TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
Motion direction depends on XTARGET.
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Position Mode
combined with
Trapezoidal
Ramps
In order to use a 4-point or sixPoint ramps during positioning mode, do as
follows:
Action:
Set RAMPMODE(2:0) =b’101 (register 0x20).
Set Trapezoidal ramp type accordingly, as explained above.
Set proper XTARGET register 0x37.
Result:
The ramp finishes exactly at the target position XTARGET by keeping
|VACTUAL| = VMAX as long as possible.
AACTUAL
AACTUAL assignments apply both for 4-point and sixPoint ramps.
Assignments for
Trapezoidal
Ramps
The acceleration/deceleration factor AACTUAL register depends on the current ramp
phase and the velocity that needs to be reached. The related sign assignment for
different ramp phases is given in the following table:
AACTUAL ASSIGNMENTS for Trapezoidal Ramps
Ramp phase:
A1L
A1
A2
A3
A3L
v>0: AACTUAL=
ASTART
AMAX
0
0
−DMAX
−DFINAL
v<0: AACTUAL= −ASTART
−AMAX
DMAX
DFINAL
Table 16: Trapezoidal Ramps: AACTUAL Assignments during Motion
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