TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
42/166
U-Turn Behavior
The process that is triggered when motion direction changes during motion, is described below,
and applies to all ramp types.
U-Turn Behavior
In case the motion direction is changed during motion in velocity mode (by direct
assignment of VMAX) or in positioning mode (due to XTARGET reassignment), the
following process is triggered:
1. Motion is directed to VACTUAL = 0.
i
If VSTOP is used (≠ 0), motion terminates at VSTOP.
2. A standstill phase of TZEROWAIT clock cycles (register 0x7B) occurs.
i
It is recommended to assign TZEROWAIT > 0, if VSTOP and/or a trapezoidal
ramp type are used, because motor oscillations can occur that must peter
out.
3. Motion continues to the actual XTARGET (positioning mode), or to the newly
assigned VMAX (velocity mode).
i
If VSTART is used (≠ 0), motion begins with VSTART if TZEROWAIT > 0.
Example:
U-Turn for
After reaching VSTOP, TZEROWAIT clock cycles are waited until motion continues to
peter out motor oscillations.
sixPoint Ramps
v(t)
TZEROWAIT
VMAX
VBREAK
VSTOP
VSTART
-VSTART
-VSTOP
t
-VBREAK
-VMAX
Figure 28: Example for U-Turn Behavior of sixPoint Ramp
Turn page for information on U-Turn for S-shaped ramps.
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