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TMC4210 Datasheet(PDF) 23 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 23 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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23 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 23 www.trinamic.com 6.1.9.1 Calculation of the Proportionality Factor p The representation of the proportionality factor p by the two parameters PMUL and PDIV is a floating point representation. NOTATIONS Registers are PMUL and PDIV. Operating values are PMUL and PDIV. CALCULATE P AS FOLLOWS: ���� = ���������������� ���������������� with P MUL = 128… 255 representing a factor of 1.000 to 1.992 (=1+127/128) P DIV = {2 3, 24, 25… 214, 215, 216} P MUL ranges from 128 to 255. PDIV is a power of two with a range from 8 to 65536. Values of p less than 128 can be achieved by increasing P DIV. The TMC4210 does not directly store the PDIV parameter. The motion controller stores PDIV with ���������������� = 23+���������������� NOTE - Setting the factor p too small will result in a slow approach to the target position. - Setting the factor p too large will cause overshooting and even oscillations around the target position. - The parameters PMUL and PDIV share the address IDX=%1001. The MSB of PMUL is fixed set to 1 and cannot be changed. This way, PMUL represents a mantissa in the range 1.000 (%1000 0000) to 1.992 (%1111 1111). V_MAX Target Position Calculation Velocity Ramp Generator (Micro-) Step pulses V_TARGET X_TARGET X_ACTUAL PDIV PMUL A_MAX V_MIN PULSE_DIV RAMP_DIV clk32 CLOCK_DIV32 clk V_ACTUAL Puls Generator Figure 6.2 Target position calculation, ramp generator, and pulse generator 6.1.9.1.1 Calculation of p for a Given Acceleration p and the fitting PMUL and PDIV values can be calculated by the microcontroller. Optionally a pair of matching values of A_MAX, PMUL and PDIV can be stored into the microcontroller memory. The acceleration limit is a stepper motor parameter which is fixed in most applications. If the acceleration limit has to be changed nevertheless, the microcontroller can calculate a pair of PMUL and PDIV on demand for each new acceleration limit A_MAX with RAMP_DIV and PULSE_DIV. Also, pre-calculated pairs of PMUL and PDIV read from a table can be sufficient. 6.1.9.2 Calculation of PMUL and PDIV A pair of PMUL and PDIV has to be calculated for each provided acceleration limit A_MAX. Note, that there may be more than one valid pair of PMUL and PDIV for a given A_MAX acceleration limit. |
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