. Refer to chapter 6.2.1. The desired motor velocity is an important design parameter of an application. Therefore it is important to understand the limiting factors. 1.4.1 Step Frequencies using the Step/Dir Driver Interface The step pulses can directly be fed to a Step/Dir driver. The maximum full step rate (fsf max) depends on the microstep resolution of the external driver chip. The TMC4210 microstep rate (µsf) is up to 1/32 of the clock frequency: µ����f������������ = fCLK 32 EXAMPLE FOR FULL STEP FREQUENCY CALCULATION f CLK = 16 MHz µsf max = 500 kHz µstep resolution of external driver: 16 ������������������������ = 500 ������������ 16 = 31.25 ������������ With a standard motor with 1.8° per full step this results in up to 31.25kHz/200= 156 rotations per second, which is far above realistic motor velocities for this kind of motor and thus imposes no real limit on the application. A 16 microsteps resolution can be extrapolated to 256 microsteps within the driver when using the TMC26x 2-phase stepper driver family or the TMC389 3-phase stepper motor driver. |
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