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 
sixPoint Ramps
sixPoint ramps are trapezoidal ramps with initial and stop velocity values that also make use of
two acceleration and two deceleration values.
sixPoint ramps are trapezoidal velocity ramps that can be configured with a
combination of VSTART and VSTOP.
In order to use trapezoidal ramps with a combination of start and stop
velocity, do as follows:
Action:
 Set RAMPMODE (1:0)=b’01 (register 0x20).
 Set a Trapezoidal ramp type appropriately as explained in section 6.3.6, page 35.
 Set proper VSTART > 0 (register 0x25).
 Set proper VSTOP > 0 (register 0x26).
 Set proper VBREAK > 0 (register 0x27).
Result:
The sixPoint ramp starts with an initial velocity and stops with a defined
velocity.
v(t)
t
VMAX
VBREAK
A
1
A
2
A
3L
A
1L
A
3
VSTOP
VSTART
Figure 29: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity
If a sixPoint ramp is used:
Avoid unintended system behavior during positioning mode!
 Set VBREAK > VSTOP .
 Set VSTART < VSTOP .
This will ensure smooth operation during positioning mode.
Configuration of
sixPoint Ramps
Diagram of
sixPoint Ramp
NOTICE