User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
9 / 116
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 2: Energy Efficiency Example with CoolStep
1.5 SixPoint™ Motion Controller
TRINAMIC’s SixPoint ™ motion controller is a new type of ramp generator which offers faster machine
operation compared to the classical linear acceleration ramps. The SixPoint ™ ramp generator allows
adapting the acceleration ramps to the torque curves of a stepper motor. It uses two different acceleration
settings for the acceleration phase and also tow different deceleration settings for the deceleration phase.
Start and stop speeds greater than zero can also be used.
Figure 3: Typical motion profile with TRINAMIC’s SixPoint™ motion controller
A six point ramp begins using the start speed V
START
(which can also be zero). Then, the acceleration
value A1 will be used to accelerate the motor to the speed V1. When the speed V1 has been reached,
the motor will be further accelerated using the acceleration value A2 until it has reached the speed V
MAX
.
The deceleration phase begins using the deceleration value D2. After reaching the speed V1 again the
deceleration value D2 will be used to declerate to the stop speed V
STOP
(which can also be zero).
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com