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TMC4210 Datasheet(PDF) 21 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 21 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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21 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 21 www.trinamic.com 6.1.5 V_TARGET (IDX=%0100) The use of V_TARGET depends on the chosen mode of operation: Mode of operation Functionality of V_TARGET ramp_mode The V_TARGET register holds the current target velocity calculated internally by the ramp generator. velocity_mode A target velocity can be written into the V_TARGET register. The stepper motor accelerates until it reaches the specified target velocity. The velocity is changed according to the motion parameter limits if the register V_TARGET is changed. hold_mode The register V_TARGET is ignored. soft_mode The V_TARGET register holds the current target velocity calculated internally by the ramp generator. 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 chapter 6.1.12 for details) and depends on the clock frequency of the TMC4210. 6.1.6 V_ACTUAL (IDX=%0101) This read-only register holds the current velocity of the associated stepper motor. Internally, the ramp generator of the TMC4210 processes with 20 bits while only 12 bits (the most significant bits) can be read out as V_ACTUAL. In hold_mode only, this register is a read-write register. Writing zero to the register V_ACTUAL immediately stops the associated stepper motor, because hidden bits are set to zero with each write access to the register V_ACTUAL. In hold_mode motion parameters are ignored and the microcontroller has the full control to generate a ramp. The TMC4210 only handles the microstepping and datagram generation for the associated stepper motor. UNIT The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX, V_TARGET, and V_ACTUAL) is defined by the parameter PULSE_DIV (see chapter 6.1.12 for details) and depends on the clock frequency of the TMC4210. An actual velocity of zero read out by the microcontroller means that the current velocity is in an interval between zero and one. Therefore the actual velocity should not be used to detect a stop of the stepper motor. It is advised to detect the target_reached flag instead. 6.1.7 A_MAX (IDX=%0110) This register defines the absolute value of the desired acceleration for velocity_mode and ramp_mode (resp. soft_mode) with a value range from 0 to 2047. Note The motion controller cannot stop the stepper motor if A_MAX is set to zero on the fly because afterwards the velocity cannot be changed automatically any more. UNIT The unit of the acceleration is change of step frequency per time unit divided by 256. The scale of acceleration parameters (A_MAX, A_ACTUAL, and A_THRESHOLD) is defined by the parameter RAMP_DIV (see section 6.1.12) and depends on the clock frequency of the TMC4210. 6.1.7.1 A_MAX in ramp_mode As long as RAMP_DIV PULSE_DIV – 1 is valid, any value of A_MAX within its range (0… 2047) is allowed and there exists a valid pair {PMUL, PDIV} for each A_MAX. The reason is that the acceleration scaling determined by RAMP_DIV is compatible with the step velocity scaling determined by PULSE_DIV. A large RAMP_DIV stands for low acceleration and a large PULSE_DIV stands for low velocity. Low acceleration is compatible with low speed and high speed as well, but high acceleration is more compatible with high speed. |
Similar Part No. - TMC4210 |
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Similar Description - TMC4210 |
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