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TMC4210 Datasheet(PDF) 8 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 8 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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8 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 8 www.trinamic.com 2 General Definitions, Units, and Notations 2.1 Notations - Decimal numbers are used as usual without additional identification. - Binary numbers are identified by a prefixed % character. - Hexadecimal numbers are identified by a prefixed $ character. EXAMPLE Decimal: 42 Binary: %101010 Hexadecimal: $2A TMC4210 DATAGRAMS ARE WRITTEN AS 32 BIT NUMBERS, E.G.: $1234ABCD = %0001 0010 0011 0100 1010 1011 1100 1101 TWO TO THE POWER OF N In addition to the basic arithmetic operators (+, -, *, /) the operator two to the power of n is required at different sections of this data sheet. For better readability instead of 2n the notation 2^n is used. 2.2 Signal Polarities External and internal signals are high active per default, but the polarity of some signals is programmable to be inverted. A pre-fixed lower case n indicates low active signals (e.g. nSCS_C, nSCS_S). See chapter 6.2, too. 2.3 Units of Motion Parameters The motion parameters position, velocity, and acceleration are given as integer values within TMC4210 specific units. With a given stepper motor resolution one can calculate physical units for angle, angular velocity, angular acceleration. (See chapter 6.1.12) 2.4 Representation of Signed Values by Two’s Complement Motion parameters which have to cover negative and positive motion direction are processed as signed numbers represented by two’s complement as usual. Limit motion parameters are represented as unsigned binary numbers. SIGNED MOTION PARAMETERS ARE: X_TARGET / X_ACTUAL / V_TARGET / V_ACTUAL / A_ACTUAL / A_THRESHOLD UNSIGNED MOTION PARAMETERS ARE: V_MIN / V_MAX / A_MAX |
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