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TMC4210 Datasheet(PDF) 33 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) 33 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
33
www.trinamic.com
6.1.13 DX_REF_TOLERANCE (IDX=%1101)
Generally, the switch inputs REF_L and REF_R can be used as stop switches for automatic motion
limiting and as reference switches defining a reference position for the stepper motor. To allow the
motor to drive near the reference point, it is possible to exclude a motion range of steps from the
stop switch function.
The parameter DX_REF_TOLERANCE disables automatic stopping by a switch around the origin (see
Figure 6.4). To use the DX_REF_TOLERANCE far from the origin, the actual position has to be adapted,
e.g. by setting it to zero in the center of the tolerance range. Additionally, the parameter
DX_REF_TOLERANCE affects interrupt conditions as described before (section 6.1.11).
6.1.14 X_LATCHED (IDX=%1110)
This read-only register stores the actual position X_ACTUAL upon a change of the reference switch
state. The reference switch is defined by the bit ref_RnL of the configuration register 6.2.1.5. Writing a
dummy value to the (read-only) register X_LATCHED initializes the position storage mechanism. The
actual position is saved with the next rising edge or falling edge signal of the reference switch
depending on the actual motion direction of the stepper motor. The actual position is latched when
the switch defined as the reference switch by the ref_RnL bit changes (see chapter 1.5.4). The status
bit lp signals, if latching of a position is pending. This way, a precise reference is available for
homing.
An event at the reference switch associated to the actual motion direction takes effect only during
motion (when V_ACTUAL  0).


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