User Manual

TMCM-3230 TMCL

™

Firmware Manual • Firmware Version V1.07 | Document Revision V1.05 • 2017-OCT-10

94 / 103

6.4 Velocity and Acceleration Calculation

When the unit mode (axis parameter #255) is set to 1 (which is also the default value), all velocity parameters

on the TMCM-3230 are given in microsteps per second (also called pulse per second or pps). Acceleration

and deceleration units are given in pps

When axis parameter #255 is set to 0 the internal units of the ramp generators are directly used. But this

is only necessary in very special cases. Normally one should leave axis parameter #255 at 1 and use the

pps units.

In order to convert between pps units and units like rounds per second (rps) or rounds per minute (rpm),

one has to know the fullstep resolution of the motor (full steps per round) and the microstep resolution

setting of the module (axis parameter #140, default setting is 256 microsteps per full step).

So to convert from pps to rps, use the following formula:

rps

pps

fullstep

· r

microstep

To convert from rps to rpm, use:

rpm

= v

rps

· 60

With the following symbols:

• v

rps

: velocity in rounds per second

• v

rpm

: velocity in rounds per minute

• v

pps

: velocity in pulses (microsteps) per second

• r

fullstep

: fullstep resolution of the motor (with most motors 200 (1.8°))

• r

microstep

: microstep setting of the module (default 256)

So, with a 200 fullsteps motor and a microstep setting of 256 (axis parameter #140 = 8), a velocity of

51200pps will result in 1rps (60rpm).

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