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 S-shaped ramps, do as follows:
Action:
 Set RAMPMODE (1:0)=b’10 (register 0x20).
 Set proper BOW1 … BOW4 registers 0x2C…0x30.
 Set proper AMAX register 0x28 and DMAX register 0x29.
 Set ASTART = 0 (register 0x2A).
 Set DFINAL = 0 (register 0x2B).
 Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with S-shaped ramps.
The acceleration/deceleration values are altered on the basis of the bow values.
Figure 22: S-shaped Ramp without initial and final Acceleration/Deceleration Values
Rising slope (absolute lower velocities to absolute higher velocities):
 BOW1 determines the value which increases the absolute acceleration value.
 BOW2 determines the value which decreases the absolute acceleration value.
 AMAX determines the maximum acceleration value.
Falling slope (absolute higher velocities to absolute lower velocities):
 BOW3 determines the value which increases the absolute deceleration value.
 BOW4 determines the value which decreases the absolute deceleration value.
 DMAX determines the maximum absolute deceleration value.
 Description is continued on next page.
v(t)
t
VMAX
B
1
B
12
B
23
B
34
B
3
B
4
B
2
ASTART=0 DFINAL=0
Configuration of
S-Shaped Ramps
Definition of
Rising Slope for
S-shaped Ramps
Definition of
Falling Slope for
S-shaped Ramps