Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
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AENC_DECODER_PHI_A s16(15:0) Resulting phi available for the FOC
(phi_e might need to be calculated
from this angle via aenc_decoder_
ppr, for analog hall sensors phi_
a might be used directly as phi_
e depends on analog hall signal
type).
0x40
h
AENC_DECODER_PPR
AENC_DECODER_PPR s16(15:0) Number of periods per revolution
also called lines per revolution (dif-
ferent nomenclatur compared to
digital ABN encoders).
0x41
h
AENC_DECODER_COUNT
AENC_DECODER_COUNT s32(31:0) Decoder position, raw unscaled.
0x42
h
AENC_DECODER_COUNT_N
AENC_DECODER_COUNT_N s32(31:0) Latched decoder position on ana-
log N pulse event.
0x45
h
AENC_DECODER_PHI_E_PHI_M_OFFSET
AENC_DECODER_PHI_M_OFFSET s16(15:0) Offset for mechanical angle phi_
m.
AENC_DECODER_PHI_E_OFFSET s16(31:16) Offset for electrical angle phi_e.
0x46
h
AENC_DECODER_PHI_E_PHI_M
AENC_DECODER_PHI_M s16(15:0) Resulting angle phi_m.
AENC_DECODER_PHI_E s16(31:16) Resulting angle phi_e.
0x47
h
AENC_DECODER_POSITION
AENC_DECODER_POSITION s32(31:0) Multi-turn position.
0x4B
h
PIDIN_VELOCITY_TARGET
PIDIN_VELOCITY_TARGET s32(31:0) Target velocity at PI controller in-
put.
0x4C
h
PIDIN_POSITION_TARGET
PIDIN_POSITION_TARGET s32(31:0) Target position at PI controller in-
put.
0x4D
h
CONFIG_DATA
biquad_x_a_1 s32(31:0)
biquad_x_a_2 s32(31:0)
biquad_x_b_0 s32(31:0)
biquad_x_b_1 s32(31:0)
biquad_x_b_2 s32(31:0)
biquad_x_enable bit(31) 0: off
1: on
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