Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Configuration Details for Operation Modes and Motion Profiles
This section provides information on the two available operation modes (velocity mode and
positioning mode), and on the four possible motion profiles (no ramp, trapezoidal ramp
including sixPoint™ ramp, and S-shaped ramp). Different combinations are possible. Each one
of them has specific advantages. The choice of configuration depends on the user’s design
specification to best suit his design needs.
With proper configuration, the internal ramp generator of the TMC4361A is able to
generate various ramps with the related step outputs for STPOUT .
In order to configure the internal ramp generator successfully – i.e. to make it fit as
best as possible with your specific use case – information about the scope of each
possible combination is provided in the table below and on the following pages.
Ramp Generator Configuration Options
Operation
Mode
Motion Profile
RAMPMODE(2:0)
Description
Velocity
Mode
No ramp
b’000
Follows VMAX request only.
Trapezoidal ramp
b’001
Follows VMAX request and considers acceleration
and deceleration values.
sixPoint ramp
b’001
Follows VMAX request and considers acceleration /
deceleration values and start and stop velocity
values.
S-shaped ramp
b’010
Follows VMAX request and considers maximum
acceleration / deceleration values and adapts these
values with 4 different bow values.
Positioning
Mode
No Ramp
b’100
Follows XTARGET and VMAX requests only.
Trapezoidal ramp
b’101
Follows XTARGET request and a maximum velocity
VMAX request and considers acceleration and
deceleration values.
sixPoint ramp
b’101
Follows XTARGET request and a maximum velocity
VMAX request and considers acceleration /
deceleration values and start and stop velocity
values.
S-shaped ramp
b’110
Follows XTARGET request and a maximum velocity
VMAX request and considers maximum acceleration /
deceleration values and adapts these values with 4
different bow values.
Table 14: Overview of General and Basic Ramp Configuration Options
Description of
Internal Ramp
Generator