Question about stopping in position ramp mode

[jonjedlicka]

Not a issue, more of a question about what is the most appropriate way to stop/pause motion while in position ramp mode. Say I set target position, but half way through I would like the motion to stop (pause).

Tested some "harsh" implementations

• disabling driver (DRV_ENN) - TMC still thinks its moving, so position is lost
• setting stop_enable in gconf (then driving ENCA_DCIN pin high) - when its time to resume (ENCA_DCIN driven low), TMC doesn't gently accelerate toward target (simply resumes same velocity)
• setting target to current position, but this feels like a hack, since stepper slows down and actually travels back (unless I calculate some offset)

Any suggestions? Thank you

[peterpolidoro]

That is a good question! The best answer will depend on your exact setup.

Here are some suggestions from the TMC5130 datasheet:

Faking the limit switch input seems like an odd approach, but it might actually work pretty well.

Please let me know what you try and how it works!