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TMC211-PA20 Datasheet(PDF) 10 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC211-PA20 Datasheet(HTML) 10 Page - TRINAMIC Motion Control GmbH & Co. KG. |
10 / 56 page 10 TMC211 DATASHEET (V. 1.04 / January 7, 2005) Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG 5.1.4 Vmax Parameter The desired maximum velocity Vmax can be chosen from the table below: Stepping Mode Vmax index Vmax [FS/s] Vmax group Half-Step Mode [half-steps/s] 1/4 micro stepping [micro-steps/s] 1/8 micro stepping [micro-steps/s] 1/16 micro stepping [micro-steps/s] 0 99 A 197 395 790 1579 1 136 273 546 1091 2182 2 167 334 668 1335 2670 3 197 395 790 1579 3159 4 213 425 851 1701 3403 5 228 456 912 1823 3647 6 243 B 486 973 1945 3891 7 273 546 1091 2182 4364 8 303 607 1213 2426 4852 9 334 668 1335 2670 5341 10 364 729 1457 2914 5829 11 395 790 1579 3159 6317 12 456 C 912 1823 3647 7294 13 546 1091 2182 4364 8728 14 729 1457 2914 5829 11658 15 973 D 1945 3891 7782 15564 Table 3: Vmax Parameter Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing. All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing Vmax during a motion take care that the new Vmax value is within the same group. Background: The TMC211 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is equal. When changing Vmax between different groups during a motion, correct positioning is not ensured anymore. |
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