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
Bow values BOW1…BOW4:
Bow values are unsigned 24-bit values without decimal places. They are defined per
default as pulses per second³ [pps³].
In case higher bow values are required for short and steep ramps, do as
follows:
Action:
Set
direct_bow_val_en
=1 (
GENERAL_CONF
register 0x00)
Result:
The parameters are defined as acceleration value change per clock cycle with 24-bit
unsigned decimal places with the MSB defined as 2
-29
.
The particular bow values
BOW1
,
BOW2
,
BOW3
,
BOW4
are calculated as follows:
BOWx
[pps
3
] =
BOWx
/ 2
53
· f
CLK
3
The maximum bow are as follows:
max
(BOW1…4)
[pps²]
≤
max
(AMAX;DMAX)
[pps²]
· f
CLK
/ 1024
In case
direct_bow_val_en
= 1, the maximum value is also limited to:
max
(BOW1…4) ≤
2
20
Overview of Minimum and Maximum Values:
Minimum and Maximum Values (Frequency Mode and in general)
Value Classes
Velocity
Acceleration
Bow
Clock
Affected Registers
VMAX, VSTART, VSTOP,
VBREAK
AMAX, DMAX,
ASTART, DFINAL
BOW1, BOW2,
BOW3, BOW4
CLK_FREQ
(f
CLK
)
Minimum Nominal
Value
3.906 mpps
0.25 mpps
2
1 mpps
3
4.194 MHz
Maximum Nominal
Value
8.388 Mpps
4.194 Mpps
2
16.777 Mpps
3
32 MHz
Maximum Related
Value
Velocity mode:
½ pulse · f
CLK
VMAX
· f
CLK
/ 1024
max(
AMAX;DMAX
)
· f
CLK
/ 1024
Positioning mode:
¼ pulse · f
CLK
|
VMAX
| >
max(
VSTART
;
VSTOP
;
VBREAK
)
Table 18: Minimum and Maximum Values if Real World Units are selected
Minimum and Maximum Values for Steep Slopes (Direct Mode, example with f
CLK
=16MHz)
Value Classes
Acceleration (
direct_acc_val_en
=1)
Bow (
direct_bow_val_en
=1)
Affected Registers
AMAX, DMAX, ASTART, DFINAL, DSTOP
BOW1, BOW2, BOW3, BOW4
Calculation
a[pps²] = (∆v/clk_cycle) / 2
37
· f
CLK
2
bow[pps³] = (∆a/clk_cycle) / 2
53
· f
CLK
3
Minimum Nominal
Value
~1.86 kpps²
~454.75 kpps³
Maximum Nominal
Value
~1.95 Gpps²
~476.837 Gpps
3
Maximum Related
Value
VMAX
· 15625 Hz
max(
AMAX;DMAX
) · 15625 Hz
Table 19: Minimum and Maximum Values for Steep Slopes for f
CLK
=16MHz
Bow Value Units