TMC5031 DATASHEET (Rev. 1.07 / 2013-APR-30)
19
5.2 Ramp Generator Registers
Addresses Addr are specified for motor 1 (upper value) and motor 2 (second address).
5.2.1 Ramp Generator Motion Control Register Set
RAMP GENERATOR MOTION CONTROL REGISTER SET (MOTOR 1: 0X20…0X2D, MOTOR 2: 0X40…0X4D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RAMPMODE:
0…3
0:
1:
2:
3:
Positioning mode (using all A, D and V
parameters)
Velocity mode to positive VMAX (using
AMAX acceleration)
Velocity mode to negative VMAX (using
AMAX acceleration)
Hold mode (velocity remains unchanged,
unless stop event occurs)
0x20
0x40
RW
2
RAMPMODE
Actual motor position (signed)
-2^31…
+(2^31)-1
0x21
0x41
Hint: This value normally should only be
modified, when homing the drive. In
positioning mode, modifying the register
content will start a motion.
RW
32 XACTUAL
0x22
0x42
Actual motor velocity from ramp generator +-(2^23)-1
R
24 VACTUAL
18 VSTART
16 A1
(signed)
Motor start velocity (unsigned)
[µsteps / t]
0…(2^18)-1
[µsteps / t]
0x23
0x43
W
W
Set VSTOP ≥ VSTART!
0x24
0x44
First acceleration between VSTART and V1 0…(2^16)-1
(unsigned) [µsteps / ta²]
First acceleration / deceleration phase target 0…(2^20)-1
velocity (unsigned)
[µsteps / t]
0x25
0x45
W
W
20 V1
0: Disables A1 and D1 phase, use AMAX, VMAX
only
Second acceleration between V1 and VMAX 0…(2^16)-1
(unsigned)
[µsteps / ta²]
0x26
0x46
16 AMAX
This is the acceleration and deceleration value
for velocity mode.
Second acceleration phase target velocity 0…(2^23)-512
VMAX > V1, VMAX > VSTART (unsigned)
[µsteps / t]
0x27
0x47
W
W
W
23 VMAX
16 DMAX
16 D1
This is the target velocity in velocity mode. It
can be changed any time during a motion.
Deceleration between VMAX and V1 (unsigned) 0…(2^16)-1
0x28
0x48
[µsteps / ta²]
VSTOP 1…(2^16)-1
Deceleration
(unsigned)
between
V1
and
[µsteps / ta²]
0x2A
0x4A
Attention: Do not set 0 in positioning mode,
even if V1=0!
Motor stop velocity (unsigned)
1…(2^18)-1
[µsteps / t]
0x2B
0x4B
W
18 VSTOP
Attention: Set VSTOP ≥ VSTART!
Attention: Do not set 0 in positioning mode!
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