Datasheet
TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 41
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
32 bit DATAGRAM sent from a µC to the TMC429 via pin SDI_C
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
data @ odd RAM
addresses
data @ even
RAM addresses
1
0
32 x (2x6 bit)
driver chain
datagram
configuration
range
NxM_1
signal_codes
NxM_0
signal_codes
1
1
32 x (2x6 bit)
quarter
period sine
wave LUT
range
quarter sine wave
values
(amplitude)
quarter sine wave
values
(amplitude)
Table 11-1: Partitioning of the on-chip RAM address space
12 Stepper Motor Driver Datagram Configuration
A number of control signals is required to drive 2-phase stepper motors. The serial driver interface
forms the link between the TMC429 and the stepper motor driver chain. The stepper motor driver
datagram configuration simply defines the order of the control signals serially sent from TMC429 to the
stepper motor driver chain. To define the serial order of the control signals, so called primary signal
codes have to be written into the stepper motor driver datagram configuration area of the on-chip
configuration RAM of the TMC429.
Which control signals are required in a given application, depends on the choice of stepping mode full
step, half step, micro step and on additional options depending on the stepper motor driver chips
used. So, the TMC429 primarily provides a full set of control signals individually for each of the up to
three stepper 2-phase stepper motors respectively stepper motor driver chips of the daisy chain.
Mnemonics for primary signal codes are given in Table 12-1. Names of these signals may differ to the
signal names of the used stepper motor drivers. Figure 12-1 on page 42 outlines the principle of
connecting the control signals internally provided by the TMC429 as parallel signals with the signals
used to control the digital part of a stepper motor driver.