Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 72
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17 DIAG Outputs
Operation with a motion controller often requires quick reaction to certain states of the stepper motor
driver. Therefore, the DIAG outputs supply a configurable set of different real time information
complementing the STEP/DIR interface.
Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output
(low active open drain – default setting, or high active push-pull). In order to determine a reset of the
driver, DIAG0 always shows a power-on reset condition by pulling low during a reset condition.
Figure 17.1 shows the available signals and control bits.
DIAG1
DIAG0
PMD
PDD
PDD=100k pulldown
PMD=50k to VCC/2
Power-on reset
Driver error
diag0_error
Overtemp. prewarning
diag0_otpw
Stall
diag0_stall
diag0_pushpull
Sequencer microstep 0 index
diag1_index
Chopper on-state
diag1_onstate
diag1_steps_skipped
diag1_pushpull
diag1_stall
dcStep steps skipped
Figure 17.1 DIAG outputs in STEP/DIR mode
The stall output signal allows stallGuard2 to be handled by the external motion controller like a stop
switch. The index output signals the microstep counter zero position, to allow the application to
reference the drive to a certain current pattern. Chopper on-state shows the on-state of both coil
choppers (alternating) when working in spreadCycle or constant off time in order to determine the
duty cycle. The dcStep skipped information is an alternative way to find out when dcStep runs with a
velocity below the step velocity. It toggles with each step not taken by the sequencer.
Attention
The duration of the index pulse corresponds to the duration of the microstep. When working without
interpolation at less than 256 microsteps, the index time goes down to two CLK clock cycles.