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TMC4210 Datasheet(PDF) 25 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 25 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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25 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 25 www.trinamic.com 6.1.9.2.1 Choosing a Pair of PMUL and PDIV The calculation is based on the formula ���� = ���������������� ���������������� = ���������������� 23+���������������� CALCULATIONS 1. To represent the parameter p choose a pair of PMUL and PDIV which approximates p. 2. Value range for PMUL: 128… 255 3. Value range for PDIV: one out of {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13} (representing P DIV one out of {8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32786, 65536}) 4. Try all 128 * 14 = 1792 possible pairs of PMUL and PDIV with a program and choose a matching pair. 5. To find a pair, calculate for each pair of PMUL and PDIV ���� = ����_������������ 128∗2����������������_������������−��������������������_������������ and ����′ = ���������������� ���������������� = ���������������� 23+���������������� and ���� = ����′ ���� 6. Select one of the pairs satisfying the condition 0.95 < q < 1.0. The value q interpreted as a function q(a_max, ramp_div, pulse_div, pmul, pdiv) gives the quality criterion required. Although q = 1.0 indicates that the chosen P_MUL and P_DIV perfectly represent the desired p factor for a given A_MAX, overshooting could result because of finite numerical precision. On the other hand in case of high resolution microstepping, overshooting of one microstep is negligible in most applications. To avoid overshooting, use P_MUL-1 instead of the selected P_MUL or select a pair (P_MUL, P_DIV) with q = 0.99. 6.1.9.2.2 Optimized Calculation of PMUL and PDIV The calculation of the parameters PMUL and PDIV can be simplified using the expression ���������������� = ���� ∗ 23 ∗ 2���������������� with ���� = ����_������������ 128∗2����������������_������������−��������������������_������������ To avoid overshooting, use �������������������������������� = ���� ∗ (1 − ����������������������������������������[%]) with p_reduction approximately 1% This results in: ���������������� = �������������������������������� ∗ 23 ∗ 2���������������� = 0.99 ∗ ���� ∗ 23 ∗ 2���������������� PMUL becomes a function of the parameter PDIV. To find a valid pair {PMUL, PDIV} choose one out of 14 pairs for PDIV = {0, 1, 2, 3, ..., 13} with PMUL within the valid range 128 PMUL 255. The C language example pmulpdiv.c can be found on www.trinamic.com. The source code can directly be copied from the PDF datasheet file. |
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