TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Configuration of S-shaped Ramp with ASTART and DFINAL.................................................. 33
S-shaped Mode and Positioning: Fast Motion....................................................................... 34
Start Velocity VSTART and Stop Velocity VSTOP .................................................................. 35
S-shaped Ramps with Start and Stop Velocity...................................................................... 39
Combined Use of VSTART and ASTART for S-shaped Ramps ............................................... 40
sixPoint Ramps.................................................................................................................. 41
U-Turn Behavior ................................................................................................................ 42
Continuous Velocity Motion Profile for S-shaped Ramps ...................................................... 43
Internal Ramp Generator Units........................................................................................... 44
Clock Frequency ................................................................................................................ 44
Velocity Value Units ........................................................................................................... 44
Acceleration Value Units..................................................................................................... 44
Bow Value Units ................................................................................................................ 45
Overview of Minimum and Maximum Values:....................................................................... 45
7. External Step Control and Electronic Gearing.......................................................... 46
Description of Electronic Gearing ........................................................................................ 47
Indirect External Control .................................................................................................... 47
Switching from External to Internal Control ......................................................................... 48
8. Reference Switches ................................................................................................. 49
Hardware Switch Support................................................................................................... 50
Stop Slope Configuration for Hard or Linear Stop Slopes ...................................................... 50
How Active Stops are indicated and reset to Free Motion ..................................................... 51
How to latch Internal Position on Switch Events .................................................................. 51
Virtual Stop Switches ......................................................................................................... 52
Enabling Virtual Stop Switches............................................................................................ 52
Virtual Stop Slope Configuration ......................................................................................... 52
How Active Virtual Stops are indicated and reset to Free Motion........................................... 53
Home Reference Configuration ........................................................................................... 54
Home Event Selection........................................................................................................ 54
HOME_REF Monitoring ....................................................................................................... 55
Homing with STOPL or STOPR............................................................................................ 56
Target Reached / Position Comparison................................................................................ 57
Connecting several Target-reached Pins.............................................................................. 57
Use of TARGET_REACHED Output ...................................................................................... 58
Position Comparison of Internal Values ............................................................................... 59
Repetitive and Circular Motion ............................................................................................ 60
Repetitive Motion to XTARGET............................................................................................ 60
Activating Circular Motion................................................................................................... 60
Uneven or Noninteger Microsteps per Revolution................................................................. 61
Release of the Revolution Counter ...................................................................................... 62
Blocking Zones .................................................................................................................. 62
Activating Blocking Zones during Circular Motion ................................................................. 62
Circular Motion with and without Blocking Zone................................................................... 63
9. Ramp Timing and Synchronization .......................................................................... 64
Basic Synchronization Settings............................................................................................ 65
Start Signal Trigger Selection ............................................................................................. 65
User-specified Impact Configuration of Timing Procedure..................................................... 65
Delay Definition between Trigger and internally generated Start Signal................................. 66
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