Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
203/230
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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
0x2A
23:0
ASTART (Default: 0x000000)
U
S-shaped ramp motion profile: start acceleration value.
Trapezoidal ramp motion profile:
Acceleration value in case | VACTUAL | < VBREAK .
Acceleration value after switching from external to internal step control.
Value representation:
Frequency mode: [pulses per sec
2
]
22 digits and 2 decimal places: 250 mpps
2
≤ ASTART ≤ 4 Mpps
2
Direct mode: [∆v per clk cycle]
a[∆v per clk_cycle]= ASTART / 2
37
ASTART [pps
2
] = ASTART / 2
37
• f
CLK
2
Consider maximum values, represented in section 6.7.5, page 50
31
Sign of AACTUAL after switching from external to internal step control.
0x2B
23:0
DFINAL (Default: 0x000000)
U
S-shaped ramp motion profile: Stop deceleration value, which is not used during
positioning mode.
Trapezoidal ramp motion profile:
Deceleration value in case | VACTUAL | < VBREAK .
Value representation:
Frequency mode: [pulses per sec
2
]
22 digits and 2 decimal places: 250 mpps
2
≤ DFINAL ≤ 4 Mpps
2
Direct mode: [∆v per clk cycle]
d[∆v per clk_cycle]= DFINAL / 2
37
DFINAL [pps
2
] = DFINAL / 2
37
• f
CLK
2
Consider maximum values, represented in section 6.7.5, page 50
0x2C
23
DSTOP (Default: 0x000000)
U
Deceleration value for an automatic linear stop ramp to VACTUAL = 0.
DSTOP is used with activated external stop switches (STOPL or STOPR) if
soft_stop_enable is set to 1; or with activated virtual stop switches and
virt_stop_mode is set to 2.
Value representation:
Frequency mode: [pulses per sec
2
]
22 digits and 2 decimal places: 250 mpps
2
≤ DSTOP ≤ 4 Mpps
2
Direct mode: [∆v per clk cycle]
d[∆v per clk_cycle]= DSTOP / 2
37
DSTOP [pps
2
] = DSTOP / 2
37
• f
CLK
2
Consider maximum values, represented in section 6.7.5, page 50
 Continued on next page!