TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
42
9 Ramp Generator
The ramp generator allows motion based on target position or target velocity. It automatically
calculates the optimum motion profile taking into account acceleration and velocity settings. The
TMC5031 integrates a new type of ramp generator, which offers faster machine operation compared to
the classical linear acceleration ramps. The sixPoint ramp generator allows adapting the acceleration
ramps to the torque curves of a stepper motor and uses two different acceleration settings each for
the acceleration phase and for the deceleration phase. See Figure 9.2.
9.1 Real World Unit Conversion
The TMC5031 uses its internal or external clock signal as a time reference for all internal operations.
Thus, all time, velocity and acceleration settings are referenced to fCLK. For best stability and
reproducibility, it is recommended to use an external quartz oscillator as a time base, or to provide a
clock signal from a microcontroller.
The units of a TMC5031 register content are written as register[5031].
PARAMETER VS. UNITS
Parameter / Symbol
Unit
calculation / description / comment
fCLK[Hz]
s
[Hz]
[s]
clock frequency of the TMC5031 in [Hz]
second
US
µstep
FS
fullstep
µsteps / s
µsteps / s^2
µstep velocity v[Hz]
µstep acceleration a[Hz/s]
v[Hz] = v[5031] * ( fCLK[Hz]/2 / 2^23 )
a[Hz/s] = a[5031] * fCLK[Hz]^2 / (512*256) / 2^24
microstep resolution in number of microsteps
(i.e. the number of microsteps between two
fullsteps – normally 256)
USC microstep count
counts
v[rps] = v[µsteps/s] / USC / FSC
rotations per second v[rps]
rps acceleration a[rps/s^2]
rotations / s
FSC: motor fullsteps per rotation, e.g. 200
a[rps/s^2] = a[µsteps/s^2] / USC / FSC
rs = (v[5031])^2 / a[5031] / 2^8
rotations / s^2
ramp steps[µsteps] = rs
µsteps
microsteps during linear acceleration ramp
(assuming acceleration from 0 to v)
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 13.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
