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TMC4210 Datasheet(PDF) 35 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 35 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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35 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 35 www.trinamic.com INITIALIZE THE STEP/DIR INTERFACE! Enable the Step/Dir interface by setting en_sd=1! After power-on, the output signals are logic high until they become configured for step/direction. 6.2.1.1 POS_COMP_4210 (JDX=%0101) POS_COMP_4210 defines a position, which becomes compared to the motor position. 6.2.1.2 POS_COMP_INT_4210 (JDX=%0110) The position compare interrupt mask (M) and interrupt flag (I) register hold the mask and interrupt concerning the position compare function of the TMC4210. 6.2.1.3 POWER_DOWN (JDX=%1000) A write to the register address POWER_DOWN sets the TMC4210 into the power down mode until it detects a falling edge at the pin nSCS_C. During power down, all internal clocks are stopped. All outputs remain stable, and all register contents are preserved. 6.2.1.4 TYPE_AND_VERSION_4210 (JDX=%1001) Read only register that gives type und version of the design. 6.2.1.5 REFERENCE_SWITCHES (JDX=%1110) The current state of the reference switches can be read out with this register. Per default configuration, only the left reference switch is active (mot1r=0). INITIALIZE THE RIGHT REFERENCE SWITCH! For using both reference switches, write 1 to mot1r. If it is desired to invert the polarity of the reference switches, the bit inv_ref of the IF_CONFIGURATION_4210 register can be set. This allows matching normally open contacts or normally closed contacts. 6.2.2 STEPPER MOTOR GLOBAL PARAMETER REGISTER (JDX=%1111) This register holds different configuration bits for the stepper motor driver chain. The absolute address (RRS & ADDRESS) of the stepper motor global parameter register is %01111110 = $7E. STEPPER MOTOR GLOBAL PARAMETER CONTROL Register Function STPDIV_4210 The timing of the Step/Dir interface is controlled by four LSBs. Please refer to chapter 8.1 for the calculation of Step/Dir timing. mot1r Set mot1r to 1 for a left and a right swicht. In case switches are not to be used, pull the related pins to GND. Refer to chapter 7.1. 32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210 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 1 1 1 1 0 0 0 0 0 0 0 0 00 |
Similar Part No. - TMC4210 |
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Similar Description - TMC4210 |
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