Datasheet
TMC222 DATASHEET (V. 1.11 / November 25, 2009) 11
Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG
5.1.5 Vmin Parameter
The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also
possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below
shows the possible rounded values of Vmin given within unit [FS/s].
Vmin
index
Vmax
factor
Vmax group [A...D] and Vmax index [0…15]
A
B
C
D
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
1
1/32
3
4
5
6
6
7
7
8
8
10
10
11
13
15
19
26
2
2/32
6
8
10
11
12
13
14
15
17
19
21
23
27
30
42
57
3
3/32
9
12
15
18
19
21
22
25
27
30
32
36
42
50
65
88
4
4/32
12
16
20
24
26
28
30
32
36
40
44
48
55
65
88
118
5
5/32
15
21
26
30
32
35
37
42
46
52
55
61
71
84
111
149
6
6/32
18
25
30
36
39
42
45
50
55
61
67
72
84
99
134
179
7
7/32
22
30
36
43
46
50
52
59
65
72
78
86
99
118
156
210
8
8/32
24
33
41
49
52
56
60
67
74
82
90
97
112
134
179
240
9
9/32
28
38
47
55
59
64
68
76
84
94
101
111
128
153
202
271
10
10/32
30
42
52
61
66
71
75
84
94
103
112
122
141
168
225
301
11
11/32
34
47
57
68
72
78
83
94
103
114
124
135
156
187
248
332
12
12/32
37
50
62
73
79
85
91
101
112
124
135
147
170
202
271
362
13
13/32
40
55
68
80
86
92
98
111
122
135
147
160
185
221
294
393
14
14/32
43
59
72
86
92
99
106
118
132
145
158
172
198
236
317
423
15
15/32
46
64
78
92
99
107
114
128
141
156
170
185
214
256
340
454
Table 4: Vmin values [FS/s] for all Vmin index – Vmax index combinations
5.1.6 Acceleration Parameter
The acceleration parameter can be chosen from a wide range of available values as described in the
table below. Please note that the acceleration parameter is not to change while a motion is ongoing.
Acceleration Values in [FS/s
2
] dependent on Vmax
Acc index
Vmax [FS/s]
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
0
49
106
473
1
218
735
2
1004
3
3609
4
6228
5
8848
6
11409
7
13970
8
16531
9
14785
19092
10
21886
11
24447
12
27008
13
29570
14
29570
34925
15
40047
Table 5: Acc Parameter