User manual

TMCM-6110 TMCL Firmware V1.19 Manual (Rev. 1.03 / 2012-JUL-31) 80
www.trinamic.com
6.4.2 Fullstep Frequency
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided
by the number of microsteps per fullstep.
srs
Hzsf
Hzfsf


2
][
][ 
fsf: fullstep-frequency
The change in the pulse rate per time unit (a: pulse frequency change per second) is given by
29__
2
max
2



divrampdivpulse
a
CLK
f
a
This results in acceleration in fullsteps of:
srs
a
af

2

af: acceleration in fullsteps
Example:
Signal
Value
f
CLK
16 MHz
velocity
1000
a_max
1000
pulse_div
1
ramp_div
1
µsrs
6
Hz
MHz
sf 31.122070
322048
1
2
100016



 
HzHzfsf 34.1907
6
2
31.122070
][ 
s
MHzMhz
a 21.119
2911
2
1000
2
)16(




s
MHz
s
MHz
af 863.1
6
2
21.119

6.4.2.1 Calculation of Number of Rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
49.26
72
34.1907

rotationperful lsteps
fsf
RPS
46.1589
72
6034.190760





rotationperful lsteps
fsf
RPM