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TMC4210 Datasheet(PDF) 17 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) 17 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
17
www.trinamic.com
5.3 Register Mapping
All register bits are initialized with 0 during power on reset, except the step pulse length setting that
is initialized with 15. During power-up, the on-chip RAM of the TMC4210 is initialized internally and
the chip does not send any datagrams to the stepper motor driver.
CHANGING TARGET POSITION OR TARGET VELOCITY
The stepper motor is controlled directly by writing motion parameters into associated registers. Only
one register write access is necessary for changing a target motion parameter. Thus the
microcontroller has to send one 32 bit datagram to the TMC4210 for altering the target position or the
target velocity of the stepper motor.
READ AND WRITE
Read and write access is selected by the RW bit (sdi_c_bit#24) of the datagram sent from the µC to
the TMC4210. The on-chip configuration RAM and the registers are writeable with read-back option.
Some addresses are read-only. Write access (RW=0) to some of those read-only registers triggers
additional functions, explained in detail later.
TMC4210 REGISTER MAPPING
32 BIT DATAGRAM SENT FROM µC TO THE TMC4210 VIA PIN SDI_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
ADDRESS
DATA
0
SMDA
IDX
STEPPER MOTOR REGISTER SET
(SMDA=00)
0 0
0 0 0 0
X_TARGET
0 0 0 1
X_ACTUAL
0 0 1 0
V_MIN
0 0 1 1
V_MAX
0 1 0 0
V_TARGET
0 1 0 1
V_ACTUAL
0 1 1 0
A_MAX
0 1 1 1
A_ACTUAL
1 0 0 1
1
PMUL
PDIV
1 0 1 0
lp
REF_CONF
R_M
1 0 1 1
INTERRUPT_MASK
INTERRUPF_FLAGS
1 1 0 0
PULSE_DIV
RAMP_DIV
0
1 1 0 1
DX_REF_TOLERANCE
1 1 1 0
X_LATCHED
1 1 1 1
USTEP_COUNT_4210
1 1
JDX
GLOBAL PARAMETER REGISTERS (SMDA=11)
0 1 0 0
IF_CONFIGURATION_4210
0 1 0 1
POS_COMP_4210
0 1 1 0
POS_COMP_INT_4210
M
I
1 0 0 0
POWER-DOWN
1 0 0 1
TYPE_VERSION (= $429101 for TMC4210, read-only)
1 1 1 0
-
-
gp
_in
-
r_l
r_r
1 1 1 1
0
0 0 0 0 0 STPDIV_4210 0 0 0 0 0 0
00
SMDA
Stepper motor driver address
r_l, r_r, gp_in
Left switch / right switch / general
purpose input (read out)
R_ M
RAMP_MODE mask
I
Interrupt
Unused bits


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