Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
202/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Ramp Generator Registers
R/W
Addr
Bit
Val
Description
RW
0x26
30:0
VSTOP (Default:0x00000000)
U
Absolute stop velocity in positioning mode and velocity mode.
In case VSTOP is used: no last bow phase B
4
for S-shaped ramps.
In case VSTOP is very small and positioning mode is used, it is possible that the
ramp is finished with a constant VACTUAL = VSTOP until XTARGET is reached .
VSTOP in positioning mode:
In case VACTUAL ≤ VSTOP and XTARGET = XACTUAL : VACTUAL is immediately set
to 0.
VSTOP in velocity mode:
In case VACTUAL ≤ VSTOP and VMAX = 0: VACTUAL is immediately set to 0.
Value representation: 23 digits and 8 decimal places.
Consider maximum values, represented in section 6.7.5, page 50
0x27
30:0
VBREAK (Default:0x00000000)
U
Absolute break velocity in positioning mode and in velocity mode,
This only applies for trapezoidal ramp motion profiles.
In case VBREAK = 0: pure linear ramps are generated with AMAX / DMAX only.
In case | VACTUAL | < VBREAK : | AACTUAL | = ASTART or DFINAL
In case | VACTUAL | ≥ VBREAK : | AACTUAL | = AMAX or DMAX
Always set VBREAK > VSTOP ! If VBREAK ≠ 0.
Value representation: 23 digits and 8 decimal places.
Consider maximum values, represented in section 6.7.5, page 50
0x28
23:0
AMAX (Default: 0x000000)
U
S-shaped ramp motion profile: Maximum acceleration value.
Trapezoidal ramp motion profile:
Acceleration value in case | VACTUAL | ≥ VBREAK or in case VBREAK = 0.
Value representation:
Frequency mode: [pulses per sec
2
]
22 digits and 2 decimal places: 250 mpps
2
≤ AMAX ≤ 4 Mpps
2
Direct mode: [∆v per clk cycle]
a[∆v per clk_cycle]= AMAX / 2
37
AMAX [pps
2
] = AMAX / 2
37
• f
CLK
2
Consider maximum values, represented in section 6.7.5, page 50
0x29
23:0
DMAX (Default: 0x000000)
U
S-shaped ramp motion profile: Maximum deceleration value.
Trapezoidal ramp motion profile:
Deceleration value if | VACTUAL | ≥ VBREAK or if VBREAK = 0.
Value representation:
Frequency mode: [pulses per sec
2
]
22 digits and 2 decimal places: 250 mpps
2
≤ DMAX ≤ 4 Mpps
2
Direct mode: [∆v per clk cycle]
d[∆v per clk_cycle]= DMAX / 2
37
DMAX [pps
2
] = DMAX / 2
37
• f
CLK
2
Consider maximum values, represented in section 6.7.5, page 50
 Continued on next page.