TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
22
RAMP GENERATOR MOTION CONTROL REGISTER SET (MOTOR 1: 0X20…0X2D, MOTOR 2: 0X40…0X4D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
Motion ramp target velocity (for positioning 0…(2^23)-512
ensure VMAX ≥ VSTART) (unsigned)
[µsteps / t]
0x27
0x47
W
23 VMAX
16 DMAX
16 D1
This is the target velocity in velocity mode. It
can be changed any time during a motion.
Deceleration between VMAX and V1 (unsigned) 0…(2^16)-1
0x28
0x48
W
W
[µsteps / ta²]
VSTOP 1…(2^16)-1
Deceleration
(unsigned)
between
V1
and
[µsteps / ta²]
0x2A
0x4A
Attention: Do not set 0 in positioning mode,
even if V1=0!
Motor stop velocity (unsigned)
1…(2^18)-1
[µsteps / t]
0x2B
0x4B
W
W
18 VSTOP
Attention: Set VSTOP ≥ VSTART!
Attention: Do not set 0 in positioning mode!
Waiting time after ramping down to zero 0…(2^16)-1 *
velocity before next movement or direction 512 tCLK
inversion can start and before motor power
down starts. Time range is about 0 to 2
seconds.
0x2C
0x4C
16 TZEROWAIT
This setting avoids excess acceleration e.g.
from VSTOP to -VSTART.
Target position for ramp mode (signed). Write -2^31…
a new target position to this register in order +(2^31)-1
to activate the ramp generator positioning in
RAMPMODE=0.
Initialize
all
velocity,
acceleration and deceleration parameters
before.
Hint: The position is allowed to wrap around,
thus, XTARGET value optionally can be treated
as an unsigned number.
0x2D
0x4D
RW
32 XTARGET
Hint: The maximum possible displacement is
+/-((2^31)-1).
Hint: When increasing V1, D1 or DMAX during
a motion, rewrite XTARGET afterwards in order
to trigger a second acceleration phase, if
desired.
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