TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
34/166
Definitions for
S-shaped Ramps
The acceleration/deceleration values are altered, based on the bow values.
The start phase and the end phase of an S-shaped ramp is
accelerated/decelerated by ASTART and DFINAL.
The ramp starts with ASTART and stops with DFINAL.
DFINAL becomes valid when AACTUAL reaches the chosen DFINAL value.
i
The parameter DFINAL is not considered during positioning mode.
AACTUAL
Assignments for
S-shaped Ramps
AACTUAL assignments and current bow value selection for S-shaped ramps.
The acceleration/deceleration factor depends on the current ramp phase and alters
every 64 clock cycles during the bow phases B1, B2, B3, and B4.
Details are provided in the table below:
S-shaped Ramps: Assignments for AACTUAL and Internal Bow Value
Ramp phase:
B1
B12
AMAX AMAX0
-BOW2
B2
B23 B3
B34
B4
v>0: AACTUAL=
ASTARTAMAX
0
0
0
0
0-DMAX -DMAX
-DMAX-DFINAL
BOW4
BOWACTUAL
=
BOW1
0
-BOW3
0DMAX
BOW3
0
v<0: AACTUAL=
-ASTART-AMAX -AMAX -AMAX0
-BOW1 BOW2
DMAX
0
DMAXDFINAL
-BOW4
BOWACTUAL
=
0
Table 17: Parameter Assignments for S-shaped Ramps
RAMPMODE(2:0) =b’110
S-shaped Mode
and Positioning:
Fast Motion
The ramp finishes exactly on target position; keeping |VACTUAL| = VMAX as
long as possible until the ramp falls to reach XTARGET exactly.
It is possible that the phases B12, B23, and B34 are left out due to given
values. Therefore, the highest speed performance is possible due to a
maximum speed positioning ramp.
The fastest possible slopes are always performed if the phases B12 and/or B34
are not reached during a rising and/or falling S-shaped slope.
The ramp maintains the maximum velocity VMAX as long as possible in
positioning mode until the falling slope finishes the ramp to reach XTARGET
exactly. The result is the fastest possible positioning ramp in matters of time.
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