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 
U-Turn Behavior
The process that is triggered when motion direction changes during motion, is described below,
and applies to all ramp types.
In case the motion direction is changed during motion in velocity mode (by direct
assignment of VMAX ) or in positioning mode (due to XTARGET reassignment), the
following process is triggered:
1. Motion is directed to VACTUAL = 0.
i If VSTOP is used (≠ 0), motion terminates at VSTOP .
2. A standstill phase of TZEROWAIT clock cycles (register 0x7B) occurs.
i It is recommended to assign TZEROWAIT > 0, if VSTOP and/or a trapezoidal
ramp type are used, because motor oscillations can occur that must peter
out.
3. Motion continues to the actual XTARGET (positioning mode), or to the newly
assigned VMAX (velocity mode).
i If VSTART is used (≠ 0), motion begins with VSTART if TZEROWAIT > 0.
After reaching VSTOP , TZEROWAIT clock cycles are waited until motion continues to
peter out motor oscillations.
Figure 30: Example for U-Turn Behavior of sixPoint Ramp
 Turn page for information on U-Turn for S-shaped ramps.
v(t)
t
VMAX
VBREAK
VSTOP
VSTART
-VMAX
-VBREAK
-VSTOP
-VSTART
TZEROWAIT
U-Turn Behavior
Example:
U-Turn for
sixPoint Ramps