Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 24
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6.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
RW
0x00
10
GCONF
Bit
GCONF – Global configuration flags
0
single_driver
0: Two motors can be operated.
1: Single motor, double current operation - driver 2
outputs are identical to driver 1, all driver 2
related controls are unused in this mode.
Attention: Set correctly before driver enable!
1
stepdir1_enable
0: Driver 1 does not accept steps.
1: Step/Dir interface enabled via STEP1 and DIR1
2
stepdir2_enable
0: Driver 2 does not accept steps.
1: Step/Dir interface enabled via STEP2 and DIR2
3
reserved
set to 0
4
reserved
set to 0
5
reserved
set to 0
6
reserved
set to 0
7
test_mode
0: Normal operation
1: Enable analog test output on pin REFR2
SLAVEADDR selects the function of REFR2:
0…4: T120, DAC1, VDDH1, DAC2, VDDH2
Attention: Not for user, set to 0 for normal operation!
8
shaft1
1: Inverse motor 1 direction
9
shaft2
1: Inverse motor 2 direction
10
lock_gconf
1: GCONF is locked against further write access.