TMC223 datasheet(9/52 Pages) TRINAMIC

Part #	TMC223

Description	Micro Stepping Stepper Motor Controller

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

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TMC223 DATASHEET (V. 1.05 / March 7, 2011)

9

5

Functional Description

5.1

Position Controller and Main Controller

5.1.1

Stepping Modes

The TMC223 supports up to 16 micro steps per full step, which leads to smooth and low torque ripple

motion of the stepping motor. Four stepping modes (micro step resolutions) are selectable by the user

(see also Table 11):

•

Half step Mode

•

1/4 Micro stepping

•

1/8 Micro stepping

•

1/16 Micro stepping

5.1.2

Velocity Ramp

A common velocity ramp where a motor drives to a desired position is shown in the figure below. The

motion consists of a acceleration phase, a phase of constant speed and a final deceleration phase.

Both the acceleration and the deceleration are symmetrical. The acceleration factor can be chosen

from a table with 16 entries. (Table 5: Acc Parameter on page 12). A typical motion begins with a start

velocity Vmin. During acceleration phase the velocity is increased until Vmax is reached. After

acceleration phase the motion is continued with velocity Vmax until the velocity has to be decreased in

order to stop at the desired target position. Both velocity parameters Vmin and Vmax are

programmable, whereas Vmin is a programmable ratio of Vmax. (See Table 3: Vmax Parameter on

page 11 and Table 4: Vmin on page 12). The user has to take into account that Vmin is not allowed to

change while a motion is ongoing. Vmax is only allowed to change under special circumstances. (See

5.1.4 Vmax Parameter on page 11).

The peak current value to be fed to each coil of the stepper-motor is selectable from a table with 16

possible values. It has to be distinguished between the run current Irun and the hold current Ihold. Irun

is fed through the stepper motor coils while a motion is performed, whereas Ihold is the current to hold

the stepper motor before or after a motion. More details about Irun and Ihold can be found in 5.3.1. and

5.3.2.

Velocity resp. acceleration parameters are accessable via the serial interface. These parameters are

written via the SetMotorParam command (see 6.8.9) and read via the GetFullStatus1 command (see

6.8.1).

time

[s]

Velocity V

[FS/s]

V

max

V

min

X

start

X

target

No

Movement

Acceleration

Phase

Constant Velocity

Deceleration

Phase

No

Movement

State of Motion

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