Trinamic TMCM-6110, Руководство пользователя для прошивки, Страница: 88 / 99

TMCM-6110 TMCL Firmware V1.31 Manual (Rev. 1.09 / 2015-FEB-24) 88
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5.5.2 Fullstep Frequency
To calculate the fullstep frequency from the microstep frequency, the microstep frequency must be divided
by the number of microsteps per fullstep.
srs
Hz sf
Hz fsf 

2
] [
] [

fsf: fullstep-frequency
The change in the pulse rate per time unit (
a: pulse frequency change per second
) is given by
29 _ _
2
max
2
 


div ramp div pulse
a
CLK
f
a
This results in acceleration in fullsteps of:
srs
a
af 
2

af: acceleration in fullsteps
Example:
Signal Value
f
CLK
16 MHz
velocity 1000
a_max 1000
pulse_div 1
ramp_div 1
µsrs 6
Hz
MHz
sf 31 . 122070
32 2048
1
2
1000 16

 

 
Hz Hz fsf 34 . 1907
6
2
31 . 122070
] [
 
s
MHz Mhz
a 21 . 119
29 1 1
2
1000
2
) 16 (

 


s
MHz
s
MHz
af 863 . 1
6
2
21 . 119
 
5.5.2.1 Calculation of Number of Rotations:
A stepper motor has e.g. 72 fullsteps per rotation.
49 . 26
72
34 . 1907
  
rotation per fullsteps
fsf
RPS
46 . 1589
72
60 34 . 1907 60





rotation per fullsteps
fsf
RPM