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## TMC4210 Datasheet(PDF) 24 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) 24 Page - TRINAMIC Motion Control GmbH & Co. KG.

 24 / 48 pageTMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)24www.trinamic.comCONSIDERATIONS FOR THE CALCULATION OF PMUL AND PDIV-To accelerate, the ramp generator accumulates the acceleration value to the actual velocity witheach time step.-The absolute value V_MAX of the velocity internally is represented by 11+8=19 bits, while only themost significant 11 bits and the sign are used as input for the step pulse generator. So, there are211=2048 values possible for specifying a velocity within a range of 0 to 2047.-The ramp generator accumulates 1/256*A_MAX with each time step to the actual velocity valueV_ACTUAL during acceleration phases. This accumulation uses 8 bits for decimals. So, theacceleration from a velocity V_ACTUAL=0 to the maximum possible velocity V_MAX=2047 spansover 2048*256 / A_MAX pulse generator clock pulses.-Within the acceleration phase the pulse generator generates S = ½ * 2048* 256 / A_MAX * T stepsfor the (micro) step unit.-The parameter T is the clock divider ratio: T = 2RAMP_DIV/ 2PULSE_DIV= 2RAMP_DIV– PULSE_DIVDuring the acceleration, the velocity has to be increased until the velocity limit V_MAX is reached ordeceleration is required in order to exactly reach the target position. The TMC4210 automaticallydetermines the deceleration position in ramp_mode and decelerates. This calculation uses thedifference between current position and target position and the proportionality parameter p, whichhas to be p = 2048 / S.The following formula results:���� =2048(12 ∗ 2048 ∗256����������������) ∗ 2����������������_������������−��������������������_������������This can be simplified to���� =����_������������128 ∗ 2����������������_������������−��������������������_������������HINTS-To avoid overshooting, the parameter PMUL should be made approximately 1% smaller thancalculated. Alternatively set p reduced by an amount of 1%.-If the proportionality parameter p is too small, the target position will be reached slower,because the slow down ramp starts earlier. The target position is approached with minimalvelocity V_MIN, whenever the internally calculated target velocity becomes less than V_MIN.-With a good parameter p the minimal velocity V_MIN is reached a couple of steps before thetarget position.-With parameter p set a little bit too large and a small V_MIN overshooting of one step(respectively one microstep) may occur. A decrement of the parameter PMUL avoids this one-stepovershooting.vV_MAXv(t)V_MINp toosmallptoolarget1t0t2Figure 6.3 Proportionality parameter p and outline of velocity profile(s)

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