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TMC4210 Datasheet(PDF) 24 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 24 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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24 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 24 www.trinamic.com CONSIDERATIONS FOR THE CALCULATION OF PMUL AND PDIV - To accelerate, the ramp generator accumulates the acceleration value to the actual velocity with each time step. - The absolute value V_MAX of the velocity internally is represented by 11+8=19 bits, while only the most significant 11 bits and the sign are used as input for the step pulse generator. So, there are 211=2048 values possible for specifying a velocity within a range of 0 to 2047. - The ramp generator accumulates 1/256*A_MAX with each time step to the actual velocity value V_ACTUAL during acceleration phases. This accumulation uses 8 bits for decimals. So, the acceleration from a velocity V_ACTUAL=0 to the maximum possible velocity V_MAX=2047 spans over 2048*256 / A_MAX pulse generator clock pulses. - Within the acceleration phase the pulse generator generates S = ½ * 2048* 256 / A_MAX * T steps for the (micro) step unit. - The parameter T is the clock divider ratio: T = 2RAMP_DIV/ 2PULSE_DIV= 2RAMP_DIV– PULSE_DIV During the acceleration, the velocity has to be increased until the velocity limit V_MAX is reached or deceleration is required in order to exactly reach the target position. The TMC4210 automatically determines the deceleration position in ramp_mode and decelerates. This calculation uses the difference between current position and target position and the proportionality parameter p, which has to be p = 2048 / S. The following formula results: ���� = 2048 ( 1 2 ∗ 2048 ∗ 256 ����������������) ∗ 2 ����������������_������������−��������������������_������������ This can be simplified to ���� = ����_������������ 128 ∗ 2����������������_������������−��������������������_������������ HINTS - To avoid overshooting, the parameter PMUL should be made approximately 1% smaller than calculated. Alternatively set p reduced by an amount of 1%. - If the proportionality parameter p is too small, the target position will be reached slower, because the slow down ramp starts earlier. The target position is approached with minimal velocity V_MIN, whenever the internally calculated target velocity becomes less than V_MIN. - With a good parameter p the minimal velocity V_MIN is reached a couple of steps before the target position. - With parameter p set a little bit too large and a small V_MIN overshooting of one step (respectively one microstep) may occur. A decrement of the parameter PMUL avoids this one-step overshooting. v V_MAX v(t) V_MIN p too small p too larg e t1 t0 t2 Figure 6.3 Proportionality parameter p and outline of velocity profile(s) |
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