TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Virtual Stop Switches
TMC4330A provides additional virtual limits; which trigger stop slopes in case the specific
virtual stop switch microstep position is reached. Virtual stop positions are assigned using the
VIRTUAL_STOP_LEFT register 0x33 and VIRTUAL_STOP_RIGHT register 0x34. In this section,
configuration details for virtual stop switches are provided for various design-in purposes.
NOTE:
Virtual stop switches must be enabled in the same manner as nonvirtual reference switches. Hitting a
virtual limit switch - by receiving the assigned position - triggers the same process as hitting STOPL or
STOPR.
In order to enable left virtual stop correctly, do as follows:
Enabling Virtual
Stop Switches
Action:
Set VIRTUAL_STOP_LEFT register 0x33 according to left stop position.
Set virtual_left_limit_en =1 (REFERENCE_CONF register 0x01).
Result:
The actual velocity ramp stops in case XACTUAL ≤ VIRT_STOP_LEFT. The ramp is
stopped according to the selected ramp type.
In order to enable right virtual stop correctly, do as follows:
Action:
Set VIRTUAL_STOP_RIGHT register 0x34 according to right stop position.
Set virtual_right_limit_en =1 (REFERENCE_CONF register 0x01).
Result:
The actual velocity ramp stops in case XACTUAL ≥ VIRT_STOP_RIGHT. The ramp is
stopped according to the selected ramp type.
The virtual stop slope can also be configured for hard or linear stop slopes.
Virtual Stop
Slope
If virtual hard stops are required, do as follows:
Configuration
Action:
Set virt_stop_mode = b’01 (REFERENCE_CONF register 0x01).
Result:
If one of the virtual stop switches is active and enabled, the velocity ramp will be set
immediately to VACTUAL = 0.
If virtual linear stop ramps are required, do as follows:
Action:
Set proper DSTOP > max(DMAX; DFINAL) (register 0x2C).
Set virt_stop_mode = b’10 (REFERENCE_CONF register 0x01).
Result:
If one of the virtual 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.
Continued on next page.
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