Datasheet
12 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)
Copyright © 2007 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].
Vmax group [A...D] and Vmax index [0…15]
A B C D
V
min
index
Vmax
factor
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
Vmax [FS/s]
Acc index
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
19092
10
21886
11
24447
12
27008
13
29570
14
34925
15
14785
29570
40047
Table 5: Acc Parameter