Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
When VACTUAL = 0 is reached, motion immediately continues. In most S-shaped
ramp applications that do not use VSTOP , a standstill phase is not required.
If ASTART > 0 and/or DFINAL > 0, these parameters are also used during U-Turn.
Figure 31: Example for U-Turn Behavior of S-shaped Ramp
There is one exception to the above explained U-Turn process:
In case BOW2 equals BOW4 , the S-shaped ramp is not stopped at VACTUAL = 0.
While passing VACTUAL = 0, motion acceleration does not equal 0. Thus, the fastest
possible U-Turn behavior for this ramp is created.
In the figure below, this velocity ramp behavior is depicted as bold black line, whereas
the velocity ramp behavior of the process explained above is depicted gray line:
Figure 32: Direct transition via VACTUAL=0 for S-shaped Ramps
v(t)
t
-VMAX
-VMAX
TZEROWAIT
=0
v(t)
t
-VMAX
-VMAX
BOW2=BOW4!
Example:
U-Turn for
S-shaped Ramps
Continuous
Velocity Motion
Profile for
S-shaped Ramps