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 
Starting Point: Choose Operation Mode
Two operation modes are available: velocity mode and positioning mode.
Before setting any parameters:
First select:
 Operation mode and
 Motion profile
It is not advisable to change operation mode nor motion profile during
motion.
The RAMPMODE register provides a choice of two operation modes. Either velocity
mode or positioning mode can be chosen.
In order to use the velocity mode, do as follows:
Action:
 Set RAMPMODE (2) =0 ( RAMPMODE register 0x20).
Result:
Velocity mode is selected. The target velocity VMAX is reached with the selected
motion profile.
In order to make use of the positioning mode, do as follows:
Action:
 Set RAMPMODE (2)=1 ( RAMPMODE register 0x20).
Result:
Positioning mode is selected. VMAX is the maximum velocity value of this motion
profile that is based on the condition that the ramp stops at target position XTARGET .
NOTE:
 The sign of VMAX is not relevant during positioning. The direction of the steps
depends on XACTUAL , XTARGET , and the current ramp motion profile status.
NOTE:
 Do NOT exceed VMAX ≤ f
CLK
¼ pulses for positioning mode.
In order to stop the motion during positioning, do as follows:
Action:
 Set VMAX = 0 (register 0x24).
Result:
The velocity ramp directs to VACTUAL = 0, using the actual ramp parameters.
i Motion is proceeded with VMAX ≠ 0.
!
BEFORE
YOU BEGIN
Operation Mode:
Velocity Mode
Operation Mode:
Positioning
Mode
Stop during
Motion