TMC4331A Datasheet, PDF (30/178 Pages) TRINAMIC Motion Control GmbH & Co. KG. – SPI Interfaces for μC with easy-to-use protocol.

TMC4331A Datasheet | Document Revision 1.00 • 2016-NOV-10
No Ramp Motion
Profile
v(t)
VMAX
30/178
Positioning
Mode combined
with No Ramp
Motion Profile
t
Figure 18: No Ramp Motion Profile
In order to make use of the no ramp motion profile, which is rectangular,
do as follows:
Action:
 Set RAMPMODE(1:0) =b’00 (register 0x20).
 Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is immediately set to VMAX.
Combining positioning mode with the no ramp motion profile determines that the ramp
holds VMAX until XTARGET is reached. The motion direction depends on XTARGET.
In order to make use of the no ramp motion profile in combination with the
positioning mode, do as follows:
Action:
 Set RAMPMODE(2:0) =b’100.
 Set proper VMAX register 0x24.
 Set proper XTARGET register 0x37.
Result:
VACTUAL is set instantly to 0 in case the target position is reached.
NOTE:
 Do NOT exceed VMAX ≤ fCLK / 4 pulses for positioning mode.
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Read entire documentation; especially the “Supplemental Directives” on page 172.
 MAIN MANUAL 