Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
4/230
© 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 
Trapezoidal Ramp with Break Point .................................................................................... 35
Position Mode combined with Trapezoidal Ramps ................................................................ 36
Configuration of S-Shaped Ramps ....................................................................................... 37
S-Ramps: Changing Ramp Parameters during Motion or Switching to Positiong Mode ............ 38
Configuration of S-shaped Ramp with ASTART and DFINAL .................................................. 38
S-shaped Mode and Positioning: Fast Motion ....................................................................... 39
Start Velocity VSTART and Stop Velocity VSTOP .................................................................. 40
S-shaped Ramps with Start and Stop Velocity ...................................................................... 44
Combined Use of VSTART and ASTART for S-shaped Ramps ............................................... 45
sixPoint Ramps .................................................................................................................. 46
U-Turn Behavior ................................................................................................................ 47
Continuous Velocity Motion Profile for S-shaped Ramps ...................................................... 48
Internal Ramp Generator Units ........................................................................................... 49
Clock Frequency ................................................................................................................ 49
Velocity Value Units ........................................................................................................... 49
Acceleration Value Units ..................................................................................................... 49
Bow Value Units ................................................................................................................ 50
Overview of Minimum and Maximum Values: ....................................................................... 50
7. External Step Control and Electronic Gearing .......................................................... 51
Description of Electronic Gearing ........................................................................................ 52
Indirect External Control .................................................................................................... 52
Switching from External to Internal Control ......................................................................... 53
8. Reference Switches ................................................................................................. 54
Hardware Switch Support ................................................................................................... 55
Stop Slope Configuration for Hard or Linear Stop Slopes ...................................................... 55
How Active Stops are indicated and reset to Free Motion ..................................................... 56
How to latch Internal Position on Switch Events .................................................................. 56
Virtual Stop Switches ......................................................................................................... 57
Enabling Virtual Stop Switches ............................................................................................ 57
Virtual Stop Slope Configuration ......................................................................................... 57
How Active Virtual Stops are indicated and reset to Free Motion ........................................... 58
Home Reference Configuration ........................................................................................... 59
Home Event Selection ........................................................................................................ 59
HOME_REF Monitoring ....................................................................................................... 60
Homing with STOPL or STOPR ............................................................................................ 61
Target Reached / Position Comparison ................................................................................ 62
Connecting several Target-reached Pins .............................................................................. 62
Use of TARGET_REACHED Output ...................................................................................... 63
Position Comparison of Internal Values ............................................................................... 64
Repetitive and Circular Motion ............................................................................................ 65
Repetitive Motion to XTARGET ............................................................................................ 65
Activating Circular Motion ................................................................................................... 65
Uneven or Noninteger Microsteps per Revolution ................................................................. 66
Release of the Revolution Counter ...................................................................................... 67
Blocking Zones .................................................................................................................. 67
Activating Blocking Zones during Circular Motion ................................................................. 67
Circular Motion with and without Blocking Zone ................................................................... 68