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TMC4210 Datasheet(PDF) 34 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 34 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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34 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 34 www.trinamic.com 6.2 Global Parameter Registers The registers addressed by RRS=0 with SMDA=%11 are global common parameter registers. To emphasize this difference, the address label JDX is used as index name instead of IDX (see overview in chapter 5.3). OVERVIEW GLOBAL PARAMETER REGISTER MAPPING REGISTER DESCRIPTION IF_CONFIGURATION_4210 This register is used for configuration of - the reference switch inputs - the Step/Dir interface - the association of the position compare output signal to one stepper motor STEPPER MOTOR GLOBAL PARAMETER REGISTER This register holds configuration bits for the stepper motor driver chain and defines - timing - reference switch adjustments 6.2.1 IF_CONFIGURATION_4210 (JDX=%0100) The register IF_CONFIGURATION_4210 is the interface configuration register for the TMC4210. It is used for configuration of - the reference inputs - the interrupt output - the Step/Dir interface INTERFACE CONFIGURATION REGISTER CONTROL BITS IF_CONFIGURATION_4210 Function inv_ref Invert common polarity for all reference switches. If this bit is set, a low level on the input signals an active reference switch. step_half Toggle on each step pulse (this halfs the step frequency, both pulse edges represent steps). step_half reduces the required step pulse bandwidth and is useful if for low-bandwidth optocouplers. This function can be used for the TMC262 stepper driver. inv_stp Invert step pulse polarity. This configuration can be used for adaption of the step polarity to external driver stage. inv_dir Invert step pulse polarity. This is for adaption to external driver stages. Alternatively, this can be used as a shaft bit to adjust the direction of motion for the motor, but do not use this as a direction bit because it has no effect on the internal handling of signs (X_ACTUAL, V_ACTUAL…). en_sd Enable the Step/Dir interface by setting this bit to 1 (EN_SD=1). Note: The step pulse timing (length) must be compatible with both, the desired step frequency and the external drivers’ requirements. The step pulse timing is determined by the 4 LSBs of STPDIV_4210. 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 1 1 0 1 0 0 IF_CONFIGURATION_4210 0 0 |
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