TMC4210 datasheet(30/48 Pages) TRINAMIC

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TMC4210 Datasheet(PDF) 30 Page - TRINAMIC Motion Control GmbH & Co. KG.

Part #	TMC4210

Description	MOTION CONTROLLER FOR STEPPER MOTORS

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

Direct Link	http://www.trinamic.com

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

www.trinamic.com

6.1.11 INTERRUPT_MASK & INTERRUPT_FLAGS (IDX=%1011)

The TMC4210 provides one interrupt register of eight flags for the stepper motor.

Interrupt bits are named int_<mnemonic>. The interrupt out nINT_SDO_C is set active low and the

interrupt status bit int is set active high if at least one interrupt flag of the motor becomes set. If the

interrupt status is inactive, nINT is high (1) and int is low (0).

SETTING MASKS AND FLAGS

An interrupt flag is set to 1 if its assigned interrupt condition occurs.

Each interrupt bit can either be enabled or disabled (1/0) individually by an associated interrupt

mask bit named mask_<mnemonic>.

Interrupt flags are reset to 0 by a write access (RW=0) to their interrupt register address

(IDX=%1011). Write 1 at the position of the bit to clear the flag. Writing a 0 to the corresponding

position leaves the interrupt flag untouched.

Interrupt flags are forced to 0 if the corresponding mask bit is disabled (0).

INTERRUPT FLAGS

int_<mnemonic>

Function

int_pos_end

If a target position is reached while the interrupt mask mask_pos_end is 1,

the bit is set to 1.

int_ref_wrong

Reference switch signal was active outside the reference switch tolerance

range (defined by the DX_REF_TOLERANCE register).

The switches processed via the inputs REF_L and REF_R can be used as stop

switches for automatic motion limiting, as reference switches, and for both. If

a reference switch becomes active out of the reference switch tolerance range

the interrupt flag int_ref_wrong is set if the interrupt mask bit

mask_ref_wrong is set.

int_ref_miss

The interrupt flag int_ref_miss is set if the reference switch is inactive at the 0

position and the mask mask_ref_miss is enabled.

int_stop

The int_stop flag is set, if the reference switch has forced a stop during

motion and if the interrupt mask mask_stop is set.

int_stop_left_low

High to low transition of left reference switch. The int_stop_left_low flag is

set if the reference switch changes from high to low and if the interrupt mask

bit mask_stop_left_low is set.

int_stop_right_low

High to low transition of right reference switch. The int_stop_right_low flag is

set if the reference switch changes from high to low and if the interrupt mask

bit mask_stop_right_low is set.

int_stop_left_high

Low to high transition of left reference switch. The int_stop_left_high flag

indicates that the left reference switch input changes from low to high if the

mask bit mask_stop_left_high is set.

int_stop_right_high

Low to high transition of right reference switch. The int_stop_right_high flag

indicates that the right reference switch input changes from low to high if

the mask bit mask_stop_right_high is set.

INTERRUPT MASK BIT

mask_<mnemonic>

Function

mask_pos_end