TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
36
6.3 Ramp Generator Registers
6.3.1 Ramp Generator Motion Control Register Set
RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RAMPMODE:
0…3
0:
1:
2:
3:
Positioning mode (using all A, D and V
parameters)
Velocity mode to positive VMAX (using
AMAX acceleration)
Velocity mode to negative VMAX (using
AMAX acceleration)
Hold mode (velocity remains unchanged,
unless stop event occurs)
RW
0x20
2
RAMPMODE
Actual motor position (signed)
-2^31…
+(2^31)-1
Hint: This value normally should only be
modified, when homing the drive. In
positioning mode, modifying the register
content will start a motion.
Actual motor velocity from ramp generator +-(2^23)-1
(signed)
RW
0x21
0x22
32 XACTUAL
24 VACTUAL
[µsteps / t]
R
The sign matches the motion direction. A
negative sign means motion to lower
XACTUAL.
Motor start velocity (unsigned)
0…(2^18)-1
[µsteps / t]
W
W
0x23
0x24
18 VSTART
16 A1
Set VSTOP ≥ VSTART!
First acceleration between VSTART and V1 0…(2^16)-1
(unsigned)
[µsteps / ta²]
First acceleration
threshold velocity (unsigned)
/
deceleration phase 0…(2^20)-1
[µsteps / t]
W
W
0x25
0x26
20 V1
0: Disables A1 and D1 phase, use AMAX, DMAX
only
Second acceleration between V1 and VMAX 0…(2^16)-1
(unsigned)
[µsteps / ta²]
16 AMAX
This is the acceleration and deceleration value
for velocity mode.
Motion ramp target velocity (for positioning 0…(2^23)-512
ensure VMAX ≥ VSTART) (unsigned)
[µsteps / t]
W
W
W
0x27
0x28
0x2A
23 VMAX
16 DMAX
16 D1
This is the target velocity in velocity mode. It
can be changed any time during a motion.
Deceleration between VMAX and V1 (unsigned) 0…(2^16)-1
[µsteps / ta²]
Deceleration
(unsigned)
between
V1
and
VSTOP 1…(2^16)-1
[µsteps / ta²]
Attention: Do not set 0 in positioning mode,
even if V1=0!
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