10
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
5.1.4 Vmax Parameter
The desired maximum velocity Vmax can be chosen from the table below:
Vmax Vmax Vmax
index [FS/s] group
Stepping Mode
Half-Step 1/4 micro
Mode stepping
[half-steps/s] [micro-steps/s]
1/8 micro
stepping
[micro-steps/s]
790
1/16 micro
stepping
[micro-steps/s]
1579
A
B
99
197
273
334
395
425
456
486
546
607
668
729
790
912
1091
1457
1945
395
546
0
1
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
1091
2182
668
1335
2670
2
790
1579
3159
3
851
1701
3403
4
912
1823
3647
5
973
1945
3891
6
1091
1213
1335
1457
1579
1823
2182
2914
3891
2182
4364
7
2426
4852
8
2670
5341
9
C
D
2914
5829
10
11
12
13
14
15
3159
6317
3647
7294
4364
8728
5829
11658
15564
7782
Table 3: Vmax Parameter
Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.
All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing
Vmax during a motion take care that the new Vmax value is within the same group. Background: The
TMC222 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is
equal. When changing Vmax between different groups during a motion, correct positioning is not
ensured anymore.
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