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TMC4210 Datasheet(PDF) 23 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) 23 Page - TRINAMIC Motion Control GmbH & Co. KG.

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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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