User Manual

TMCM-1276 TMCL

™

Firmware Manual • Firmware Version V1.13 | Document Revision V1.01 • 2019-MAR-20

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6.6 SixPoint Ramp

The TMCM-1276 is equipped with a motion controller that supports TRINAMIC’s SixPoint ramp technology.

Please see also section 1.3 for more information about the SixPoint ramp. The sixPoint ramp can be

conﬁgured using the following axis parameters:

Parameter Name TMCL Axis Parameter Number

Start velocity (V

START

) 19

Acceleration A1 15

Velocity V1 16

Acceleration A2 5

Maximum positioning velocity (V

MAX

) 4

Deceleration D2 17

Deceleration D1 18

Stop velocity V

STOP

Wait time WAIT 21

Table 21: SixPoint Ramp Parameters

Setting the velocity V1 (axis parameter #16) to zero switches oﬀ the SixPoint ramp. In this case, a trape-

zoidal ramp deﬁned by parameters 5, 4, 15, 19, 20 and 21 will be used.

Note

The SixPoint ramp will only be used in positioning mode (MVP command). Velocity

mode (ROR/ROL commands) will always use a trapezoidal ramp, deﬁned just by

the acceleration (axis parameter 5), the speed given with the ROR or ROL com-

mand and the start and stop speed (axis parameters 19 and 20). The deceleration

parameters will not be used in velocity mode.

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