TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Configuration Details for Operation Modes and Motion Profiles
This section provides information on the two available operation modes (velocity mode and
positioning mode), and on the four possible motion profiles (no ramp, trapezoidal ramp
including sixPoint™ ramp, and S-shaped ramp). Different combinations are possible. Each one
of them has specific advantages. The choice of configuration depends on the user’s design
specification to best suit his design needs.
Description of
Internal Ramp
Generator
With proper configuration, the internal ramp generator of the TMC4330A is able to
generate various ramps with the related step outputs for STPOUT.
In order to configure the internal ramp generator successfully – i.e. to make it fit as
best as possible with your specific use case – information about the scope of each
possible combination is provided in the table below and on the following pages.
Ramp Generator Configuration Options
Operation
Motion Profile
Description
RAMPMODE(2:0)
Mode
No ramp
b’000
b’001
Follows VMAX request only.
Follows VMAX request and considers acceleration
and deceleration values.
Trapezoidal ramp
Follows VMAX request and considers acceleration /
deceleration values and start and stop velocity
values.
Velocity
Mode
sixPoint ramp
b’001
Follows VMAX request and considers maximum
acceleration / deceleration values and adapts these
values with 4 different bow values.
S-shaped ramp
No Ramp
b’010
b’100
b’101
Follows XTARGET and VMAX requests only.
Follows XTARGET request and a maximum velocity
VMAX request and considers acceleration and
deceleration values.
Trapezoidal ramp
Follows XTARGET request and a maximum velocity
VMAX request and considers acceleration /
deceleration values and start and stop velocity
values.
Follows XTARGET request and a maximum velocity
VMAX request and considers maximum acceleration /
deceleration values and adapts these values with 4
different bow values.
Positioning
Mode
sixPoint ramp
b’101
b’110
S-shaped ramp
Table 14: Overview of General and Basic Ramp Configuration Options
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