What are the units of motion parameters position, velocity, acceleration?
The unit of position is micro steps. The unit of velocity is micro steps per time unit. The unit of acceleration is micro steps per time unit square. The micro step width is determined by the parameter USRS (micro (U for micro) Step Resolution Selection). The time unit depends on the TMC428 clock frequency and internal frequency divider units.
Related Questions
- If motion is initiated in velocity mode, does the LM629 need to stop the motor before the mode is changed to position mode? What about changing from position mode to velocity mode?
- How to determine the motion parameters for the TMC428 for motion parameters given in physical units, e.g. angle [rad], angular velocity [rad/s], angular acceleration [rad/s^2]?
- When velocity is positive and acceleration is negative, what happens to the objects motion?
