Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
MAIN MANUAL
Repetitive and Circular Motion
TMC4361A also provides options for auto-repetitive or auto-circular motion. In this section
configuration options are explained.
Per default, reaching
XTARGET
in positioning mode finishes a positioning ramp.
In order to continuously repeat the specified ramp, do as follows:
PRECONDITION:
Set
RAMPMODE
(2) = 1 (positioning mode is active).
Configure a velocity ramp according to your requirements.
Action:
Set
clr_pos_at_target
=1 (
REFERENCE_CONF
register 0x01).
Result:
After
XTARGET
is reached (
TARGET_REACHED_F
lag is active),
XACTUAL
is set to 0.
As long as
XTARGET
is NOT 0, the ramp restarts in order to reach
XTARGET
again.
This leads to repetitious positioning ramps from 0 towards
XTARGET
.
NOTE:
It is possible to change XTARGET during repetitive motion. The reset of XACTUAL
to 0 is always executed when XACTUAL equals XTARGET.
If circular motion profiles are necessary for your application, TMC4361A offers a
position limitation range of
XACTUAL
with an automatic overflow processing. As soon
as
XACTUAL
reaches one of the two position range limits (positive / negative), the
value of
XACTUAL
is set automatically to the value of the opposite range limit.
In order to activate circular motion, do as follows:
PRECONDITION:
If you want to activate circular motion,
XACTUAL
must be located within the defined
range.
PROCEED WITH:
Action:
Set
X_RANGE
≠ 0 (register 0x36, only writing access!).
Set
circular_motion
= 1 (
REFERENCE_CONF
register 0x01).
Result:
The positioning range of
XACTUAL
is limited to: −
X_RANGE
≤
XACTUAL
<
X_RANGE.
When
XACTUAL
reaches the most positive position (
X_RANGE
– 1) and the motion
proceeds in positive direction; the next
XACTUAL
value is set to −
X_RANGE
. The same
applies to proceeding in negative direction; where (
X_RANGE
– 1) is the position after
−
X_RANGE
.
i During positioning mode, the motion direction will be dependent on the shortest
path to the target position
XTARGET
. For example, if
XACTUAL
= 200,
X_RANGE
= 300 and
XTARGET
= −200, the positioning ramp will find its way
across the overflow position (299 −300) (see Figure A) in
Table
27 (page 68).
Repetitive
Motion to
XTARGET
Activating
Circular Motion