Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
201/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Ramp Generator Registers
Ramp Generator Registers
R/W
Addr
Bit
Val
Description
RW
0x20
RAMPMODE (Default:0x0)
2
Operation Mode:
1
Positioning mode: XTARGET is superior target of velocity ramp.
0
Velocitiy mode: VMAX is superior target of velocity ramp.
1:0
Motion Profile:
0
No ramp: VACTUAL follows only VMAX (rectangle velocity shape).
1
Trapezoidal ramp (incl. sixPoint ramp): Consideration of acceleration and
deceleration values for generating VACTUAL without adapting the acceleration
values.
2
S-shaped ramp: Consideration of all ramp values (incl. bow values) for
generating VACTUAL .
RW
0x21
31:0
XACTUAL (Default: 0x00000000)
S
Actual internal motor position [pulses]: –2
31
≤ XACTUAL ≤ 2
31
– 1
R
0x22
31:0
VACTUAL (Default: 0x00000000)
S
Actual ramp generator velocity [pulses per second]:
1 pps ≤ | VACTUAL | ≤ CLK_FREQ · ½ pulses (f
CLK
= 16 MHz  8 Mpps)
R
0x23
31:0
AACTUAL (Default: 0x00000000)
S
Actual acceleration/deceleration value [pulses per sec
2
]:
-2
31
pps² ≤ AACTUAL ≤ 2
31
– 1 1 pps² ≤ | AACTUAL |
RW
0x24
31:0
VMAX (Default: 0x00000000)
S
Maximum ramp generator velocity in positioning mode or
Target ramp generator velocity in velocity mode and no ramp motion profile .
Value representation: 23 digits and 8 decimal places
Consider maximum values, represented in section 6.7.5, page 50
RW
0x25
30:0
VSTART (Default: 0x00000000)
U
Absolute start velocity in positioning mode and velocity mode
In case VSTART is used: no first bow phase B
1
for S-shaped ramps
VSTART in positioning mode:
In case VACTUAL = 0 and XTARGET ≠ XACTUAL :
no acceleration phase for VACTUAL = 0  VSTART.
VSTART in velocity mode:
In case VACTUAL = 0 and VACTUAL ≠ VMAX :
no acceleration phase for VACTUAL = 0  VSTART .
Value representation: 23 digits and 8 decimal places.
Consider maximum values, represented in section 6.7.5, page 50
 Continued on next page.