Datasheet

TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28) 60
www.trinamic.com
MOVING THE MOTOR USING THE MOTION CONTROLLER
RAMPMODE
set velocity_positive
Set AMAX=1000, set
VMAX=100000 or
different values
Motor moves, change
VMAX as desired
Move Motor
Configure Ramp
Parameters
RAMPMODE
set position
Start Velocity
Set VSTART=1. Higher
velcoity for abrupt start
(limited by motor).
Stop Velocity
Set VSTOP=2, but not
below VSTART. Higher
velocity for abrupt stop.
Configure ramp
parameters
Move to Target
Set XTARGET
New on-the-fly
target? *
Y
Event_POS_
reached active?
N
N
Y
Target is reached
Change of any
parameter desired?
N
Set motion
parameter as
desired
Y
Set acceleration A1 as
desired by application
Determine velocity,
where max. motor
torque or current sinks
appreciably, write to V1
AMAX: Set lower
acceleration than A1 to
allow motor to
accelerate up to VMAX
Set desired maximum
velocity to VMAX
DMAX: Use same value
as AMAX or higher
D1: Use same value as
A1 or higher
Ready to Move to
Target
*) For on-the-fly target
change, set
VSTOP=2, VSTART=1 and
TZEROWAIT=0.
Please also refer ramp
generator restrictions.
Figure 13.2 Moving the motor using the motion controller