TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
74
14 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
TMC5130A 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 14.2.
14.1 Real World Unit Conversion
The TMC5130A 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 TMC5130A register content are written as register[5130A].
PARAMETER VS. UNITS
Parameter / Symbol
Unit
calculation / description / comment
fCLK[Hz]
s
[Hz]
[s]
clock frequency of the TMC5130A in [Hz]
second
US
µstep
FS
fullstep
µsteps / s
µsteps / s^2
µstep velocity v[Hz]
µstep acceleration a[Hz/s]
v[Hz] = v[5130A] * ( fCLK[Hz]/2 / 2^23 )
a[Hz/s] = a[5130A] * 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[5130A])^2 / a[5130A] / 2^8
rotations / s^2
ramp steps[µsteps] = rs
µsteps
microsteps during linear acceleration ramp
(assuming acceleration from 0 to v)
TSTEP = fCLK / fSTEP
The time reference for velocity thresholds is
referred to the actual microstep frequency of
the clock input respectively velocity v[Hz].
TSTEP, T…THRS
-
In rare cases, the upper acceleration limit might impose a limitation to the application, e.g. when
working with a reduced clock frequency or high gearing and low load on the motor. In order to
increase the effective acceleration possible, the microstep resolution of the sequencer input may be
decreased. Setting the CHOPCONF options intpol=1 and MRES=%0001 will double the motor velocity for
the same speed setting and thus also double effective acceleration and deceleration. The motor will
have the same smoothness, but half position resolution with this setting.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 24.
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