tmc4210 datasheet(39/48 Pages) TRINAMIC

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TMC4210 Datasheet(PDF) 39 Page - TRINAMIC Motion Control GmbH & Co. KG.

Part #	TMC4210

Description	MOTION CONTROLLER FOR STEPPER MOTORS

Download	48 Pages

Scroll/Zoom	100%

Manufacturer	TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

Direct Link	http://www.trinamic.com

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39 / 48 page

TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

www.trinamic.com

9 Running a Motor

9.1 Getting Started

For starting a motor proceed as follows:

1. Set en_sd to 1 to enable the Step/Dir interface to the driver IC.

2. Set the velocity parameters V_MIN and V_MAX.

3. Set the clock pre-dividers PULSE_DIV and RAMP_DIV.

4. Set A_MAX with a valid pair of PMUL and PDIV.

5. Choose the ramp mode with RAMP_MODE register.

6. Choose the reference switch configuration. Set mot1r to 1 for a left and a right reference

switch. If this bit is not set and the right switch is not to be used, pull REF_R to GND.

7. Now, the TMC4210 runs a motor if you write either X_TARGET or V_TARGET, depending on the

choice of the ramp mode.

9.2 Running a Motor with Start-Stop-Speed in ramp_mode

The TMC4210 has an integrated automatic start-stop-speed mechanism. This can easily be realized by a

simple command sequence. To start and stop with a speed V_START_STOP different from zero, one

has to proceed as follows:

1. Set V_MIN := V_START_STOP.

2. Set ramp_mode.

3. Set X_TARGET to desired target position.

4. Set V_ACTUAL immediately with correct sign for V_ACTUAL to +V_MIN resp. –V_MIN, depending

on the direction of positioning.

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