TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
109
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=0. Higher
velcoity for abrupt start
(limited by motor).
Stop Velocity
Set AMAX=1000, set
VMAX=100000 or
different values
Configure ramp
parameters
Set VSTOP=10, but not
below VSTART. Higher
velocity for abrupt stop.
Set TZEROWAIT to allow
Motor moves, change
VMAX as desired
Is VSTOP relevant
(>>10)?
motor to recover from
jump VSTOP to 0, before
going to VSTART
Set XTARGET
Y
Y
N
New on-the-fly
target?
Set TPOWERDOWN time
not smaller than TZERO-
WAIT time. Min. value is
TZEROWAIT/512
Set acceleration A1 as
desired by application
N
Determine velocity,
where max. motor
torque or current sinks
appreciably, write to V1
Set motion
parameter as
desired
Change of any
parameter desired?
N
Y
N
Set desired maximum
velocity to VMAX
Event_POS_
reached active?
AMAX: Set lower
acceleration than A1 to
allow motor to
Y
accelerate up to VMAX
Target is reached
DMAX: Use same value
as AMAX or higher
D1: Use same value as
A1 or higher
Ready to Move to
Target
Figure 22.3 Moving the motor using the motion controller
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
