TMC222 DATASHEET (V. 1.12 / March 7, 2011)
11
5.1.5 Vmin Parameter
The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also
possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below
shows the possible rounded values of Vmin given within unit [FS/s].
Vmax group [A...D] and Vmax index [0…15]
Vmin Vmax
index factor
A
0
B
C
D
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15
99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973
0
1
2
3
4
5
6
7
8
9
1
3
6
9
4
8
5
6
6
7
7
8
8
10 10 11 13 15 19 26
1/32
2/32
3/32
4/32
5/32
6/32
7/32
8/32
9/32
10 11 12 13 14 15 17 19 21 23 27 30 42 57
12 15 18 19 21 22 25 27 30 32 36 42 50 65 88
12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118
15 21 26 30 32 35 37 42 46 52 55 61 71 84 111 149
18 25 30 36 39 42 45 50 55 61 67 72 84 99 134 179
22 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210
24 33 41 49 52 56 60 67 74 82 90 97 112 134 179 240
28 38 47 55 59 64 68 76 84 94 101 111 128 153 202 271
30 42 52 61 66 71 75 84 94 103 112 122 141 168 225 301
34 47 57 68 72 78 83 94 103 114 124 135 156 187 248 332
37 50 62 73 79 85 91 101 112 124 135 147 170 202 271 362
40 55 68 80 86 92 98 111 122 135 147 160 185 221 294 393
43 59 72 86 92 99 106 118 132 145 158 172 198 236 317 423
46 64 78 92 99 107 114 128 141 156 170 185 214 256 340 454
10 10/32
11 11/32
12 12/32
13 13/32
14 14/32
15 15/32
Table 4: Vmin values [FS/s] for all Vmin index – Vmax index combinations
5.1.6 Acceleration Parameter
The acceleration parameter can be chosen from a wide range of available values as described in the
table below. Please note that the acceleration parameter is not to change while a motion is ongoing.
Acceleration Values in [FS/s2] dependent on Vmax
Vmax [FS/s]
Acc index
99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973
49
106
473
735
0
1
218
1004
3609
2
3
6228
4
8848
5
11409
13970
16531
6
7
8
19092
9
21886
24447
27008
29570
10
11
12
13
14
15
34925
40047
29570
Table 5: Acc Parameter
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
