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 
In order to make use of a trapezoidal 4-point ramp motion profile without
break velocity, do as follows:
Action:
 Set RAMPMODE (1:0) =b’01 (register 0x20).
 Set VBREAK =0 (register 0x27).
 Set proper AMAX register 0x28 and DMAX register 0x29.
 Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with a linear ramp.
Only AMAX and DMAX define the acceleration/deceleration slopes.
NOTE:
 AMAX determines the rising slope from absolute low to absolute high velocities,
whereas DMAX determines the falling slope from absolute high to absolute low
velocities.
 Acceleration slope and deceleration slopes have only one acceleration and
deceleration value each.
Figure 20: Trapezoidal Ramp without Break Point
Figure 21: Trapezoidal Ramp with Break Point
In order to make use of a trapezoidal ramp motion profile with break
velocity, do as follows:
Action:
 Set RAMPMODE (1:0)=b’01 (register 0x20).
 Set proper VBREAK register 0x27.
 Set proper AMAX register 0x28 and DMAX register 0x29.
 Set proper ASTART register 0x2A and DFINAL register 0x2B.
 Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with a linear ramp. In
addition to AMAX and DMAX , ASTART and DFINAL define the acceleration or
deceleration slopes (see Figure above).
NOTES:
 AMAX and ASTART determines the rising slope from absolute low to absolute high
velocities.
 DMAX and DFINAL determines the falling slope from absolute high to absolute low
velocities.
 The acceleration/deceleration factor alters at VBREAK. ASTART and DFINAL are
valid below VBREAK, whereas AMAX and DMAX are valid beyond VBREAK.
v(t)
t
VMAX
A
1
A
2
A
3
v(t)
t
VMAX
VBREAK
A
1
A
2
A
3L
A
1L
A
3
Trapezoidal
4-Point Ramp
without Break
Point
Trapezoidal
Ramp with Break
Point