TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
21
GENERAL CONFIGURATION REGISTERS (0X00…0X1F)
R/W
Addr
n
Register
Description / bit names
Position comparison register for motor 1 position strobe.
Activate poscmp_enable to get position pulse on output PP.
W
0x05
32 X_COMPARE
XACTUAL = X_COMPARE:
-
Output PP becomes high. It returns to a low state, if
the positions mismatch.
5.2 Ramp Generator Registers
Addresses Addr are specified for motor 1 (upper value) and motor 2 (second address).
5.2.1 Ramp Generator Motion Control Register Set
RAMP GENERATOR MOTION CONTROL REGISTER SET (MOTOR 1: 0X20…0X2D, MOTOR 2: 0X40…0X4D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RAMPMODE:
0…3
0:
1:
2:
3:
Positioning mode (using all A, D and V
parameters)
Velocity mode to positive VMAX (using
AMAX acceleration)
Velocity mode to negative VMAX (using
AMAX acceleration)
Hold mode (velocity remains unchanged,
unless stop event occurs)
0x20
0x40
RW
2
RAMPMODE
Actual motor position (signed)
-2^31…
+(2^31)-1
0x21
0x41
Hint: This value normally should only be
modified, when homing the drive. In
positioning mode, modifying the register
content will start a motion.
Actual motor velocity from ramp generator +-(2^23)-1
(signed)
RW
32 XACTUAL
24 VACTUAL
[µsteps / t]
0x22
0x42
R
The sign matches the motion direction. A
negative sign means motion to lower
XACTUAL.
Motor start velocity (unsigned)
0…(2^18)-1
[µsteps / t]
0x23
0x43
W
W
18 VSTART
16 A1
Set VSTOP ≥ VSTART!
0x24
0x44
First acceleration between VSTART and V1 0…(2^16)-1
(unsigned) [µsteps / ta²]
First acceleration / deceleration phase target 0…(2^20)-1
velocity (unsigned)
[µsteps / t]
0x25
0x45
W
W
20 V1
0: Disables A1 and D1 phase, use AMAX, DMAX
only
Second acceleration between V1 and VMAX 0…(2^16)-1
(unsigned)
[µsteps / ta²]
0x26
0x46
16 AMAX
This is the acceleration and deceleration value
for velocity mode.
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