Datasheet
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 70
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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=0. Higher
velcoity for abrupt start
(limited by motor).
Stop Velocity
Set VSTOP=10, 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
Set TZEROCROSS to
allow motor to recover
from jump VSTOP to 0,
before going to VSTART
Is VSTOP relevant
(>>10)?
N
Y
Ready to Move to
Target
Figure 14.3 Moving the motor using the motion controller