Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
42/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
S-shaped and trapezoidal velocity ramps can be finished with a stop velocity value if
you set VSTOP value higher than zero (see figure below).
In order to configure trapezoidal ramps with stop velocity, do as follows:
Action:
 Set RAMPMODE (1:0)=b’01 (register 0x20).
 Set Trapezoidal ramp type accordingly, as explained before.
 Set VSTART = 0 (register 0x25).
 Set proper VSTOP > 0 (register 0x26).
Result:
The trapezoidal ramp stops with defined velocity.
Figure 20: Trapezoidal Ramp with Stop Velocity
If trapezoidal ramps are selected ( VBREAK > 0):
Avoid unintended system behavior during positioning mode!
 Set VBREAK > VSTOP .
 Set VSTART < VSTOP .
This will ensure smooth operation during positioning mode.
Turn page for configuration information on S-shaped ramps with stop velocity.
v(t)
t
VMAX
VBREAK
A
1
A
2
A
3L
A
1L
A
3
VSTOP
Finishing Ramps
with Stop
Velocity
NOTICE