Stepper motor ramp guidance

[Puffie40]

I am developing a two-axis stepper motor control board using TMC5160 driver chips connected to a raspberry Pi for a camera pan-tilt.

one issue I am trying to address is getting the tilt to safely slow down without slamming into its mechanical stops. the pan-tilt has optical limit switches, but the challenge is at a high enough motor speed, inertia carries the axis into the mechanical stop.

Would having a more aggressive deceleration ramp in the controllers help this?  Is there some guidelines available for configuring a motor acceleration ramp? The TMC5160 datasheet is a little vague about this other than the ramp generator section on page 81.

[beanflying]

Try not to reinvent the wheel maybe so this might help https://www.eevblog.com/forum/programming/synchronize-stepper-motor-movement/msg3545858/#msg3545858

[mawyatt]

We've used various Trinamic controllers for precision work with focus stacking fixtures which utilize precision linear rails. The data sheets show velocity profiles and the control parameters that influence such, and a couple that control the deceleration mode. Setting these parameters up correctly can be tricky, so best to study the data sheet details and run various experiments with the control parameters to get a "feel' for how they behave.

Best,