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TMC4210 Datasheet(PDF) 28 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 28 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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28 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 28 www.trinamic.com 6.1.10.2 The REF_CONF Register and the lp Read-Only Status Bit A reference switch can be used as an automatic stop switch. The reference switch indicates the reference position within a given tolerance. The automatic stop function of the switches can be enabled or disabled. Also a reference tolerance range (see register DX_REF_TOLERANCE, chapter 0) can be programmed to allow motion within the reference switch active range during homing. When a reference switch is triggered, the actual position can be stored automatically. This allows a precise determination of the reference point. It is initiated by writing a dummy value to the register X_LATCHED (see chapter 6.1.14). The read-only status bit lp (latch position waiting) indicates that the next change of the selected reference switch will trigger latching the position X_ACTUAL. The lp bit is automatically reset after position latching. Negative direction Mechanical inaccuracy of switches (switching hysteresis) x1 x2 Motor Traveller Left switch xleft DX_REF_TOLERANCE Positive direction x3 x4 xright Right switch xtraveler Figure 6.4 Left switch and right switch for reference search and automatic stop function The bits contained in the REF_CONF register control the semantic and the actions of the reference/stop switch modes for interrupt generation as explained later. The stepper motor stops if the reference/stop switch becomes active. This mechanism reacts only to the switch which corresponds to the actual motion direction, e.g. the right switch when moving to a more positive position. The configuration bits named disable_stop_l respectively disable_stop_r disable these automatic stop functions. If the bit soft_stop is set, the motor stops with linear ramp as determined by A_MAX. REFERENCE SWITCH CONFIGURATION BITS REF_CONF AND LP STATUS BIT REF_CONF mnemonic Function disable_stop_l 0 : The motor will be stopped when the velocity is negative (V_ACTUAL < 0) and the left reference switch becomes active. 1 : Left reference switch is disabled as an automatic stop switch. disable_stop_r 0 : Stops the motor if the velocity is positive (V_ACTUAL > 0) and the right reference switch becomes active. 1 : Right reference switch is disabled as an automatic stop switch. soft_stop 0 : Stopping takes place immediately; motion parameter limits are ignored. 1 : Stopping takes place in consideration of motion parameter limits; stops with linear ramp. ref_RnL 0 : The bit ref_RnL (reference switch Right not Left) defines which switch will be used as the reference switch. The definition of the reference switch by the configuration bit ref_RnL has no effect on the stop function of the reference switches if disable_stop_l = 0 respectively disable_stop_r = 0. The left reference switch controls reference switch functions. 1 : The right (not left) reference switch controls reference switch functions. lp 0 : This is the power-on default of the lp (latched position waiting) bit. 1 : X_LATCHED has been initialized by a write access to latch the position on a change of the reference switch. It is set to 0 after a position has been latched. |
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