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 
6. Ramp Configurations for different Motion Profiles
Step generation is one of the main tasks of a stepper motor motion controller. The internal ramp
generator of TMC4361A provides several step generation configurations with different motion
profiles. They can be configured in combination with the velocity or positioning mode.
Pin Names: Ramp Generator
Pin Names
Type
Remarks
STPOUT_PWMA
Output
Step output signal.
DIROUT_PWMB
Output
Direction output signal.
Table 12: Pin Names: Ramp Generator
Register Names: Ramp Generator
Register Name
Register
Address
Remarks
GENERAL_CONF
0x00
RW
Ramp generator affecting bits 5:0.
STP_LENGTH_ADD
0x10
RW
Additional step length in clock cycles; 16 bits.
DIR_SETUP_TIME
Additional time in clock cycles when no steps will occur after a
direction change; 16 bits.
RAMPMODE
0x20
RW
Requested motion profile and operation mode; 3 bits.
XACTUAL
0x21
RW
Current internal microstep position; signed; 32 bits.
VACTUAL
0x22
R
Current step velocity; 24 bits; signed; no decimals.
AACTUAL
0x23
R
Current step acceleration; 24 bits; signed; no decimals.
VMAX
0x24
RW
Maximum permitted or target velocity; signed; 32 bits= 24+8 (24
bits integer part, 8 bits decimal places).
VSTART
0x25
RW
Velocity at ramp start; unsigned; 31 bits=23+8.
VSTOP
0x26
RW
Velocity at ramp end; unsigned; 31 bits=23+8.
VBREAK
0x27
RW
At this velocity value, the aceleration/deceleration will change during
trapezoidal ramps; unsigned; 31 bits=23+8.
AMAX
0x28
RW
Maximum permitted or target acceleration; unsigned; 24 bits=22+2
(22 bits integer part, 2 bits decimal places).
DMAX
0x29
RW
Maximum permitted or target deceleration; unsigned; 24 bits=22+2.
ASTART
0x2A
RW
Acceleration at ramp start or below VBREAK; unsigned; 24
bits=22+2.
DFINAL
0x2B
RW
Deceleration at ramp end or below VBREAK; unsigned; 24
bits=22+2.
BOW1
0x2D
RW
First bow value of a complete velocity ramp; unsigned; 24 bits=24+0
(24 bits integer part, no decimal places).
BOW2
0x2E
RW
Second bow value of a complete velocity ramp; unsigned;
24bits=24+0.
BOW3
0x2F
RW
Third bow value of a complete velocity ramp; unsigned; 24
bits=24+0.
BOW4
0x30
RW
Fourth bow value of a complete velocity ramp; unsigned; 24
bits=24+0.
CLK_FREQ
0x31
RW
External clock frequency f
CLK
; unsigned; 25 bits.
XTARGET
0x37
RW
Target position; signed; 32 bits.
Table 13: Register Names: Ramp Generator