參數(shù)資料
型號： TMC428
廠商： Electronic Theatre Controls, Inc.
英文描述： Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces
中文描述： 三步進(jìn)電機(jī)智能控制器的串行外圍接口
文件頁數(shù)： 15/50頁
文件大小： 378K
代理商： TMC428
TMC428 DATA SHEET (V. 1.00 / February 12, 2001)
15
Copyright 2000, TRINAMIC Microchips GmbH
M I C R O C H I P S
15
Register Description
The registers contain binary coded numbers. Some are unsigned, positive numbers, some are signed
numbers in two’s complement, and some are just bit vectors or bit vectors of single flags.
x_target (IDX=%0000)
This register holds the current target position in units of full steps respectively micro steps. The unit of the
target position depends on the setting of the associated micro step resolution register
usrs
. If the
difference
x_target - x_actual
is not zero then the TMC428 moves the stepper motor that the difference
becomes zero. Both, target position
x_target
and current position
x_actual
(usually not necessary)
may
be altered on the fly. To move from one position to another, the ramp generator of TMC428
automatically generates ramp profiles (step pulses with defined frequencies) in consideration of velocity
limits
v_min
and
v_max
and acceleration limit
a_max
.
Note: The registers
x_target, x_actual, v_min, v_max, and a_max
are initialized with zero after power
up. Thus, no step pulses are generated because motion is prohibited. Setting
a_max
to zero during
motion of the stepper motor results in the inability of the stepper motor to stop, because it cannot change
its velocity.
x_actual (IDX=%0001)
The current position of each stepper motor is available by read out of the registers called
x_actual
. The
actual position can be over written by the micro controller. This feature is for reference switch calibration
under control of the micro controller. If a reference switch position has been determined, the actual
position is set to zero at the reference switch position.
v_min (IDX=%0010)
This register holds the absolute value of the velocity where the stepper motor can be stopped abruptly. It
should be set greater than zero. This value allows to reach the target position faster because the stepper
motor is not slowed down below
v_min
before the target is reached. Also consider, that due to the finite
numerical representation of integral relations, the target position can not be reached exactly, if the
calculated velocity is less than one. So, setting
v_min
to one assures reaching each target position exactly.
The unit of velocity parameters (
v_max
,
v_target
, and
v_actual
) is steps per time unit. The time unit is
defined by the parameter
pulse_div
. The pulse frequencies in unit steps per second depends on the clock
frequency of the clock signal at pin CLK of the TMC428.
v_max
t
v(t)
t
0
t
1
amx
v_min
t
3
t
4
t
2
D
v
t
7
t
8
t
5
D
v
amx
-amx
-amx
t
6
acceleration
constant velocity
deceleration
acceleration
deceleration
D
t
01
D
t
56
Figure 7 - Velocity ramp parameters and velocity profiles
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