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TMC4210 Datasheet(PDF) 17 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210 Datasheet(HTML) 17 Page - TRINAMIC Motion Control GmbH & Co. KG. |
17 / 48 page ![]() 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 |
Similar Part No. - TMC4210 |
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Similar Description - TMC4210 |
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