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TMC4210 Datasheet(PDF) 29 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 29 Page - TRINAMIC Motion Control GmbH & Co. KG. |
29 / 48 page ![]() TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 29 www.trinamic.com ATTENTION Per default there is only one switch available: REF_L is configured as left reference switch. For configuring REF_R as right switch, it is necessary to set the mot1r bit in the STEPPER MOTOR GLOBAL PARAMETER REGISTER to 1. Please refer to chapter 6.2.1.5 for further information. There is a functional difference between reference switches and stop switches. Reference switches are used to determine a reference position for the stepper motor. Stop switches are used for automatic stopping the motor when reaching a limit. The signals of switches are processed via the inputs REF_L and REF_R. They might be used as automatic stop switches, reference switches, or both. 32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210 3 1 3 0 2 9 2 8 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 ADDRESS DATA 0 0 0 1 0 1 0 lp REF_CONF RAMP_ MODE |
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