TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
In order to make use of S-shaped ramps, do as follows:
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Configuration of
S-Shaped Ramps
Action:
Set RAMPMODE(1:0)=b’10 (register 0x20).
Set proper BOW1 … BOW4 registers 0x2C…0x30.
Set proper AMAX register 0x28 and DMAX register 0x29.
Set ASTART = 0 (register 0x2A).
Set DFINAL = 0 (register 0x2B).
Set proper VMAX register 0x24.
Result:
The internal velocity VACTUAL is changed successively to VMAX with S-shaped ramps.
The acceleration/deceleration values are altered on the basis of the bow values.
v(t)
B1 B12 B2 B23 B3 B34 B4
VMAX
t
DFINAL=0
ASTART=0
Figure 20: S-shaped Ramp without initial and final Acceleration/Deceleration Values
Definition of
Rising slope (absolute lower velocities to absolute higher velocities):
Rising Slope for
S-shaped Ramps
BOW1 determines the value which increases the absolute acceleration value.
BOW2 determines the value which decreases the absolute acceleration value.
AMAX determines the maximum acceleration value.
Definition of
Falling slope (absolute higher velocities to absolute lower velocities):
Falling Slope for
S-shaped Ramps
BOW3 determines the value which increases the absolute deceleration value.
BOW4 determines the value which decreases the absolute deceleration value.
DMAX determines the maximum absolute deceleration value.
Description is continued on next page.
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