TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 11

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

index
Vmin
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5.1.5
The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also
possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below
shows the possible rounded values.
5.1.6
The acceleration parameter can be chosen from a wide range of available values as described in the
table below. Please note that the acceleration parameter is not to change while a motion is ongoing.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Acc index
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
factor
Vmax
10/32 30
11/32 34
12/32 37
13/32 40
14/32 43
15/32 46
1/32
2/32
3/32
4/32
5/32
6/32
7/32
8/32
9/32
Vmin Parameter
Acceleration Parameter
1
99
99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973
12
15
18
22
24
28
A
0
3
6
9
Table 4: Vmin values for all Vmin index – Vmax index combinations
136 167 197 213 228 243 273 303 334 364 395 456 546 729 973
12
16
21
25
30
33
38
42
47
50
55
59
64
1
4
8
Acceleration Values in [FS/s
10
15
20
26
30
36
41
47
52
57
62
68
72
78
2
5
49
11
18
24
30
36
43
49
55
61
68
73
80
86
92
29570
3
6
B
Vmax group [A...D] and Vmax index [0…15]
12
19
26
32
39
46
52
59
66
72
79
86
92
99
4
6
Table 5: Acc Parameter
107 114 128 141 156 170 185 214 256 340 454
13
21
28
35
42
50
56
64
71
78
85
92
99
5
7
218
106 118 132 145 158 172 198 236 317 423
14
22
30
37
45
52
60
68
75
83
91
98
6
7
Vmax [FS/s]
101 112 124 135 147 170 202 271 362
111 122 135 147 160 185 221 294 393
15
25
32
42
50
59
67
76
84
94
11409
13970
16531
7
8
2
1004
3609
6228
8848
] dependent on Vmax
19092
21886
24447
27008
29570
103 114 124 135 156 187 248 332
17
27
36
46
55
65
74
84
94
8
8
103 112 122 141 168 225 301
10
19
30
40
52
61
72
82
94
9
106
C
101 111 128 153 202 271
10
10
21
32
44
55
67
78
90
34925
40047
11
11
23
36
48
61
72
86
97
112 134 179 240
12
13
27
42
55
71
84
99
118 156 210
13
15
30
50
65
84
99
473
735
111 149
134 179
14
19
42
65
88
D
118
26
57
88
15
11