Trinamic PD-1141, Руководство по оборудованию

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PD-1141 Hardware Manual (Rev. 1.04 / 2013-JUL-23) 22
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9 PD-1141 Operational Description
9.1 Calculation: Velocity and Acceleration vs. Microstep and
Fullstep Frequency
The values of the parameters sent to the TMC429 do not have typical motor values like rotations per
second as velocity. But these values can be calculated from the TMC429 parameters as shown in this
section.
P
ARAMETERS OF
TMC429
Signal Description Range
f
CLK
clock-frequency 16 MHz
velocity - 0… 2047
a_max maximum acceleration 0… 2047
pulse_div
divider for the velocity. The higher the value is, the less is
the maximum velocity
default value = 0
0… 13
ramp_div
divider for the acceleration. The higher the value is, the
less is the maximum acceleration
default value = 0
0… 13
Usrs microstep-resolution (microsteps per fullstep = 2 usrs )
0… 8 (a value of 7 or 8 is internally
mapped to 6 by the TMC429)
Table 9.1 TMC429 velocity parameters
M
ICROSTEP
F
REQUENCY
The microstep frequency of the stepper motor is calculated with
32 2048 2
] [
] [
_
 


div pulse
CLK
velocity Hz f
Hz usf
with usf: microstep-frequency
F
ULLSTEP
F
REQUENCY
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be
divided by the number of microsteps per fullstep.
usrs
Hz usf
Hz fsf
2
] [
] [

with fsf: fullstep-frequency
The change in the pulse rate per time unit (pulse frequency change per second – the
acceleration a ) is
given by
29 _ _
max
2
2
 


div ramp div pulse
CLK
a f
a
This results in acceleration in fullsteps of:
usrs
a
af
2

with af: acceleration in fullsteps