TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Finishing Ramps
with Stop
S-shaped and trapezoidal velocity ramps can be finished with a stop velocity value if
you set VSTOP value higher than zero (see figure below).
Velocity
In order to configure trapezoidal ramps with stop velocity, do as follows:
Action:
Set RAMPMODE(1:0)=b’01 (register 0x20).
Set Trapezoidal ramp type accordingly, as explained before.
Set VSTART = 0 (register 0x25).
Set proper VSTOP > 0 (register 0x26).
Result:
The trapezoidal ramp stops with defined velocity.
v(t)
A1L A1 A2 A3 A3L
VMAX
VBREAK
VSTOP
t
Figure 20: Trapezoidal Ramp with Stop Velocity
If trapezoidal ramps are selected (VBREAK > 0):
Avoid unintended system behavior during positioning mode!
NOTICE
Set VBREAK > VSTOP.
Set VSTART < VSTOP.
This will ensure smooth operation during positioning mode.
Turn page for configuration information on S-shaped ramps with stop velocity.
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