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TMC4210 Datasheet(PDF) 31 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
Logo TRINAMIC - TRINAMIC Motion Control GmbH & Co. KG.

TMC4210 Datasheet(HTML) 31 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
31
www.trinamic.com
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 1
INTERRUPT_MASK
INTERRUPT_FLAGS
The interrupt status is mapped to the most significant bit (31) of each datagram sent back to the µC
and it is only available at the nINT_SDO_C pin of the TMC4210 if the pin nSCS_C is high.
De-multiplexing of the multiplexed interrupt status signal at the pin nINT_SDO_C can be done using
additional hardware. It is not necessary if the microcontroller always disables its interrupt while it
sends a datagram to the TMC4210.
6.1.12 PULSE_DIV & RAMP_DIV (IDX=%1100)
The frequency of the external clock signal (pin CLK) is divided by 32 (see Figure 6.2). This clock drives
two programmable clock dividers: RAMP_DIV for the ramp generator and PULSE_DIV for the pulse
generator.
RAMP_DIV and PULSE_DIV allow a division of 1/32 f
CLK by the following value settings:
value
0
1
2
3
4
5
6
7
8
9
10
11
12
13
division by
1
2
4
8
16
32
64
128
256
512
1024 2048 4096 8192
PULSE_DIV
The pulse generator clock – defining the maximum step pulse rate – is determined by
the parameter PULSE_DIV. The parameter PULSE_DIV scales the velocity parameters.
RAMP_DIV
The parameter RAMP_DIV scales the acceleration parameter A_MAX.
6.1.12.1 Calculating the Step Pulse Rate R
����[��������] =
����������������[��������] ∗ ��������������������������������
2��������������������_������������ ∗ 2048 ∗ 32
where
f
CLK[Hz] is the frequency of the external clock signal.
velocity is in range 0 to 2047 and represents parameters V_MIN, V_MAX, and absolute values of
V_TARGET and V_ACTUAL.
The pulse generator of the TMC4210 generates one step pulse with each 1/(32*2^PULSE_DIV) clock
pulse with a given theoretical velocity setting of 2048. [Attention: Range ±2047]


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