1# SPDX-FileCopyrightText: Copyright (c) 2024 Carl Zeiss Meditec AG
2# SPDX-License-Identifier: Apache-2.0
3
4description: Ramp Generator Motion Control Register-Set for Trinamic stepper controller.
5
6properties:
7  vstart:
8    type: int
9    default: 1
10    description: |
11      Motor start velocity in [µsteps/t](unsigned)
12
13      Normally, set VSTOP ≥ VSTART! VSTART may be
14      set to a higher value, when motion distance is
15      sufficient to allow deceleration to VSTOP.
16
17  a1:
18    type: int
19    default: 0
20    description: |
21      First acceleration between VSTART and V1 in [µsteps/ta²](unsigned)
22
23  v1:
24    type: int
25    default: 0
26    description: |
27      First acceleration / deceleration phase threshold velocity in [µsteps/t] (unsigned)
28
29      0: Disables A1 and D1 phase, use AMAX, DMAX only
30
31  amax:
32    type: int
33    default: 0
34    description: |
35      Second acceleration between V1 and VMAX in [µsteps/ta²](unsigned)
36      This is the acceleration and deceleration value
37      for velocity mode.
38
39  vmax:
40    type: int
41    default: 0
42    description: |
43      Motion ramp target velocity in [µsteps/t] (for positioning ensure VMAX ≥ VSTART) (unsigned)
44      This is the target velocity in velocity mode. It can be changed any time during a motion.
45
46  dmax:
47    type: int
48    default: 0
49    description: |
50      Deceleration between VMAX and V1 in [µsteps/ta²](unsigned)
51
52  d1:
53    type: int
54    default: 1
55    description: |
56      Deceleration between V1 and VSTOP in [µsteps/ta²](unsigned)
57
58      Attention: Do not set 0 in positioning mode,
59      even if V1=0!
60
61  vstop:
62    type: int
63    default: 10
64    description: |
65      Motor stop velocity in [µsteps/t] (unsigned)
66
67      Attention: Set VSTOP ≥ VSTART!
68
69      Attention: Do not set 0 in positioning mode,
70      minimum 10 recommended!
71
72  tzerowait:
73    type: int
74    default: 0
75    description: |
76      Waiting time after ramping down to zero velocity before next movement or direction
77      inversion can start and before motor power down starts. Time range is about 0 to 2
78      seconds. This setting avoids excess acceleration e.g. from VSTOP to -VSTART.
79
80  ihold:
81    type: int
82    default: 0
83    description: |
84      Hold current in % of run current (0-100)
85      Standstill current (0=1/32…31=32/32)
86      In combination with StealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil
87      short circuit for motor stand still
88
89  irun:
90    type: int
91    default: 0
92    description: |
93      Motor run current (0=1/32…31=32/32)
94      Hint: Choose sense resistors in a way, that normal
95      IRUN is 16 to 31 for best microstep performance.
96
97  iholddelay:
98    type: int
99    default: 0
100    description: |
101      Controls the number of clock cycles for motor power down after a motion as soon as TZEROWAIT
102      has expired. The smooth transition avoids a motor jerk upon power down.
103      0: instant power down
104      1..15: Delay per current reduction step in multiple of 2^18 clocks
105
106  vcoolthrs:
107    type: int
108    default: 0
109    description: |
110      This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard
111      feature. Further it is the upper operation velocity for StealthChop. (unsigned)
112
113      Set this parameter to disable CoolStep at low speeds, where it cannot work reliably.
114      The stop on stall function (enable with sg_stop when using internal motion controller)
115      becomes enabled when exceeding this velocity. It becomes disabled again once the velocity
116      falls below this threshold. This allows for homing procedures with StallGuard by blanking out
117      the StallGuard signal at low velocities (will not work in combination with StealthChop).
118      VHIGH ≥ |VACT| ≥ VCOOLTHRS:
119        - CoolStep and stop on stall are enabled, if configured
120        - Voltage PWM mode StealthChop is switched off, if configured
121
122  vhigh:
123    type: int
124    default: 0
125    description: |
126      This velocity setting allows velocity dependent switching into a different chopper mode and
127      fullstepping to maximize torque.(unsigned)
128      |VACT| ≥ VHIGH:
129        - CoolStep is disabled (motor runs with normal current scale)
130        - If vhighchm is set, the chopper switches to chm=1 with TFD=0
131          (constant off time with slow decay, only).
132        - If vhighfs is set, the motor operates in fullstep mode.
133        - Voltage PWM mode StealthChop is switched off, if configured
134