TMC211-PA20 datasheet(10/56 Pages) TRINAMIC

Part #	TMC211-PA20

Description	Micro Stepping Stepper Motor Controller / Driver with LIN Interface

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Manufacturer	TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

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TMC211 DATASHEET (V. 1.04 / January 7, 2005)

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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TMC211-PA20 Datasheet(PDF) 10 Page - TRINAMIC Motion Control GmbH & Co. KG.

TMC211-PA20 Datasheet(HTML) 10 Page - TRINAMIC Motion Control GmbH & Co. KG.

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