User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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1.5 SixPoint™ Motion Controller
TRINAMIC’s SixPoint ™ motion controller is a new type of ramp generator which offers faster machine
operation compared to the classical linear acceleration ramps. The SixPoint ™ ramp generator allows
adapting the acceleration ramps to the torque curves of a stepper motor. It uses two different acceleration
settings for the acceleration phase and also tow different deceleration settings for the deceleration phase.
Start and stop speeds greater than zero can also be used.
Figure 3: Typical motion profile with TRINAMIC’s SixPoint™ motion controller
A six point ramp begins using the start speed V
START
(which can also be zero). Then, the acceleration
value A1 will be used to accelerate the motor to the speed V1. When the speed V1 has been reached,
the motor will be further accelerated using the acceleration value A2 until it has reached the speed V
MAX
.
The deceleration phase begins using the deceleration value D2. After reaching the speed V1 again the
deceleration value D2 will be used to declerate to the stop speed V
STOP
(which can also be zero).
The SixPoint™ ramp can be configured using the following objects:
Parameter Name Object Index
Start velocity (V
START
) 2010
h
Acceleration A1 2011
h
Velocity V1 2012
h
Acceleration A2 6083
h
Maximum positioning velocity (V
MAX
) 6081
h
Deceleration D2 6084
h
Deceleration D1 2013
h
Stop velocity V
STOP
6082
h
Wait time WAIT 2015
h
Table 2: SixPoint Ramp Parameters
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