Datasheet

TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 40
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RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
W
0x2B
18
VSTOP
Motor stop velocity (unsigned)
Hint: Set VSTOP ≥ VSTART to allow positioning
for short distances
Attention: Do not set 0 in positioning mode,
minimum 10 recommend!
1…(2^18)-1
[µsteps / t]
Reset
Default=1
W
0x2C
16
TZEROWAIT
Defines the waiting time after ramping down
to zero velocity before next movement or
direction inversion can start. Time range is
about 0 to 2 seconds.
This setting avoids excess acceleration e.g.
from VSTOP to -VSTART.
0…(2^16)-1 *
512 t
CLK
RW
0x2D
32
XTARGET
Target position for ramp mode (signed). Write
a new target position to this register in order
to activate the ramp generator positioning in
RAMPMODE=0. Initialize all velocity,
acceleration and deceleration parameters
before.
Hint: The position is allowed to wrap around,
thus, XTARGET value optionally can be treated
as an unsigned number.
Hint: The maximum possible displacement is
+/-((2^31)-1).
Hint: When increasing V1, D1 or DMAX during
a motion, rewrite XTARGET afterwards in order
to trigger a second acceleration phase, if
desired.
-2^31…
+(2^31)-1