TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
60
MOVING THE MOTOR USING THE MOTION CONTROLLER
Configure Ramp
Parameters
Move Motor
Move to Target
Start Velocity
RAMPMODE
set velocity_positive
RAMPMODE
set position
Set VSTART=1. Higher
velcoity for abrupt start
(limited by motor).
Stop Velocity
Set AMAX=1000, set
VMAX=100000 or
different values
Configure ramp
parameters
Set VSTOP=2, but not
below VSTART. Higher
velocity for abrupt stop.
Motor moves, change
VMAX as desired
Set acceleration A1 as
desired by application
Set XTARGET
Y
Determine velocity,
where max. motor
torque or current sinks
appreciably, write to V1
New on-the-fly
target? *
N
Set desired maximum
velocity to VMAX
Set motion
parameter as
desired
Change of any
parameter desired?
N
Y
AMAX: Set lower
acceleration than A1 to
allow motor to
N
accelerate up to VMAX
Event_POS_
reached active?
DMAX: Use same value
as AMAX or higher
Y
Target is reached
D1: Use same value as
A1 or higher
*) For on-the-fly target
change, set
VSTOP=2, VSTART=1 and
TZEROWAIT=0.
Ready to Move to
Target
Please also refer ramp
generator restrictions.
Figure 13.2 Moving the motor using the motion controller
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
