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TMC4210 Datasheet(PDF) 15 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) 15 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
15
www.trinamic.com
5.2.2.2 Datagrams Received by µC from the TMC4210
The datagrams received by the µC from the TMC4210 contain two groups of bits:
STATUS BITS
The status bits, sent back with each datagram, comprehend the most important
internal status bits of the TMC4210 and the settings of the reference switches
DATA BITS
Data bits are only for write access.
The most significant bit MSB is received first; the least significant bit LSB is received last. The TMC4210
only sends datagrams on demand.
32 BIT DATAGRAM SENT BACK FROM THE TMC4210 TO µC VIA PIN SDO_C
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
STATUS BITS
DATA BITS
-
-
-
STATUS INFORMATION BITS
INT
The status bit INT is the internal high active interrupt controller status output
signal. Handling of interrupt conditions without using interrupt techniques is
possible by polling this status bit.
The interrupt signal is available multiplexed with the SPI read back data at the
nINT_SDO_C pin of the TMC4210. The pin nINT_SDO_C may additionally be
connected to an interrupt input of the microcontroller. Do not set SDO_INT=1
because this setting disables the SPI output.
Since the SDO_C / nINT output on TMC4210-I is multiplexed, the microcontroller
has to disable its interrupt input while it sends a datagram to the TMC4210. The
SDO_C signal driven by the TMC4210 alternates during datagram transmission.
R_L
The status bit R_L represents the state of the left reference switch input (r_l).
R_R
r_r is visible here only, while mot1R has not yet been set.
GP_IN
The GP_IN status bit represents the setting of the general purpose input. Refer
to chapter 6.1.10.2, too.
xEQt1
The status bit xEQt1 indicates for the stepper motor, if it has reached its target
position.
The status bits r_r, r_l, and gp_in and the bit xEQt1 can trigger an interrupt or enable simple polling
techniques. See chapter 5.3, register 01 1110 for accessing the input bits.


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