SLVA488B January   2014  – January 2021 DRV8434 , DRV8811 , DRV8818 , DRV8821 , DRV8824 , DRV8825

 

  1.   Trademarks
  2. 1Introduction and Problem Statement
  3. 2Stepper Motor Control High Level Functions
    1. 2.1 STEP Actuation: Acceleration, Speed Control and Deceleration Profiles
    2. 2.2 Accelerating the Motor
    3. 2.3 Stepper Speed
    4. 2.4 Decelerating the Motor
    5. 2.5 Speed Change
    6. 2.6 Position Control: Number Of Steps
    7. 2.7 Homing the Stepper
  4. 3I2C Protocol and Communications Engine
    1. 3.1 GPIO CONFIG
    2. 3.2 STEPPER CONFIG
    3. 3.3 GPIO OUT
    4. 3.4 Current Duty Cycle
    5. 3.5 START STEPPER
  5. 4Application Schematic
  6. 5Revision History

2.4 Decelerating the Motor

The concept of a deceleration profile the motor is virtually identical to the acceleration profile implementation except that instead of increasing stepper speed, speed is decreased.

There are two instances in which a deceleration profile may be employed: during SpeedUpdate or during StepperStop commands. In this implementation, the stepper deceleration profile is finished either when the start speed is reached or when the programmed number of steps is executed.

Also, it was chosen for the deceleration rate to hold a different memory location such that a non symmetric acceleration/deceleration profile, such as the one portrayed in Figure 2-1, could be employed.

The SpeedCompute and ClockConfigure are used in the same fashion as they were used during the acceleration portion of the motion control profile. However, the state machine, or the AccelDecel function, is configured to execute the DECEL portion of code.