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## TMC4210 Datasheet(PDF) 32 Page - TRINAMIC Motion Control GmbH & Co. KG.

 Part # TMC4210 Description MOTION CONTROLLER FOR STEPPER MOTORS Download 48 Pages Scroll/Zoom 100% Manufacturer TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.] Direct Link http://www.trinamic.com Logo

## TMC4210 Datasheet(HTML) 32 Page - TRINAMIC Motion Control GmbH & Co. KG.

 32 / 48 pageTMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)32www.trinamic.comThe full step frequency RFS is given by������������[��������] =����[��������]2����������������The change R in the pulse rate per time unit is given by∆����[��������/����] =����������������[��������] ∗ ����������������[��������] ∗ ����_������������2��������������������_������������+����������������_������������+29whereR:pulse frequency change per second (acceleration)29:the constant is derived form 229 = 25 * 25 * 28 * 211 = 32*32*256*2048.32comes from fixed clock pre-dividers,256comes from the velocity accumulation clock pre-divider, and2048comes from the velocity accumulation clock divider programmed by A_MAX. The parameterA_MAX is in range 0 to 2047.The change of fullstep frequency RFS in the pulse rate per time unit is given by������������[��������] =����[��������]2����������������The angular velocity of a stepper motor can be calculated based on the full step frequency RFS[Hz] fora given number of full steps per rotation. Similarly, the angular acceleration of a stepper motor canbe calculated based on the change of the full step frequency per secondRFS[Hz].6.1.12.2 Calculating the Number of Steps During Linear Acceleration���� =12∗����2����whereS = number of stepsa = linear accelerationv = velocityWith v = R[Hz] and a = R[Hz/s] one gets:���� =12∗����2����������������∗2����������������_������������2��������������������_������������÷ 23The number of full steps SFS during linear acceleration is given by������������ =����2����������������Changing PULSE_DIV in velocity_mode or in hold_mode might force an internal microstep (withmicrostep resolution defined by usrs) depending on the actual microstep position. This behavior canbe observed especially when the motor is at rest. In ramp_mode this does not occur.PULSE_DIV should only be changed in ramp_mode!

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