10
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5.1.4 Vmax Parameter
The desired maximum velocity Vmax can be chosen from the table below:
Vmax Vmax Vmax
index [FS/s] group
Stepping Mode
Half-Step
Mode
1/4 micro
stepping
1/8 micro
stepping
[micro-steps/s]
790
1/16 micro
stepping
[micro-steps/s]
1579
[half-steps/s] [micro-steps/s]
A
B
99
197
273
334
395
425
456
486
546
607
668
729
790
912
1091
1457
1945
395
546
668
790
851
912
973
1091
1213
1335
1457
1579
1823
2182
2914
3891
0
1
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
1091
1335
1579
1701
1823
1945
2182
2426
2670
2914
3159
3647
4364
5829
7782
2182
2670
3159
3403
3647
3891
4364
4852
5341
5829
6317
7294
8728
11658
15564
2
3
4
5
6
7
8
9
C
D
10
11
12
13
14
15
Table 3: Vmax Parameter
Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.
All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing
Vmax during a motion take care that the new Vmax value is within the same group. Background: The
TMC211 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is
equal. When changing Vmax between different groups during a motion, correct positioning is not
ensured anymore.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
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