Motion Control Parameters
TMC 188/40 Motion Control Module
Delta Computer Systems, Inc. 360/254-8688
34
In Mode 1, the parameters define the ramp rate (that is, distance/second/second or acceleration/
deceleration distance. Distance is defined as:
Distance = SPEED
2
for SPEED > 0
2000 x Rate
Where Rate is the acceleration or deceleration parameter.
NOTE:
In both Mode 0 and Mode 1, the actual acceleration and deceleration distances are defined as:
Actual Distance = Decel x (Present SPEED)
2
(REQUESTED SPEED)
2
Where Decel is the acceleration or deceleration distance, Present Speed is the current speed of the
axis, REQUESTED SPEED is the new speed, and both SPEED terms are greater than 0.
If the REQUESTED SPEED is larger than the Present SPEED, the Actual Distance will be shorter
than the specified Decel distance. If the REQUESTED SPEED is smaller than the Present SPEED,
the Actual Distance will be longer than the Decel distance.
If you want to accelerate from one speed to another, use Mode 2.
In Mode 2, the parameters define the distance to the specified SPEED. For moves to and from 0
speed, Mode 2 is equivalent to Mode 0.
In Mode 3, the parameters define the time to the specified speed.
BIT 14 - RESERVED
This bit must be set to 0 for compatibility with previous versions of firmware.
BIT 13 - SIMULATION MODE
When this bit is set, the drive output is set to null and the transducer inputs are ignored. Internally the
TARGET POSITION is used as the ACTUAL POSITION. This mode is used for debugging.
BIT 12 - SYNCA (SYNCHRONIZATION BIT A)
When this bit is set, it causes the axis to move in synchronization with other axes on the module
which also have this bit set. The axes are synchronized as follows:
A) The axis with the longest move will move at 100% of the SPEED parameter.
B) The slave axes follow a profile determined by the length of their moves relative to
the master axis, with their speeds equal to the ratio of their move length to the
longest move length. All axes will accelerate together, move at their respective
speeds together, and decelerate together, arriving at their different COMMAND
POSITIONs at the same time.
C) If any axis is halted by an error condition, all axes will halt together.
BIT 11 - SYNCB (SYNCHRONIZATION BIT B)
This bit has the same effect as bit 12 above. It is used when a second pair of axes must be
synchronized on the same module.
