TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
38/166
S-shaped Ramps
with Stop
Velocity
In order to use S-shaped ramps with stop velocity, do as follows:
Action:
Set RAMPMODE(1:0)=b’10 (register 0x20).
Set S-shaped ramp type accordingly, as explained before.
Set VSTART = 0 (register 0x25).
Set proper VSTOP > 0 (register 0x26).
Result:
The S-shaped ramp finishes with stop velocity.
NOTE:
The final deceleration value is equal to DMAX. The parameter DFINAL is not
considered. Consequently, ramp phase B4 is not performed.
v(t)
B1 B12 B2 B23 B3 B34 B4
VMAX
VSTOP
t
Figure 24: S-shaped Ramp with Stop Velocity
Interaction of VSTART, VSTOP, VACTUAL and VMAX:
VSTOP can be used in positioning mode, if the target position is reached. In
velocity mode, VSTOP is also used if VACTUAL ≠ 0 and the target velocity
VMAX is assigned to 0.
VSTART and VSTOP are not only used to start or end a velocity ramp. If the
velocity direction alters due to register assignments while a velocity ramp is in
progress, the velocity values develop according to the current velocity ramp
type, using VSTART or VSTOP.
The unsigned values VSTART and VSTOP are valid for both velocity directions.
Every register value change is assigned immediately.
Turn page for information on how to configure S-shaped ramps with start and stop
velocity.
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