Datasheet

TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 30
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5.3 Sequencer Registers
The sequencer registers have a pure informative character and are read-only. They help for special
cases like storing the last motor position before power off in battery powered applications.
MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
R
0x6A
10
MSCNT
Microstep counter. Indicates actual position
in the microstep table for CUR_A. CUR_B uses
an offset of 256 into the table. Reading out
MSCNT allows determination of the motor
position within the electrical wave.
0…1023
R
0x6B
9
+
9
MSCURACT
bit 8… 0: CUR_A (signed):
Actual microstep current for
motor phase A as read from the
internal sine wave table (not
scaled by current setting)
bit 24… 16: CUR_B (signed):
Actual microstep current for
motor phase B as read from the
internal sine wave table (not
scaled by current setting)
+/-0...255