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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
5.1.3 Examples for different Velocity Ramps
The following figures show some examples of typical motions under different conditions:
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 2: Motion with change of target position
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 3: Motion with change of target position while in deceleration phase
Velocity V
Vmax
Vmin
Xstart
Xtarget
time
Figure 4: Short Motion Vmax is not reached
Velocity V
Vmax
Vmin
Xstart
Xtarget_1
Xtarget_2
time
Figure 5: Linear Zero crossing (change of target position in opposite direction)
The motor crosses zero velocity with a linear shape. The velocity can be smaller than the programmed
Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to the stepper
motor during crossing.
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