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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： | 三步進電機智能控制器的串行外圍接口 |
| 文件頁數(shù)： | 18/50頁 |
| 文件大小： | 378K |
| 代理商： | TMC428 |
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TMC428 DATA SHEET (V. 1.00 / February 12, 2001)
18
Copyright 2000, TRINAMIC Microchips GmbH
M I C R O C H I P S
18
the stepper motor approaches the target position. This also works, if the target position is changed during
motion. The stepper motor moves to a target position until the difference between the target position
x_target
and the current position
x_actual
vanishes.
With the right proportionality factor
p
, target positions are reached fast, without overshooting them. The
proportionality factor primarily depends on the acceleration limit
a_max
and
on the two clock divider
parameters
pulse_div
and
ramp_div
. These two separate clock divider parameters– set to the same value
for most applications –give an extreme wide dynamic range concerning acceleration and velocity. These
two
separate
parameters allow to reach very high velocities with very low acceleration.
If the proportionality factor
p
is set to small, this results in a slow approach to the target position. If set too
large, it causes overshooting and even oscillations around the target position. The calculation of the
proportionality factor is simple:
The representation of the proportionality factor
p
by the two parameters
p_mul
and
p_div
is some kind
of a fixed point representation. It is
p = p_mul / p_div
with
p_mul = {128, 128+1, 128+2, 128+3, ..., 128+127}
and
p_div = {2
3
, 2
4
, 2
5
, ..., 2
14
, 2
15
, 2
16
}.
Instead of direct storage of the parameters
p_mul
and
p_div
, the TMC428 stores two parameters called
pmul
and
pdiv
, with
p_mul = 128 + pmul
and
p_div = 2
3+pdiv
= 2^(3+pdiv)
where
pmul = {0, 1, 2, 3, ..., 127}
and
pdiv = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}
.
The reason why
p_mul
ranges from 128 to 255 is, that
p
is divided by
p_div
which is a power of two
ranging from 8 to 65536. So, values of
p
less than 128 can be achieved by increasing
p_div
.
v_max
RAMP GENERATOR
PULSE GENERATOR
(micro) step pulses
v_target
x_target
x_actual
pdiv
pmul
a_max
v_min
pulse_div
ramp_div
clk32
clock_div32
clk
Figure 8 - Ramp Generator and Pulse Generator
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|---|---|
| TMC428_06 | 制造商:未知廠家 制造商全稱:未知廠家 功能描述:Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces |
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