Datasheet

TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 28
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
INT is low (0). The interrupt status is mapped to the most significant bit (31) of each datagram sent
back to the µC (see Table 7-4, page 15) and it is only available at the SDO_C / nINT pin of the
TMC429 if the pin nSCS_C is high.
Demultiplexing of the multiplexed interrupt status signal at the pin SDO_C / nINT can be done using
additional hardware. It is not necessary if the microcontroller always disables its interrupt while it sends
a datagram to the TMC429.
interrupt bit mnemonic
Function
INT_POS_END
stepper motor reached target position
INT_REF_WRONG
reference switch signal was active outside the reference switch tolerance range
(dx_ref_tolerance)
INT_REF_MISS
reference switch signal missing at null position
INT_STOP
stop forced by reference switch during motion
INT_STOP_LEFT_LOW
high to low transition of left reference switch
INT_STOP_RIGHT_LOW
high to low transition of right reference switch
INT_STOP_LEFT_HIGH
low to high transition of left reference switch
INT_STOP_RIGHT_HIGH
low to high transition of right reference switch
Table 9-6: interrupt bit mnemonics
32 bit DATAGRAM sent from a µC to the TMC429
3
1
3
0
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
1
9
1
8
1
7
1
6
1
5
1
4
1
3
1
2
1
1
1
0
9
8
7
6
5
4
3
2
1
0
RRS
ADDRESS
RW
DATA
0
smd
a
1
0
1
1
interrupt mask
interrupt flags
MASK_STOP_RIGHT_HIGH
MASK_STOP_LEFT_HIGH
MASK_STOP_RIGHT_LOW
MASK_STOP_LEFT_LOW
MASK_STOP
MASK_REF_MISS
MASK_REF_WRONG
MASK_POS_END
INT_STOP_RIGHT_HIGH
INT_STOP_LEFT_HIGH
INT_STOP_RIGHT_LOW
INT_STOP_LEFT_LOW
INT_STOP
INT_REF_MISS
INT_REF_WRONG
INT_POS_END
Table 9-7: interrupt register & interrupt mask

                  ister
                  
corresponding position leaves the interrupt flag untouched.
If an end position is reached while the interrupt mask MASK_POS_END     
INT_POS_END is set to one. The switches processed via the inputs REF1, REF2, REF3 can be used
as stop switches for automatic motion limiting, as reference switches and for both. If a reference switch
becomes active out of the reference switch tolerance range defined by the dx_ref_tolerance register
the interrupt flag INT_REF_WRONG is set if its interrupt mask bit MASK_REF_WRONG is set. The
interrupt flag INT_REF_MISS is set if the reference switch is inactive at the 0 position and the mask
MASK_REF_MISS is enabled. The INT_STOP flag is set, if the reference switch has forced a stop and
if the interrupt mask MASK_STOP is set. The INT_STOP_LEFT_LOW flag is set if the reference