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 
Motion direction depends on XTARGET .
In order to use a 4-point or sixPoint ramps during positioning mode, do as
follows:
Action:
 Set RAMPMODE (2:0) =b’101 (register 0x20).
 Set Trapezoidal ramp type accordingly, as explained above.
 Set proper XTARGET register 0x37.
Result:
The ramp finishes exactly at the target position XTARGET by keeping
| VACTUAL | = VMAX as long as possible.
AACTUAL assignments apply both for 4-point and sixPoint ramps.
The acceleration/deceleration factor AACTUAL register depends on the current ramp
phase and the velocity that needs to be reached. The related sign assignment for
different ramp phases is given in the following table:
Position Mode
combined with
Trapezoidal
Ramps
AACTUAL
Assignments for
Trapezoidal
Ramps
AACTUAL ASSIGNMENTS for Trapezoidal Ramps
Ramp phase:
A
1L
A
1
A
2
A
3
A
3L
v>0: AACTUAL =
ASTART
AMAX
0
−DMAX
−DFINAL
v<0: AACTUAL =
−ASTART
−AMAX
0
DMAX
DFINAL
Table 16: Trapezoidal Ramps: AACTUAL Assignments during Motion