Datasheet
TMC223 DATASHEET (V. 1.00 / May 3rd, 2007) 11
Copyright © 2007 TRINAMIC Motion Control GmbH & Co. KG
5.1.4 Vmax Parameter
The desired maximum velocity Vmax can be chosen from the table below:
Stepping Mode Vmax
index
Vmax
[FS/s]
Vmax
group
Half-Step
Mode
[half-steps/s]
1/4 micro
stepping
[micro-steps/s]
1/8 micro
stepping
[micro-steps/s]
1/16 micro
stepping
[micro-steps/s]
0
99
A
197 395 790 1579
1
136 273 546 1091 2182
2
167 334 668 1335 2670
3
197 395 790 1579 3159
4
213 425 851 1701 3403
5
228 456 912 1823 3647
6
243
B
486 973 1945 3891
7
273 546 1091 2182 4364
8
303 607 1213 2426 4852
9
334 668 1335 2670 5341
10
364 729 1457 2914 5829
11
395 790 1579 3159 6317
12
456
C
912 1823 3647 7294
13
546 1091 2182 4364 8728
14
729 1457 2914 5829 11658
15
973
D
1945 3891 7782 15564
Table 3: Vmax Parameter
Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.
All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing
Vmax during a motion take care that the new Vmax value is within the same group. Background: The
TMC223 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is
equal. When changing Vmax between different groups during a motion, correct positioning is not
ensured anymore.