IDX Manual (V1.15 / September 26
th
, 2008)
25
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.8.2.4
Chopper mode 3 (Phase and SPI)
This mode combines the modes 2 (Phase) and 0 (SPI) in order to provide highest accuracy at lower
velocities and also the possibility for faster movements. Through the switching between modes some
microsteps may be lost. Microstep resolution must not be higher than 64. It is set according to Phase
mode, so possible values for Z (microstep resolution) are 2, 3 or 4.
µ-steps
Phase to SPI
SPI to Phase
V-value
Rounds/s
V-value
Rounds/s
64
192000
2.24
25000
0.29
32
96000
2.24
12500
0.29
16
48000
2.24
6250
0.29
Table 5.11: Chopper mode 3 switching velocities
Conversion of values above to motors with different fullstep resolutions:
revolution
per
fullsteps
motors
200
)
s
/
rounds
(
v
)
s
/
rounds
(
v
table
motor
5.8.2.5
Chopper mode 4 (PWM and SPI)
This mode combines the modes 1 (PWM) and 0 (SPI) in order to provide higher accuracy (up to 64
microsteps) at lower velocities and also the possibility for faster movements. For higher velocities in
SPI mode the microstep resolution is always 16, but set resolution is simulated. Through the
switching between modes some microsteps may be lost. Microstep resolution must not be higher
than 64. It is set according to Phase mode, so possible values for Z (microstep resolution) are 2, 3 or
4. This mode should only be used in very special occasions and mode 3 should be preferred if a
combination of high accuracy at slow movements and high speed is needed.
