Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
164/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Some applications only require maintaining a specified velocity value during closed-
loop behavior, regardless of position mismatches. TMC4361A also provides this option.
NOTE:
 The closed-loop velocity mode is set independent of the internal ramp operation
mode (velocity or positioning mode).
In order to enable and calibrate closed-loop control, do as follows:
Action:
 Set the catch-up velocity parameters, as explained in detail in section 16.3.3, page
163.
 Set cl_vlimit_en = 1 ( ENC_IN_CONF register 0x07).
 Set cl_velocity_mode_en = 1 ( ENC_IN_CONF register 0x07).
Result:
Closed-loop operation velocity mode is enabled.
In case position mismatch | ENC_POS_DEV | exceeds 768 microsteps, internal position
counter XACTUAL is set automatically to ENC_POS ± 768 to limit the position
mismatch.
Thus, closed-loop operation maintains the specified velocity value VMAX .
i A higher motor velocity than specified VMAX (for negative velocity: - VMAX ) is
possible if PID_DV_CLIP > 0.
Enabling Closed-
Loop Velocity
Mode