Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17

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Figure 33: FOC3 Transformations (FOC2 just skips CLARKE and iCLARKE)

4.7.11 Motion Modes

The user can operate the TMC4671 in several motion modes. Standard motion modes are position control,

velocity control and torque control, where target values are fed into the controllers via register access. The

motion mode UD_UQ_EXTERN allows the user to set voltages for open-loop operation and for tests during

setup.

Figure 34: Standard Motion Modes

In position control mode, the user can feed the step and direction interface to generate a position target

value for the controller cascade. In additional motion modes target values are fed into the TMC4671 via

PWM interface (Pin: PWM_IN) or analog input via pin AGPI_A.

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