Datasheet

TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 64
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
9.1 x_target (IDX=%0000)............................................................................................................. 19
9.2 x_actual (IDX=%0001) ............................................................................................................ 19
9.3 v_min (IDX=%0010) ................................................................................................................ 19
9.4 v_max (IDX=%0011) ............................................................................................................... 20
9.5 v_target (IDX=%0100) ............................................................................................................. 20
9.6 v_actual (IDX=%0101) ............................................................................................................ 20
9.7 a_max (IDX=%0110) ............................................................................................................... 20
9.7.1 a_max_lower_limit & a_max_upper_limit for ramp_div  pulse_div ................................ 20
9.8 a_actual (IDX=%0111) ............................................................................................................ 21
9.9 is_agtat & is_aleat & is_v0 & a_threshold (IDX=%1000) ........................................................ 21
9.10 pmul & pdiv (IDX=%1001) ................................................................................................... 22
9.11 Calculation of p_mul and p_div ........................................................................................... 24
9.11.1 Optimized Calculation of p_mul and p_div ....................................................................... 25
9.12 lp & ref_conf & ramp_mode (rm) (IDX=%1010) .................................................................. 25
9.13 interrupt_mask & interrupt_flags (IDX=%1011) ................................................................... 27
9.14 pulse_div & ramp_div & usrs (IDX=%1100) ........................................................................ 29
9.15 dx_ref_tolerance (IDX=%1101) ........................................................................................... 30
9.16 x_latched (IDX=%1110) ...................................................................................................... 30
9.17 Unused Address (IDX=%1111)  TMC428 vs. TMC429 ..................................................... 30
9.17.1 ustep_count_429 (IDX=%1111) ....................................................................................... 30
10 Global Parameter Registers ..................................................................................................... 31
10.1 datagram_low_word (JDX=%0000) & datagram_high_word (JDX=%0001) ....................... 31
10.2 cover_pos & cover_len (JDX=%0010) ................................................................................ 31
10.3 cover_datagram (JDX=%0011) ........................................................................................... 32
10.4 Unused Addresses (JDX={%0100, %0101, %0110, %1001})  TMC428/429 .................... 32
10.4.1 TMC429 Specific Registers ............................................................................................. 32
10.5 if_configuration_429 (JDX=%0100) ..................................................................................... 33
10.5.1 TMC429 Step/Direction Timning ...................................................................................... 34
10.6 pos_comp_429 (JDX=%0101) ............................................................................................ 34
10.7 pos_comp_int_429 (JDX=%0110) ....................................................................................... 34
10.8 power_down (JDX=%1000) ................................................................................................. 34
10.9 type_and_version_429 (JDX=%1001) ................................................................................. 34
10.10 Reference Switches l3 & r3 & l2 & r2 & l2 & r1 (JDX=%1110) ............................................ 35
10.11 Stepper Motor Global Parameter Register (JDX=%1111)................................................... 35
10.12 Triple Switch Configuration .................................................................................................. 39
10.13 Reference Search ................................................................................................................ 39
10.14 Simultanous Start of up to Three Stepper Motors ............................................................... 40
11 RAM Address Partitioning and Data Organization ................................................................ 40
12 Stepper Motor Driver Datagram Configuration ...................................................................... 41
12.1 Initialization of on-chip-RAM by µC after power-on ............................................................. 43
12.2 An Example of a Stepper Motor Driver Datagram Configuration ........................................ 43
13 Initialization of the Micro Step Look-Up-Table ...................................................................... 45
13.1 Stepping through the Wave Look-Up-Table ........................................................................ 47
13.2 Partial look-up table initialization option ............................................................................... 48
13.3 Micro Step Enhancement .................................................................................................... 49
14 How to get Started in Running a Motor .................................................................................. 50
15 How to Run a Motor with Start-Stop-Speed in RAMP_MODE .............................................. 51
16 Package Outlines and Dimensions ......................................................................................... 52
16.1 Shrink Small Outline Package with 16 Pins (SSOP16, 150 MIL, JEDEC drawing MO-137
(150 mils)) of TMC429 ....................................................................................................................... 52
16.2 Small Outline Package with 24 Pins (SOP24) of TMC429-PI24, JEDEC drawing MS-013
(300 mils) ........................................................................................................................................... 53