TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
S-shaped ramps can be configured with a combination of VSTART and VSTOP.
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S-shaped Ramps
with Start and
Stop Velocity
It is possible to include both processes in one S-Shaped ramp to decrease the time
between start and stop of the ramp.
In order to use S-Shaped ramps with a combination of start and stop
velocity, do as follows:
Action:
Set RAMPMODE(1:0)=b’10.
Set S-shaped ramp type accordingly, as explained before, but with BOW2 ≠ BOW4.
Set proper VSTART > 0 (register 0x25).
Set proper VSTOP > 0 (register 0x26).
Result:
The S-shaped ramp starts with initial velocity and stops with defined velocity.
v(t)
B1 B12 B2 B23 B3 B34 B4
VMAX
VSTOP
VSTART
t
Figure 25: S-shaped Ramp with Start and Stop Velocity
If S-shaped ramp with initial velocity VSTART and stop velocity VSTOP is selected:
Avoid unintended system behavior during positioning mode!
NOTICE
Keep in mind that the S-shaped character of the curve is maintained. Because
AMAX is the start acceleration value, the ramp will always execute phase B2,
which could result in positioning overshoots.
Use VSTART in positioning mode, if there is enough distance between the
current position XACTUAL and the target position XTARGET.
This will ensure smooth operation during positioning mode.
Turn page for information on how to use VSTART and ASTART for S-shaped ramps.
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