TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
30/166
In order to make use of a trapezoidal 4-point ramp motion profile without
break velocity, do as follows:
Trapezoidal
4-Point Ramp
without Break
Point
Action:
Set RAMPMODE(1:0) =b’01 (register 0x20).
Set VBREAK =0 (register 0x27).
Set proper AMAX register 0x28 and DMAX register 0x29.
Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with a linear ramp.
Only AMAX and DMAX define the acceleration/deceleration slopes.
NOTE:
AMAX determines the rising slope from absolute low to absolute high velocities,
whereas DMAX determines the falling slope from absolute high to absolute low
velocities.
Acceleration slope and deceleration slopes have only one acceleration and
deceleration value each.
v(t)
v(t)
A1
A2
A3
A1L A1 A2 A3 A3L
VMAX
VMAX
VBREAK
t
t
Figure 18: Trapezoidal Ramp without Break Point
Figure 19: Trapezoidal Ramp with Break Point
In order to make use of a trapezoidal ramp motion profile with break
velocity, do as follows:
Trapezoidal
Ramp with Break
Point
Action:
Set RAMPMODE(1:0)=b’01 (register 0x20).
Set proper VBREAK register 0x27.
Set proper AMAX register 0x28 and DMAX register 0x29.
Set proper ASTART register 0x2A and DFINAL register 0x2B.
Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with a linear ramp. In
addition to AMAX and DMAX, ASTART and DFINAL define the acceleration or
deceleration slopes (see Figure above).
NOTES:
AMAX and ASTART determines the rising slope from absolute low to absolute high
velocities.
DMAX and DFINAL determines the falling slope from absolute high to absolute low
velocities.
The acceleration/deceleration factor alters at VBREAK. ASTART and DFINAL are
valid below VBREAK, whereas AMAX and DMAX are valid beyond VBREAK.
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