TMC424 datasheet(13/21 Pages) TRINAMIC

Part #	TMC424

Description	Serial Triple Incremental Encoder Interface

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Manufacturer	TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

Direct Link	http://www.trinamic.com

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TMC424 Datasheet – (V1.04 / 2015-JUL-01)

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5.2 32-bit SPI Datagram Structure

2

7

1

7

1

8

1

9

2

0

2

1

2

3

2

4

2

5

2

6

1

6

7

8

9

1

0

1

2

1

3

1

4

1

5

2

8

2

9

3

0

3

1

0

1

2

3

4

0

Data

INT

0 0 0

Datagram from TMC424 send to µC

Datagram from µC to TMC424

2

7

1

7

1

8

1

9

2

0

2

1

2

3

2

4

2

5

2

6

1

6

7

8

9

1

0

1

2

1

3

1

4

1

5

2

8

2

9

3

0

3

1

0

1

2

3

4

R

W

Address

Data

Figure 8: Structure 32-Bit Interface

Interrupt Flags [Bit]

Name

Description

31

INT_ext

external Interrupt, e.g. TMC429

30

INT_enc1

N Signal of Encoder Interface 1 detected

29

INT_enc2

N Signal of Encoder Interface 2 detected

28

INT_enc3

N Signal of Encoder Interface 3 detected

Table 5: Interrupt Flags

5.3 SPI 32-bit Datagram Specification

5.3.1 Overview

Byte 0

Byte 1

Byte 2

Byte 3

31

30

29

28

27

26

25

24

23

22

21

20

19

18

17

16

15

14

13

12

11

10

9

8

7

6

5

4

3

2

1

0

Encoder 1 Prescaler

0

1

0

Encoder 2 Prescaler

0

1

0

Encoder 3 Prescaler

0

1

0

Encoder 1, 2, 3 Prescaler - set all commonly

1

Control

0

1

0

1

0

1

0

1

Encoder 1 Position Register

Encoder 2 Position Register

Encoder 3 Position Register

Address

0

1

0

1

0

N-Input

Data

Step /Dir

INT

Byte #

Bit #

Reserved

Step Pulse Delay

Step Pulse Length

Reserved

0

1

N1

N2

N3

0

N1

N2

N3

0

N1

N2

N3

0

N1

N2

N3

0

Figure 9: Overview TMC424 Registers

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TMC424 Datasheet(PDF) 13 Page - TRINAMIC Motion Control GmbH & Co. KG.

TMC424 Datasheet(HTML) 13 Page - TRINAMIC Motion Control GmbH & Co. KG.

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