TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 9

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5.1.3
The following figures show some examples of typical motions under different conditions:
In Figure 5 the motor crosses zero velocity with a linear shape. The velocity can be less than the
programmed Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to
the stepper motor during crossing.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Figure 5: Motion with change of target position in opposite direction (linear zero crossing)
Examples for different Velocity Ramps
Figure 3: Motion with change of target position while in deceleration phase
Velocity V
Velocity V
Velocity V
Velocity V
V
V
V
V
V
V
V
V
max
max
max
max
min
min
min
min
Figure 2: Motion with change of target position
Figure 4: Short Motion Vmax is not reached
X
X
X
X
start
start
start
start
X
X
target
target_1
X
target_1
X
target_1
X
X
X
target_2
target_2
target_2
time
time
time
time
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