TMC211 DATASHEET (V. 1.04 / January 7, 2005)
9
5.1.3 Examples for different Velocity Ramps
The following figures show some examples of typical motions under different conditions:
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 2: Motion with change of target position
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 3: Motion with change of target position while in deceleration phase
Velocity V
Vmax
Vmin
Xstart
Xtarget
time
Figure 4: Short Motion Vmax is not reached
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 5: Motion with change of target position in opposite direction (linear zero crossing)
In Figure 5 the motor crosses zero velocity with a linear shape. The velocity can be less than the
programmed Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to
the stepper motor during crossing.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
