TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 17

• 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)
0x00: mode - Ramp Generator Register
0x08: bow_max - Ramp Generator Register
0x0b: status - Ramp Generator Register
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
R/W
R/W
R/W
RW
RW
RW
RW
RW
W
R
Bit
Bit
Bit
4…0
1,0
2
4
8
9
0
1
2
3
4
ramp_
mode
step_dir_
enable
shaft
PID_on
PID_base
bow_index
target_pos
_reached
target_v_
reached
v_is_zero
-
enc_warn_
dist_status
Function
Function
Function
Value
Value
Value
00
01
10
11
18
to
0
1
0
1
0
1
0
1
0
1
1
1
1
1
-
positioning mode
reserved
velocity mode (default mode on RESET)
hold mode (sets v_actual equal to v_target)
step direction inputs are ignored
The step and direction inputs (STEP_IN, DIR_IN) become scaled
by sd_scale. In this mode, x_target becomes directly controlled
by the scaled step inputs. In order to allow the motor to directly
follow the control signals, set to positioning mode and set a high
acceleration value a_max_d_max with bow set to zero.
Normal direction of the output pulse generator
Inverts the direction of the output pulse generator
PID controller is completely off, all values are frozen. The output
pulse generator is fed by v_actual directly.
PID controller is on. This mode also allows access to the PID
error pid_e, which is required for a number of other functions.
For normal operation, also set PID_base flag to v_actual base.
The pulse generator output is controlled by the PID calculation
result only. The motor will not move, if PID result is zero.
PID output base is v_actual. The PID result is added to the
velocity output generated by the ramp generator and becomes
clipped to 2^31-1.
The ramp generator uses trapezoid ramps. This corresponds to
an infinite bow value.
Bow for s-shaped ramps in logarithmic representation. A high
bow value leads to a shorter bow phase. The bow_value is
added with 1/1024 f
value set by a_max for acceleration resp. d_max for
deceleration.
bow_value = 2^(bow_index-1)
bow_index = 1, 2, 3, …, 18 
bow_value = 1, 2, 4, …, 262144
Attention on bow setting:
The resulting bow_value must not exceed A_MAX or D_MAX
setting. Otherwise oscillations may result.
Signals that the motor has stopped at the target position
(x_actual=x_target),
PositionLimit_L or PositionLimit_R.
Signals that v_actual has reached v_target, respectively v_max
during an automatic ramp.
Signals that the motor has stopped.
Unused (reserved)
Signals that the deviation between encoder position and actual
ramp position exceeds the warning threshold enc_warn_dist.
CLK
or
[Hz] to acceleration a_actual up to the
Description
Description
Description
at
a
position
determined
17
by