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TMC4210 Datasheet(PDF) 31 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 31 Page - TRINAMIC Motion Control GmbH & Co. KG. |
31 / 48 page ![]() 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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