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參數資料
| 型號： | TMC222-SI |
| 元件分類： | 運動控制電子 |
| 英文描述： | STEPPER MOTOR CONTROLLER, PDSO20 |
| 封裝： | SOIC-20 |
| 文件頁數： | 6/48頁 |
| 文件大小： | 457K |
| 代理商： | TMC222-SI |
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14
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
Copyright 2004-2011 TRINAMIC Motion Control GmbH & Co. KG
5.1.11 Reference Search / Position initialization
A stepper motor does not provide information about the actual position of the motor. Therefore it is
recommended to perform a reference drive after power-up or if a motor shutdown happened in case of
a problem. The RunInit command initiates the reference search. The RunInit command consists of a
Vmin and Vmax parameter and also position information about the end of first and second motion
(6.8.8 RunInit).
A reference drive consists of two motions (Figure 6: RunInit): The first motion is to drive the motor into
a stall position or a reference switch. The first motion is performed under compliance of the selected
Vmax and Vmin parameter and the acceleration parameter specified in the RAM. The second motion
has got a rectangular shape, without a acceleration phase and is to drive the motor out of the stall
position or slowly towards the stall position again to compensate for the bouncing of the faster first
motion to stop as close to the stall position as possible. The maximum velocity of the second motion
equals to Vmin. The positions of Pos1 and Pos2 can be chosen freely (Pos1 > Pos2 or Pos1 < Pos2).
After the second motion the actual position register is set to zero. Finally, the secure position will be
traveled to if it is enabled (different from the most negative decimal value of –1024).
Once the RunInit command is started it can not be interrupted by any other command except a
condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a
HardStop command is received. Furthermore the master has to ensure that the target position of the
first motion is not equal to the actual position of the stepper motor and that the target positions of the
first and the second motion are not equal. This is very important otherwise the circuit goes into a
deadlock state. Once the circuit finds itself in a deadlock state only a HardStop command followed by a
GetFullStatus1 command will cause the circuit to leave the deadlock state.
Position X
[FS]
Velocity V
[FS/s]
V
max
V
min
1st Motion
2nd Motion
Pos1
Pos2
Figure 6: RunInit
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| TMC223-SI | 制造商:Trinamic 功能描述:Bulk |
| TMC2242 WAF | 制造商:Fairchild Semiconductor Corporation 功能描述: |
| TMC2242A | 制造商:FAIRCHILD 制造商全稱:Fairchild Semiconductor 功能描述:Digital Half-Band Interpolating/Decimating Filter 12-bit In/16-bit Out, 60 MHz |
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