Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
44/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
S-shaped ramps can be configured with a combination of VSTART and VSTOP .
It is possible to include both processes in one S-Shaped ramp to decrease the time
between start and stop of the ramp.
In order to use S-Shaped ramps with a combination of start and stop
velocity, do as follows:
Action:
 Set RAMPMODE (1:0)=b’10.
 Set S-shaped ramp type accordingly, as explained before, but with BOW2 ≠ BOW4.
 Set proper VSTART > 0 (register 0x25).
 Set proper VSTOP > 0 (register 0x26).
Result :
The S-shaped ramp starts with initial velocity and stops with defined velocity.
Figure 27: S-shaped Ramp with Start and Stop Velocity
If S-shaped ramp with initial velocity VSTART and stop velocity VSTOP is selected:
Avoid unintended system behavior during positioning mode!
 Keep in mind that the S-shaped character of the curve is maintained. Because
AMAX is the start acceleration value, the ramp will always execute phase B2,
which could result in positioning overshoots.
 Use VSTART in positioning mode, if there is enough distance between the
current position XACTUAL and the target position XTARGET .
This will ensure smooth operation during positioning mode.
Turn page for information on how to use VSTART and ASTART for S-shaped ramps.
v(t)
t
VMAX
B
1
B
12
B
23
B
34
B
3
B
4
B
2
VSTOP
VSTART
S-shaped Ramps
with Start and
Stop Velocity
NOTICE