TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Hardware Switch Support
The TMC4330A offers two hardware switches that can be configured according to your design.
STOPL and
STOPR
The hardware provides a left and a right stop in order to stop the drive immediately
in case one of them is triggered. Therefore, pin 12 and pin 14 of the motion controller
must be used.
NOTE:
Both switches must be enabled before motion occurs.
In order to enable STOPL correctly, do as follows:
Action:
Determine the active polarity voltage of STOPL and set pol_stop_left
(REFERENCE_CONF register 0x01) accordingly.
Set stop_left_en =1 (REFERENCE_CONF register 0x01).
Result:
The current velocity ramp stops in case the STOPL voltage level matches pol_stop_left
and VACTUAL < 0.
In order to enable STOPR correctly, do as follows:
Action:
Determine the active polarity voltage of STOPR and set pol_stop_right
(REFERENCE_CONF register 0x01) accordingly.
Set stop_right_en =1 (REFERENCE_CONF register 0x01).
Result:
The current velocity ramp stops in case STOPR voltage level matches pol_stop_right
and VACTUAL > 0.
The stop slope can be configured for hard or linear stop slopes. Per default, hard stops
are selected.
Stop Slope
Configuration for
Hard or Linear
Stop Slopes
If hard stops are required, do as follows:
OPTION 1: HARD STOP SLOPES
Action:
Set soft_stop_en =0 (REFERENCE_CONF register 0x01).
Result:
If one of the stop switches is active and enabled, the velocity ramp is set immediately
to VACTUAL = 0.
OPTION 2: LINEAR STOP SLOPES
If linear stop ramps are required:
Action:
Set proper DSTOP > max(DMAX; DFINAL) (register 0x2C).
Set soft_stop_en =1 (REFERENCE_CONF register 0x01).
Result:
If one of the stop switches is active and enabled, the velocity ramp is stopped with a
linear deceleration slope until VACTUAL = 0 is reached. In this case the deceleration
factor is determined by DSTOP. VSTOP is not considered during the stop deceleration
slope.
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Read entire documentation; especially the “Supplemental Directives” on page 160.
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