Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 26
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GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
15
stop_enable
0: Normal operation
1: Emergency stop: DCIN stops the sequencer when
tied high (no steps become executed by the
sequencer, motor goes to standstill state).
16
direct_mode
0: Normal operation
1: Motor coil currents and polarity directly
programmed via serial interface: Register XDIRECT
(0x2D) specifies signed coil A current (bits 8..0)
and coil B current (bits 24..16). In this mode, the
current is scaled by IHOLD setting. Velocity based
current regulation of stealthChop is not available
in this mode. The automatic stealthChop current
regulation will work only for low stepper motor
velocities.
17
test_mode
0: Normal operation
1: Enable analog test output on pin DCO. IHOLD[1..0]
selects the function of DCO:
0…2: T120, DAC, VDDH
Attention: Not for user, set to 0 for normal operation!
R+C
0x01
3
GSTAT
Bit
GSTAT – Global status flags
0
reset
1: Indicates that the IC has been reset since the last
read access to GSTAT. All registers have been
cleared to reset values.
1
drv_err
1: Indicates, that the driver has been shut down
due to overtemperature or short circuit detection
since the last read access. Read DRV_STATUS for
details. The flag can only be reset when all error
conditions are cleared.
2
uv_cp
1: Indicates an undervoltage on the charge pump.
The driver is disabled in this case.
R
0x04
8
+
8
IOIN
Bit
INPUT
Reads the state of all input pins available
0
STEP
1
DIR
2
DCEN_CFG4
3
DCIN_CFG5
4
DRV_ENN_CFG6
5
DCO
6
This bit always shows 1.
7
Don’t care.
31..
24
VERSION: 0x11=first version of the IC
Identical numbers mean full digital compatibility.