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
The acceleration/deceleration values are altered, based on the bow values.
The start phase and the end phase of an S-shaped ramp is
accelerated/decelerated by
ASTART
and
DFINAL
.
The ramp starts with
ASTART
and stops with
DFINAL
.
DFINAL
becomes valid when
AACTUAL
reaches the chosen
DFINAL
value.
i The parameter
DFINAL
is not considered during positioning mode.
AACTUAL
assignments and current bow value selection for S-shaped ramps.
The acceleration/deceleration factor depends on the current ramp phase and alters
every 64 clock cycles during the bow phases B1, B2, B3, and B4.
Details are provided in the table below:
RAMPMODE
(2:0) =b’110
The ramp finishes exactly on target position; keeping |
VACTUAL
| =
VMAX
as
long as possible until the ramp falls to reach
XTARGET
exactly.
It is possible that the phases B12, B23, and B34 are left out due to given
values. Therefore, the highest speed performance is possible due to a
maximum speed positioning ramp.
The fastest possible slopes are always performed if the phases B12 and/or B34
are not reached during a rising and/or falling S-shaped slope.
The ramp maintains the maximum velocity
VMAX
as long as possible in
positioning mode until the falling slope finishes the ramp to reach
XTARGET
exactly. The result is the fastest possible positioning ramp in matters of time.
Definitions for
S-shaped Ramps
AACTUAL
Assignments for
S-shaped Ramps
S-shaped Ramps: Assignments for
AACTUAL
and Internal Bow Value
Ramp phase:
B
1
B
12
B
2
B
23
B
3
B
34
B
4
v>0:
AACTUAL
=
ASTART
AMAX
AMAX
AMAX
0
0
0
-DMAX
-DMAX
-DMAX
-DFINAL
BOW
ACTUAL
=
BOW1
0
-BOW2
0
-BOW3
0
BOW4
v<0:
AACTUAL
=
-ASTART
-AMAX
-AMAX
-AMAX
0
0
0
DMAX
DMAX
DMAX
DFINAL
BOW
ACTUAL
=
-BOW1
0
BOW2
0
BOW3
0
-BOW4
Table 17: Parameter Assignments for S-shaped Ramps
S-shaped Mode
and Positioning:
Fast Motion