TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Starting Point: Choose Operation Mode
Two operation modes are available: velocity mode and positioning mode.
Before setting any parameters:
First select:
BEFORE
YOU BEGIN
!
Operation mode and
Motion profile
It is not advisable to change operation mode nor motion profile during
motion.
Operation Mode:
Velocity Mode
The RAMPMODE register provides a choice of two operation modes. Either velocity
mode or positioning mode can be chosen.
In order to use the velocity mode, do as follows:
Action:
Set RAMPMODE(2) =0 (RAMPMODE register 0x20).
Result:
Velocity mode is selected. The target velocity VMAX is reached with the selected
motion profile.
Operation Mode:
Positioning
Mode
In order to make use of the positioning mode, do as follows:
Action:
Set RAMPMODE(2)=1 (RAMPMODE register 0x20).
Result:
Positioning mode is selected. VMAX is the maximum velocity value of this motion
profile that is based on the condition that the ramp stops at target position XTARGET.
NOTE:
The sign of VMAX is not relevant during positioning. The direction of the steps
depends on XACTUAL, XTARGET, and the current ramp motion profile status.
NOTE:
Do NOT exceed VMAX ≤ fCLK ¼ pulses for positioning mode.
In order to stop the motion during positioning, do as follows:
Stop during
Motion
Action:
Set VMAX = 0 (register 0x24).
Result:
The velocity ramp directs to VACTUAL = 0, using the actual ramp parameters.
i
Motion is proceeded with VMAX ≠ 0.
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