TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
44
torque
high deceleration
2xMFRICT
reduced decel.
reduced accel.
m
o
MMAX
t
o
r
t
o
r
q
u
e
high acceleration
MNOM1
MNOM2
Torque available for acceleration A1
Torque available for
AMAX
MFRICT
Torque required
for static loads
0
velocity [RPM]
MFRICT Portion of torque required for friction and static load within the system
MMAX Motor pull-out torque at v=0
MNOM1/2 Torque available at V1 resp. VMAX
Motor torque used in acceleration phase
Overall torque usable for deceleration
Figure 9.2 Illustration of optimized motor torque usage with TMC5031 ramp generator
9.2.3 Velocity Mode
For the ease of use, velocity mode movements do not use the different acceleration and deceleration
settings. You need to set VMAX and AMAX only for velocity mode. The ramp generator always uses
AMAX to accelerate or decelerate to VMAX in this mode.
In order to decelerate the motor to stand still, it is sufficient to set VMAX to zero. The flag vzero
signals standstill of the motor. The flag velocity_reached always signals, that the target velocity has
been reached.
Please see chapter 0 for a known restriction of the velocity mode.
9.3 Interrupt Handling
The motion controllers provide the capability to issue an interrupt to the microcontroller, e.g. in order
to react on a position reached event. In case more than one interrupt source is possible, it is
necessary to carefully check for the actual event, without risking losing an event.
INTERRUPT HANDLING FOR 2 AXIS (EXAMPLE FOR POSITION_REACHED):
1. Read RAMP_STAT1 to clear the interrupt flags. This will turn off the interrupt source.
2. Check XACTUAL1 for reaching of the target position (and any other conditions you want to check
for ramp 1).
3. Do the same for RAMP_STAT2 and XACTUAL2.
This way, you are sure that you will not miss any position_reached condition, because you first clear
the flags, and afterwards read out the condition.
9.4 Velocity Thresholds
The ramp generator provides a number of velocity thresholds coupled to the actual velocity VACTUAL.
The different ranges allow programming the motor to the optimum step mode, coil current and
acceleration settings.
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