TMCM-6212 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.07 • 2019-JAN-25
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6.6
SixPoint Ramp
The TMCM-6212 is equipped with a motion controller that supports TRINAMIC’s SixPoint ramp technology.
Please see also section
for more information about the SixPoint ramp. The sixPoint ramp can be
configured using the following axis parameters:
Parameter Name
TMCL Axis Parameter Number
Start velocity (V
START
)
19
Acceleration A1
15
Velocity V1
16
Acceleration A2
5
Maximum positioning velocity (V
MAX
)
4
Deceleration D2
17
Deceleration D1
18
Stop velocity V
STOP
20
Wait time WAIT
21
Table 22: SixPoint Ramp Parameters
Setting the velocity V1 (axis parameter #16) to zero switches off the SixPoint ramp. In this case, a trape-
zoidal ramp defined by parameters 5, 4, 15, 19, 20 and 21 will be used.
Note
The SixPoint ramp will only be used in positioning mode (MVP command). Velocity
mode (ROR/ROL commands) will always use a trapezoidal ramp, defined just by
the acceleration (axis parameter 5), the speed given with the ROR or ROL com-
mand and the start and stop speed (axis parameters 19 and 20). The deceleration
parameters will not be used in velocity mode.
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