TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Repetitive and Circular Motion
TMC4330A also provides options for auto-repetitive or auto-circular motion. In this section
configuration options are explained.
Per default, reaching XTARGET in positioning mode finishes a positioning ramp.
Repetitive
In order to continuously repeat the specified ramp, do as follows:
Motion to
XTARGET
PRECONDITION:
Set RAMPMODE(2) = 1 (positioning mode is active).
Configure a velocity ramp according to your requirements.
Action:
Set clr_pos_at_target =1 (REFERENCE_CONF register 0x01).
Result:
After XTARGET is reached (TARGET_REACHED_Flag is active), XACTUAL is set to 0.
As long as XTARGET is NOT 0, the ramp restarts in order to reach XTARGET again.
This leads to repetitious positioning ramps from 0 towards XTARGET.
NOTE:
It is possible to change XTARGET during repetitive motion. The reset of XACTUAL
to 0 is always executed when XACTUAL equals XTARGET.
If circular motion profiles are necessary for your application, TMC4330A offers a
position limitation range of XACTUAL with an automatic overflow processing. As soon
as XACTUAL reaches one of the two position range limits (positive / negative), the
value of XACTUAL is set automatically to the value of the opposite range limit.
Activating
Circular Motion
In order to activate circular motion, do as follows:
PRECONDITION:
If you want to activate circular motion, XACTUAL must be located within the defined
range.
PROCEED WITH:
Action:
Set X_RANGE ≠ 0 (register 0x36, only writing access!).
Set circular_motion = 1 (REFERENCE_CONF register 0x01).
Result:
The positioning range of XACTUAL is limited to: −X_RANGE ≤ XACTUAL < X_RANGE.
When XACTUAL reaches the most positive position (X_RANGE – 1) and the motion
proceeds in positive direction; the next XACTUAL value is set to −X_RANGE. The same
applies to proceeding in negative direction; where (X_RANGE – 1) is the position after
−X_RANGE.
i
During positioning mode, the motion direction will be dependent on the shortest
path to the target position XTARGET. For example, if XACTUAL = 200,
X_RANGE = 300 and XTARGET = −200, the positioning ramp will find its way
across the overflow position (299 −300) (see Figure A) in Table 27 (page 63).
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