TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 10

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

10
5.1.4
The desired maximum velocity Vmax can be chosen from the table below:
Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.
All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing
Vmax during a motion take care that the new Vmax value is within the same group. Background: The
TMC211 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is
equal. When changing Vmax between different groups during a motion, correct positioning is not
ensured
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Vmax
index
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
Vmax Parameter
[FS/s]
anymore.
Vmax
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
99
group
Vmax
C
D
A
B
[half-steps/s]
Half-Step
Mode
1091
1457
1945
197
273
334
395
425
456
486
546
607
668
729
790
912
Table 3: Vmax Parameter
[micro-steps/s]
1/4 micro
stepping
1091
1213
1335
1457
1579
1823
2182
2914
3891
395
546
668
790
851
912
973
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
Stepping Mode
[micro-steps/s]
1/8 micro
stepping
1091
1335
1579
1701
1823
1945
2182
2426
2670
2914
3159
3647
4364
5829
7782
790
[micro-steps/s]
1/16 micro
stepping
11658
15564
1579
2182
2670
3159
3403
3647
3891
4364
4852
5341
5829
6317
7294
8728