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TMC4210 Datasheet(PDF) 19 Page - TRINAMIC Motion Control GmbH & Co. KG.

Part # TMC4210
Description  MOTION CONTROLLER FOR STEPPER MOTORS
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Manufacturer  TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Direct Link  http://www.trinamic.com
Logo TRINAMIC - TRINAMIC Motion Control GmbH & Co. KG.

TMC4210 Datasheet(HTML) 19 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
19
www.trinamic.com
6.1.1 X_TARGET (IDX=%0000)
This register holds the current target position in units of microsteps.
UNIT OF TARGET POSITION
The unit of the target position depends on the setting of the associated microstep resolution register
usrs.
POSITIONING
-
If the difference X_TARGET to X_ACTUAL is not zero and R_M = ramp_mode or soft_mode, the
TMC4210 moves the stepper motor in the direction of X_TARGET in order to position X_ACTUAL to
X_TARGET. Usually X_TARGET is modified to start a positioning.
-
The condition | X_TARGET – X_ACTUAL | < 223 must be satisfied for motion into correct direction.
-
Target position X_TARGET and current position X_ACTUAL may be altered on the fly.
-
To move from one position to another, the ramp generator of the TMC4210 automatically
generates ramp profiles in consideration of the velocity limits V_MIN and V_MAX and acceleration
limit A_MAX.
The registers X_TARGET, X_ACTUAL, V_MIN, V_MAX, and A_MAX are initialized with zero after power up.
6.1.2 X_ACTUAL (IDX=%0001)
The current position of the stepper motor is available by read out of the registers called X_ACTUAL.
The actual position can be overwritten by the microcontroller. This feature is important for the
reference switch position calibration controlled by the microcontroller.
UNIT OF CURRENT POSITION
The unit of the target position depends on the setting of the associated microstep resolution register
usrs.
Attention
Before overwriting X_ACTUAL choose velocity_mode or hold_mode.
If X_ACTUAL is overwritten in ramp_mode or soft_mode the motor directly drives to X_TARGET.


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