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TMC4210 Datasheet(PDF) 16 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 16 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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16 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 16 www.trinamic.com 5.2.3 Simple Datagram Examples The % prefix – normally indicating binary representation in this data sheet – is omitted for the following datagram examples. Assuming, one would like to write (RW=0) to a register (RRS=0) at the address %001101 the following data word %0000 0000 0000 0001 0010 0011, one would have to send the following 32 bit datagram 00011010000000000000000100100011 to the TMC4210. With inactive interrupt (INT=0), no cover datagram waiting (CDGW=0), all reference switches inactive (RS3=0, RS2=0, RS1=0), and all stepper motors at target position (xEQt3=1, xEQt2=1, xEQt1=1) the status bits would be %10010101 the TMC4210 would send back the 32 bit datagram: 10010101000000000000000000000000 To read (RW=1) back the register written before, one would have to send the 32 bit datagram 00011011000000000000000000000000 to the TMC4210 and the TMC4210 would reply with the datagram 10010101000000000000000100100011. Write (RW=0) access to on-chip RAM (RRS=1) to an address %111111 occurs similar to register access, but with RRS=1. To write two 6 bit data words %100001 and %100011 to successive pair-wise RAM addresses %1111110 and %1111111 (%100001 to %1111110 and %100011 to %1111111) which are commonly addressed by one datagram, one would have to send the datagram 11111110000000000010001100100001. To read (rw=1) from that on-chip memory address, one would have to send the datagram 11111111000000000000000000000000. |
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