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## TMC4210 Datasheet(PDF) 25 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) 25 Page - TRINAMIC Motion Control GmbH & Co. KG.

 25 / 48 pageTMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)25www.trinamic.com6.1.9.2.1 Choosing a Pair of PMUL and PDIVThe calculation is based on the formula���� =��������������������������������=����������������23+����������������CALCULATIONS1. To represent the parameter p choose a pair of PMUL and PDIV which approximates p.2. Value range for PMUL:128… 2553. Value range for PDIV:one out of {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13} (representing PDIVone out of {8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32786, 65536})4. Try all 128 * 14 = 1792 possible pairs of PMUL and PDIV with a program and choose a matchingpair.5. To find a pair, calculate for each pair of PMUL and PDIV���� =����_������������128∗2����������������_������������−��������������������_������������and����′ =��������������������������������=����������������23+����������������and���� =����′����6. Select one of the pairs satisfying the condition 0.95 < q < 1.0. The value q interpreted as afunction q(a_max, ramp_div, pulse_div, pmul, pdiv) gives the quality criterion required.Although q = 1.0 indicates that the chosen P_MUL and P_DIV perfectly represent the desired p factorfor a given A_MAX, overshooting could result because of finite numerical precision. On the other handin case of high resolution microstepping, overshooting of one microstep is negligible in mostapplications.To avoid overshooting, use P_MUL-1 instead of the selected P_MUL or select a pair (P_MUL, P_DIV)with q = 0.99.6.1.9.2.2 Optimized Calculation of PMUL and PDIVThe calculation of the parameters PMUL and PDIV can be simplified using the expression���������������� = ���� ∗ 23 ∗ 2����������������with���� =����_������������128∗2����������������_������������−��������������������_������������To avoid overshooting, use�������������������������������� = ���� ∗ (1 − ����������������������������������������[%]) with p_reduction approximately 1%This results in:���������������� = �������������������������������� ∗ 23 ∗ 2���������������� = 0.99 ∗ ���� ∗ 23 ∗ 2����������������PMUL becomes a function of the parameter PDIV. To find a valid pair {PMUL, PDIV} choose one out of14 pairs for PDIV = {0, 1, 2, 3, ..., 13} with PMUL within the valid range 128  PMUL  255.The C language example pmulpdiv.c can be found on www.trinamic.com. The source code can directlybe copied from the PDF datasheet file.

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