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 
Three basic motion profiles are provided. Each one of them has a different velocity
value development during the drive. See table below.
For configuration of the motion profiles, do as follows:
Action:
 Use the bits 1 and 0 of the RAMPMODE register 0x20.
Result:
As specified in the table below.
You can choose different configuration options from the list below:
 No Ramp motion profile
 Trapezoidal Ramp motion profile (including sixPoint Ramp)
 S-shaped Ramp motion profiles
TMC4361A Motion Profile
RAMPMODE
(1:0)
Motion
Profile
Function
b’00
No Ramp
Follow VMAX only (rectangular velocity shape).
b’01
Trapezoidal
Ramp
Consideration of acceleration and deceleration
values without adaptation of these acceleration
values.
sixPoint
Ramp
Consideration of acceleration and deceleration
values without adaptation of these acceleration
values.
Usage of start and stop velocity values.
(see section 6.5. , Page 46)
b’10
S-shaped
Ramp
Use all ramp values (including bow values).
Table 15: Description of TMC4361A Motion Profiles
Motion Profile
Configuration