Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
100/230
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Overview: TMC Motor Driver Connections
As mentioned before, TMC4361A is able to set the cover register length automatically in case a
TMC motor driver is connected. Also, several additional automatic features for the SPI
communication are available by selecting TMC motor drivers.
TMC Stepper Motor Driver Settings
The SPI and Step/Dir communication schemes are available for the following product
lines that are explained in greater detail further below:
 TMC236, TMC239
 TMC246, TMC248, TMC249
 TMC260, TMC261, TMC262, TMC2660
 TMC389
 TMC2130
In order to enable an operating SPI output setting for a connected TMC
stepper motor driver, proceed as follows:
Action:
 Set SPI_OUT_LOW_TIME, SPI_OUT_HIGH_TIME, and SPI_OUT_BLOCK_TIME
according to the TMC motor driver specification, as explained before.
 Set COVER_DATA_LENGTH = 0 (bit19:13 of SPIOUT_CONF register 0x04).
 Set spi_output_format = SPI_OUT_CONF (3:0) according to the connected SPI
motor driver as seen below in the table below.
Result:
The communication scheme is now prepared for the connected TMC motor driver with
all available features.
TMC Stepper Motor Driver Options
TMC Motor
Driver
spi_output_format
= SPI_OUT_CONF (3:0)
Cover Register
Datagram Length
COVER_DATA_LENTGH =0
Automatic
Current Datagram
Transfer
Cover Register
Datagram
Transfer
SPI output off
b’0000
0
--
--
TMC23x
b’1000
12


TMC24x
b’1001
12


TMC26x/389
b’1010
b’1011
20
20

S/D output

TMC2130
b’1101
b’1100
40
40

S/D output

Table 43: TMC Stepper Motor Driver Options
Available SPI
and Step/Dir™
Communication
Schemes for
TMC Motors
How to enable
SPI Output
Settings for TMC
Stepper Motor
Drivers