Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Scale Mode Transition Process Control
Transition from one scale value to the next active value can be configured as slight conversion.
It is advisable to avoid abrupt scaling alterations, which can cause unwanted oscillations
and/or motor stall. Three different parameters can be set to convert to higher or lower current
scale values.
It is often required to peter out the motion (by smoothening the transition
process from motion scaling to hold scaling) in order to avoid system
standstill oscillations.
In order to configure a smooth transition from motion current scaling to
hold current scaling, do as follows:
Action:
 Set HOLD_SCALE_DELAY register 0x19 according to the delay period after which
the actual scale parameter is decreased by one step towards hold current scale
value.
Result:
Immediately after the hold scaling current is activated, the actual scale parameter is
decreased by one step per HOLD_SCALE_DELAY clock cycles until
SCALE_PARAM = HOLD_SCALE_VAL .
i If HOLD_SCALE_DELAY = 0, the hold current scaling value HOLD_SCALE_VAL is
assigned immediately whenever the hold current scaling is activated.
To avoid step loss – in case a higher scale value is assigned during motion
– the transition from low to high current scale values can also be adapted.
In order to configure a smooth transition from a lower motion current
scaling value to a higher motion current scaling value, do as follows:
Action:
 Set UP_SCALE_DELAY register 0x18 according to the delay period after which the
actual scale parameter is increased by one step towards the higher current scale
value.
Result:
Whenever a higher current scale value is assigned internally, the actual scale
parameter is increased by one step per UP_SCALE_DELAY clock cycles until the
assigned scale parameter is reached.
i If UP_SCALE_DELAY = 0, the higher current scaling value is assigned
immediately whenever the corresponding current scaling phase is activated.
 Description continued on next page.
Transition
to Hold
Current
Scaling
!
Transition
to higher
Motion
Current
Scaling
!