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 
To avoid step loss or unwanted oscillations – in case a lower scale value is
assigned during motion – the transition from high to low current scale
values can be adapted also.
In order to configure a smooth transition from a higher motion current
scaling value to a lower motion current scaling value, do as follows:
Action:
 Set DRIVE_SCALE_DELAY register 0x1A according to the delay period after which
the actual scale parameter is decreased by one step towards the lower current
scale value.
Result:
Whenever a lower current scale value is assigned internally, the actual scale parameter
is decreased by one step per DRIVE_SCALE_DELAY clock cycles until the assigned
scale parameter is reached.
i If DRIVE_SCALE_DELAY = 0, the lower current scaling value is assigned
immediately whenever the corresponding current scaling phase is activated.
Two examples are provided on the following pages that illustrate how
scaling modes can be used.
The scale parameter SCALE_PARAM is shown in combination with its related scale
timers in clock cycles and in combination with the underlying velocity ramp.
Transition
to lower
Motion
Current
Scaling
!