Datasheet

10 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)
Copyright © 2007 TRINAMIC Motion Control GmbH & Co. KG
5.1.3 Examples for different Velocity Ramps
The following figures show some examples of typical motions under different conditions:
time
Velocity V
V
max
V
min
X
start
X
target_2
X
target_1
Figure 2: Motion with change of target position
time
Velocity V
V
max
V
min
X
start
X
target_2
X
target_1
Figure 3: Motion with change of target position while in deceleration phase
time
Velocity V
V
max
V
min
X
start
X
target
Figure 4: Short Motion Vmax is not reached
time
Velocity V
V
max
V
min
X
start
X
target_2
X
target_1
Figure 5: Linear Zero crossing (change of target position in opposite direction)
The motor crosses zero velocity with a linear shape. The velocity can be smaller than the programmed
Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to the stepper
motor during crossing.