TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Example:
U-Turn for
S-shaped Ramps
When VACTUAL = 0 is reached, motion immediately continues. In most S-shaped
ramp applications that do not use VSTOP, a standstill phase is not required.
If ASTART > 0 and/or DFINAL > 0, these parameters are also used during U-Turn.
v(t)
TZEROWAIT
=0
-VMAX
t
-VMAX
Figure 29: Example for U-Turn Behavior of S-shaped Ramp
There is one exception to the above explained U-Turn process:
Continuous
Velocity Motion
Profile for
In case BOW2 equals BOW4, the S-shaped ramp is not stopped at VACTUAL = 0.
While passing VACTUAL = 0, motion acceleration does not equal 0. Thus, the fastest
possible U-Turn behavior for this ramp is created.
S-shaped Ramps
In the figure below, this velocity ramp behavior is depicted as bold black line, whereas
the velocity ramp behavior of the process explained above is depicted gray line:
v(t)
BOW2=BOW4!
-VMAX
t
-VMAX
Figure 30: Direct transition via VACTUAL=0 for S-shaped Ramps
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