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 use S-shaped ramps with stop velocity, do as follows:
Action:
 Set RAMPMODE (1:0)=b’10 (register 0x20).
 Set S-shaped ramp type accordingly, as explained before.
 Set VSTART = 0 (register 0x25).
 Set proper VSTOP > 0 (register 0x26).
Result:
The S-shaped ramp finishes with stop velocity.
NOTE:
 The final deceleration value is equal to DMAX. The parameter DFINAL is not
considered. Consequently, ramp phase B4 is not performed.
Figure 26: S-shaped Ramp with Stop Velocity
Interaction of VSTART , VSTOP , VACTUAL and VMAX :
 VSTOP can be used in positioning mode, if the target position is reached. In
velocity mode, VSTOP is also used if VACTUAL ≠ 0 and the target velocity
VMAX is assigned to 0.
 VSTART and VSTOP are not only used to start or end a velocity ramp. If the
velocity direction alters due to register assignments while a velocity ramp is in
progress, the velocity values develop according to the current velocity ramp
type, using VSTART or VSTOP .
 The unsigned values VSTART and VSTOP are valid for both velocity directions.
 Every register value change is assigned immediately.
Turn page for information on how to configure S-shaped ramps with start and stop
velocity.
v(t)
t
VMAX
B
1
B
12
B
23
B
34
B
3
B
4
B
2
VSTOP
S-shaped Ramps
with Stop
Velocity