TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
82
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 12.2 Illustration of optimized motor torque usage with TMC5160 ramp generator
12.2.3 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.
12.2.4 Early Ramp Termination
In cases where users can interact with a system, some applications require terminating a motion by
ramping down to zero velocity before the target position has been reached.
OPTIONS TO TERMINATE MOTION USING ACCELERATION SETTINGS:
a) Switch to velocity mode, set VMAX=0 and AMAX to the desired deceleration value. This will stop
the motor using a linear ramp.
b) For a stop in positioning mode, set VSTART=0 and VMAX=0. VSTOP is not used in this case. The
driver will use AMAX and A1 (as determined by V1) for going to zero velocity.
c) For a stop using D1, DMAX and VSTOP, trigger the deceleration phase by copying XACTUAL to
XTARGET. Set TZEROWAIT sufficiently to allow the CPU to interact during this time. The driver will
decelerate and eventually come to a stop. Poll the actual velocity to terminate motion during
TZEROWAIT time using option a) or b).
d) Activate a stop switch. This can be done by means of the hardware input, e.g. using a wired 'OR'
to the stop switch input. If you do not use the hardware input and have tied the REFL and REFR
to a fixed level, enable the stop function (stop_l_enable, stop_r_enable) and use the inverting
function (pol_stop_l, pol_stop_r) to simulate the switch activation.
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
