Datasheet

TMC5160 DATASHEET (Rev. 1.10 / 2019-FEB-05) 39
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6.3 Ramp Generator Registers
6.3.1 Ramp Generator Motion Control Register Set
RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RW
0x20
2
RAMPMODE
RAMPMODE:
0: Positioning mode (using all A, D and V
parameters)
1: Velocity mode to positive VMAX (using
AMAX acceleration)
2: Velocity mode to negative VMAX (using
AMAX acceleration)
3: Hold mode (velocity remains unchanged,
unless stop event occurs)
0…3
RW
0x21
32
XACTUAL
Actual motor position (signed)
Hint: This value normally should only be
modified, when homing the drive. In
positioning mode, modifying the register
content will start a motion.
-2^31…
+(2^31)-1
R
0x22
24
VACTUAL
Actual motor velocity from ramp generator
(signed)
The sign matches the motion direction. A
negative sign means motion to lower
XACTUAL.
+-(2^23)-1
[µsteps / t]
W
0x23
18
VSTART
Motor start velocity (unsigned)
For universal use, set VSTOP ≥ VSTART. This is
not required if the motion distance is sufficient
to ensure deceleration from VSTART to VSTOP.
0…(2^18)-1
[µsteps / t]
W
0x24
16
A1
First acceleration between VSTART and V1
(unsigned)
0…(2^16)-1
[µsteps / ta²]
W
0x25
20
V1
First acceleration / deceleration phase
threshold velocity (unsigned)
0: Disables A1 and D1 phase, use AMAX, DMAX
only
0…(2^20)-1
[µsteps / t]
W
0x26
16
AMAX
Second acceleration between V1 and VMAX
(unsigned)
This is the acceleration and deceleration value
for velocity mode.
0…(2^16)-1
[µsteps / ta²]
W
0x27
23
VMAX
Motion ramp target velocity (for positioning
ensure VMAX ≥ VSTART) (unsigned)
This is the target velocity in velocity mode. It
can be changed any time during a motion.
0…(2^23)-512
[µsteps / t]
W
0x28
16
DMAX
Deceleration between VMAX and V1 (unsigned)
0…(2^16)-1
[µsteps / ta²]
W
0x2A
16
D1
Deceleration between V1 and VSTOP
(unsigned)
Attention: Do not set 0 in positioning mode,
even if V1=0!
1…(2^16)-1
[µsteps / ta²]