User Manual

TMCM-102 Manual (V1.01 / 7 November 2007) 19
Copyright © 2006, TRINAMIC Motion Control GmbH & Co. KG
Example:
f_CLK = 16 MHz
velocity = 1000
a_max = 1000
pulse_div = 1
ramp_div = 1
usrs = 6
Hz31.122070
3220482
1000MHz16
msf
1
=
⋅⋅
⋅
=
Hz34.1907
2
31.122070
]Hz[fsf
6
==
s
MHz
21.119
2
1000)Mhz16(
a
2911
2
=
⋅
=
++
s
MHz
863.1
2
s
MHz
21.119
af
6
==
If the stepper motor has e.g. 72 fullsteps per rotation, the number of rotations of the motor is:
49.26
72
34.1907
rotationperfullsteps
fsf
RPS ===
46.1589
72
6034.1907
rotationperfullsteps
60fsf
RPM =
⋅
=
⋅
=
8 TMCL
TMCL, the TRINAMIC Motion Control Language, is described in a separate documentation, the TMCL
Reference and Programming Manual. This manual is provided on the TMC TechLib CD and on the web
site of TRINAMIC: www.trinamic.com
.
Please refer to these sources for updated data sheets and application notes.
The TMC TechLib CD-ROM including data sheets, application notes, schematics of evaluation boards,
software of evaluation boards, source code examples, parameter calculation spreadsheets, tools, and
more is available from TRINAMIC by request to [e-mail]