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TMC4210 Datasheet(PDF) 20 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 20 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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20 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 20 www.trinamic.com 6.1.3 V_MIN (IDX=%0010) This register holds the absolute velocity value at or below which the stepper motor can be stopped abruptly. UNIT OF VELOCITY The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX, V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 6.1.12 for details) and depends on the clock frequency of the TMC4210. DECELERATION - The parameter V_MIN is relevant for deceleration while reaching a target position. V_MIN should be set greater than zero. - This control value allows reaching the target position faster because the stepper motor is not slowed down below V_MIN before the target is reached. - Due to the finite numerical representation of integral relations the target position cannot be reached exactly, if the calculated velocity is less than one, before the target is reached. Setting V_MIN to at least one assures reaching each target position exactly. t v(t) t0 t1 t3 t4 t2 Δv t7 t8 t5 Δv t6 acceleration constant velocity deceleration acceleration deceleration Δt01 Δt56 Figure 6.1 Velocity ramp parameters and velocity profiles 6.1.4 V_MAX (IDX=%0011) This parameter sets the maximum motor velocity. The absolute value of the velocity will not exceed this limit, except if the limit V_MAX is changed during motion to a value below the current velocity. UNIT OF VELOCITY The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX, V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 6.1.12 for details) and depends on the clock frequency of the TMC4210. HOMING PROCEDURE To set target position X_TARGET and current position X_ACTUAL to an equivalent value (e.g. to set both to zero at a reference point) the stepper motor should be stopped first and the parameter V_MAX should be set to zero to hold the stepper motor at rest before writing into the register X_TARGET and X_ACTUAL. 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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