Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 26
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GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
31..
24
VERSION: 0x10=version of the IC
Identical numbers mean full digital compatibility.
W
4
+
4
OUTPUT
Bit
OUTPUT
Sets the IO output pin polarity and data direction.
0
io0_out: IO0 output polarity
1
io1_out: IO1 output polarity
2
io2_out: IO2 output polarity
3
-
8
ioddr0 (IO0: 0=input, 1=output)
9
ioddr1 (IO1: 0=input, 1=output)
10
ioddr2 (IO2: 0=input, 1=output)
11
- (IO3 is always input)
Addresses Addr are specified for motor 1 (upper value) and motor 2 (second address).
6.2 Current Setting
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (MOTOR 1: 0X30…0X36, MOTOR 2: 0X50…0X56)
R/W
Addr
n
Register
Description / bit names
W
0x30
0x50
5
+
5
+
4
IHOLD_IRUN
Bit
IHOLD_IRUN – Driver current control
4..0
IHOLD
Standstill current (0=1/32…31=32/32)
12..8
IRUN
Motor run current (0=1/32…31=32/32)
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
19..16
IHOLDDELAY
Controls the number of clock cycles for motor
power down after a motion as soon as TZEROWAIT
has expired. The smooth transition avoids a motor
jerk upon power down.
0: instant power down
1..15: Delay per current reduction step in multiple
of 2^18 clocks