Trinamic 30-0102 PD1-109-57-RS V2 Stepper Motor With Integrated Controller 30-0102 Datenbogen
Produktcode
30-0102
PDx-109-57 V2 Hardware Manual (V1.13 / 2010-SEP-25)
23
Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
8 TMCM-109 operational description
8.1 Calculation: Velocity and acceleration vs. microstep- and
fullstep frequency
The values of the parameters sent to the TMC428 do not have typical motor values, like rotations per
second as velocity. But these values can be calculated from the TMC428 parameters, as shown in the
table below. It is also possible to use the calculator of the TMCL-IDE.
TMC428 velocity parameters:
Parameter
Description
Range
f
CLK
Clock frequency
16 MHz
velocity
0… 2047
a_max
Maximum acceleration
0… 2047
pulse_div
Velocity pre-divider. The higher the value is the less
is the maximum velocity.
Default value = 3
Can be changed in TMCL™ using SAP 154.
is the maximum velocity.
Default value = 3
Can be changed in TMCL™ using SAP 154.
0… 13
ramp_div
Acceleration pre-divider. The higher the value is the
less is the maximum acceleration
default value = 7
Can be change in TMCL™ using SAP 153.
less is the maximum acceleration
default value = 7
Can be change in TMCL™ using SAP 153.
0… 13
Usrs
Microstep resolution (microsteps per fullstep = 2
usrs
).
Can be changed in TMCL™ using SAP 140.
0… 6
Table 8.1: TMC428 velocity parameters
The microstep-frequency of the stepper motor is calculated with:
32
2048
2
]
[
]
[
_ div
pulse
CLK
velocity
Hz
f
Hz
usf
with usf: microstep-frequency
To calculate the fullstep-frequency from the microstep-frequency, the microstep-frequency must be
divided by the number of microsteps per fullstep:
usrs
Hz
usf
Hz
fsf
2
]
[
]
[
with fsf: fullstep-frequency
The change in the pulse rate per time unit (microstep frequency change per second - the acceleration
a) is given by:
29
_
_
max
2
2
div
ramp
div
pulse
CLK
a
f
a
This results in acceleration in fullsteps of:
usrs
a
af
2
with af: acceleration in fullsteps