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TMC4210 Datasheet(PDF) 22 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) 22 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
22
www.trinamic.com
Changing one parameter out of the triple {A_MAX, RAMP_DIV, PULSE_DIV} requires re-calculation of the
parameter pair {PMUL, PDIV} to update the associated register. For description of the parameters PMUL
and PDIV see section 6.1.9.
6.1.7.1.1 Deceleration in ramp_mode and soft_mode
If RAMP_DIV and PULSE_DIV differ more than one while deceleration in ramp_mode or soft_mode the
parameter A_MAX needs to have a lower limit (>1) and an upper limit (<2047). The reason is that the
deceleration ramp is internally limited to 219 steps (respectively microsteps).
THE LOWER LIMIT OF A_MAX IS GIVEN BY
����_��������������������������������_�������������������� = 2(����������������_������������−��������������������_������������−1)
-
With V_MAX set to
2048
2
( 1448) or lower the A_MAX
LOWER_LIMIT is half of this value.
-
If RAMP_DIV – PULSE_DIV – 1  0 the limit A_MAX
LOWER_LIMIT is 1 and the parameter A_MAX may be
set to 1.
THE UPPER LIMIT OF A_MAX IS GIVEN BY
����_��������������������������������_�������������������� = 2(����������������_������������−��������������������_������������+12) - 1
-
If RAMP_DIV – PULSE_DIV + 1  0 the A_MAX_UPPER_LIMIT is > 2048 and the parameter A_MAX
might be set to any value up to 2047.
CONDITIONS
The parameter A_MAX must not be set below A_MAX
LOWER_LIMIT except A_MAX is set to 0. The condition
A_MAX  A_MAX
LOWER_LIMIT as well as A_MAX  A_MAXUPPER_LIMIT must be satisfied to reach any target
position without oscillations. If that condition is not satisfied, oscillations around a target position
may occur.
6.1.8 A_ACTUAL (IDX=%0111)
The actual acceleration can be read out by the microcontroller from the A_ACTUAL read-only register.
The actual acceleration is used to select scale factors for the coil currents. It is updated with each
clock. The returned value A_ACTUAL is smoothed to avoid oscillations of the readout value. Thus,
returned A_ACTUAL values should not be used directly for precise calculations.
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.
6.1.9 PMUL & PDIV (IDX=%1001)
In ramp mode, the TMC4210 uses an internal algorithm to calculate the deceleration ramp on the fly.
This algorithm requires an additional proportionality factor P which allows the TMC4210 to calculate
the velocity required for stopping in time to exactly reach the target position without overshooting.
This calculation is done for each ramp step. The result of this calculation can be read in the register
V_TARGET. Whenever V_TARGET falls below the actual velocity, the TMC4210 decelerates. As there is a
large range of acceleration and velocity values, p is stored in a floating point representation, using
the registers PMUL (mantissa) and PDIV (exponent).
Using the proportionality factor P target positions are quickly reached without overshooting. The
proportionality factor primarily depends on the acceleration limit A_MAX and on the two clock divider
parameters PULSE_DIV and RAMP_DIV. These two separate clock divider parameters (set to the same
value for most applications) provide an extremely wide dynamic range for acceleration and velocity.
PULSE_DIV and RAMP_DIV allow reaching very high velocities with very low acceleration.
Changing one parameter out of the triple {A_MAX, RAMP_DIV, PULSE_DIV} requires re-calculation of the
parameter pair {PMUL, PDIV} to update the associated register.


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