TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 16

• Manufacturer Part Number: TMC457_1
• Description: S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
Ramp Generator Register Set – Basic Motion Control Parameters
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
R/W
RW
RW
W
W
W
W
W
W
W
W
W
W
R
R
R
0x0C
0x0D
0X0F
0x0A
0x0B
0x0E
Addr
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
31…0
31…0
30…0
31…0
23…0
23…0
23…0
31…0
31…0
31…0
15…0
23…0
Bits
9…0
4…0
4…0
-
mode
x_actual
v_actual
v_max
v_target
a_max
d_max
d_stop
bow_max
x_target
x_compare
status
a_actual
sd_scale
-
a_max_
d_max
Register
bit 1,0: ramp_mode
00 = positioning mode
01 = reserved
10 = velocity mode
11 = hold mode
bit 2: step_dir_enable
bit 4: shaft
bit 8: PID_on
bit 9: PID_base v_actual
Actual position
Actual velocity
Maximum velocity for positioning mode
Target velocity
The sign determines the direction in velocity
mode and hold mode.
Acceleration, unsigned fixed point 16.8
representation
Deceleration parameter, unsigned
Fixed point 16.8 representation
The effective deceleration with s-ramp
enabled is 15/16 of d_max.
Deceleration for stop event, for security
reason it is with bow = 0
S-Ramp configuration
0=linear ramp (trapezoid)
bow_index = 1, 2, 3, …, 18 
bow_value = 1, 2, 4, …, 262144
Target position for automatic ramp in unit
micro steps
POSCOMP output function:
The position x_compare is compared with
either
enc_x. (Selection bit: enc_clr_mode.12.)
POSCOMP becomes
0 : for x_actual ≤ x_compare
1 : for x_actual > x_compare;
bit 0: target_pos_reached
bit 1: target_v_reached
bit 2: v_is_zero
bit 3: - (reserved)
bit 4: enc_warn_dist
Actual acceleration value
Important note: a_max resp. d_max can be
exceeded by up to 1/1024 of the bow_value
if 1/1024*bow_value is not an integer divider
of a_max resp. d_max
Step Direction input control:
bit 14…0: sd_scaler
bit 15: sd_scale_sign
reserved
Sets a_max and d_max to the same value
with a single write access to register
a_max_d_max
x_actual or the encoder position
Description
default =
%0000000010
± [µsteps]
± [µsteps / t]
0 to $7FFF0000
for any a_max
[µsteps / t]
± $7FFF0000 for
any a_max
0 to $FFFFFD
[µsteps / t^2]
0 to $FFFFFD
[µsteps / t^2]
[µsteps / t^2]
bow_value
[µsteps / t^3]
± [µsteps]
± [µsteps]
0, …, ± a_max
resp. d_max
resp. d_stop;
[µsteps / t^2]
dir & c
(caccumulatio
n constant-1)
[µsteps / t^2]
[µsteps / t]
Range [Unit]
16