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TMC5031 Datasheet(PDF) 40 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC5031 Datasheet(HTML) 40 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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40 / 63 page  TMC5031 DATASHEET (Rev. 1.07 / 2013-APR-30) 40 www.trinamic.com 9 Ramp Generator The TMC5031 integrates a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps. The sixPoint ramp generator allows adapting the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase. See Figure 9.2. 9.1 Real World Unit Conversion The TMC5031 uses its internal or external clock signal as a time reference for all internal operations. Thus, all time, velocity and acceleration settings are referenced to f CLK. For best stability and reproducibility, it is recommended to use an external quartz oscillator as a time base, or to provide a clock signal from a microcontroller. The units of a TMC5031 register content are written as register[5031]. PARAMETER VS. UNITS Parameter / Symbol Unit calculation / description / comment f CLK[Hz] [Hz] clock frequency of the TMC5031 in [Hz] s [s] second US µstep FS fullstep µstep velocity v[Hz] µsteps / s v[Hz] = v[5031] * ( f CLK[Hz]/2 / 2^23 ) µstep acceleration a[Hz/s] µsteps / s^2 a[Hz/s] = a[5031] * f CLK[Hz]^2 / (512*256) / 2^24 USC microstep count counts microstep resolution in number of microsteps (i.e. the number of microsteps between two fullsteps – normally 256) rotations per second v[rps] rotations / s v[rps] = v[µsteps/s] / USC / FSC FSC: motor fullsteps per rotation, e.g. 200 rps acceleration a[rps/s^2] rotations / s^2 a[rps/s^2] = a[µsteps/s^2] / USC / FSC ramp steps[µsteps] = rs µsteps rs = (v[5031])^2 / a[5031] / 2^8 microsteps during linear acceleration ramp (assuming acceleration from 0 to v) 9.2 Ramp Generator Functionality For the ramp generator register set, please refer to the chapter 5.2. 9.2.1 Ramp Mode The ramp generator delivers two phase acceleration and two phase deceleration ramps with additional programmable start and stop velocities (see Figure 9.1). The two different sets of acceleration and deceleration can be combined freely. A common transition speed V1 allows for velocity dependent switching between both acceleration and deceleration settings. A typical use case will use lower acceleration and deceleration values at higher velocities, as the motors torque declines at higher velocity. When considering friction in the system, it becomes clear, that typically deceleration of the system is quicker than acceleration. Thus, deceleration values can be higher in many applications. This way, operation speed of the motor in time critical applications can be maximized. Note! The start velocity can be set to zero, if not used. The stop velocity can be set to one, if not used. Take care to always set VSTOP identical to or above VSTART. This ensures that even a short motion can be terminated successfully at the target position. |
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