User Manual

TMCM-1180 and PD86-1180 Hardware Manual (V1.03 / 2011-DEC-02) 22
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
usrs
2
]Hz[usf
]Hz[fsf 
with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second – the acceleration a) is
given by
29div_rampdiv_pulse
max
2
CLK
2
af
a



This results in acceleration in fullsteps of:
usrs
2
a
af 
with af: acceleration in fullsteps
Example:
Signal
value
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

Calculation of the number of rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
49.26
72
34.1907
rotationperfullsteps
fsf
RPS 
46.1589
72
6034.1907
rotationperfullsteps
60fsf
RPM 



