Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
When a TMC motor driver receives a current datagram or a cover datagram that is
transmitted via SPI output of TMC4361A, status data is sent back to the TMC4361A
controller immediately. The response is stored in the COVER_DRV_LOW 0x6E and
COVER_DRV_HIGH 0x6F registers, just like all other cover requests.
The type and sequence of the status bits that are sent back are dependent on the
selected motor driver. A detailed list for every motor driver is presented in the next
sections, in which the motor driver communication specifics for every driver family are
explained separately.
The mapping of the available status bits to the TMC4361A STATUS register is similar
for each and every TMC stepper motor driver. The last eight bits – STATUS (31:24) –
are equal to the transferred motor status bits. A detailed overview is given in the
register chapter 19.15. (page 198).
TMC4361A also provides one event at EVENTS (30) that is connected with the motor
driver status bits. Here, any of the motor driver status bits can function as the base
for this event.
In order to activate a motor driver status bit for the motor event
EVENTS (30), do as follows:
Action:
 Selected one or more of the motor driver status for the motor event by assigning
MSTATUS_SELECTION = STEP_CONF (23:16) register 0x0A accordingly.
Result:
In case one of the selected motor status bits is activated (Wired-Or), the motor event
switch EVENTS (30) generates an event.
In order to generate an interrupt for this motor event, configure the INTR output
accordingly, as explained in section 5.3. (page 26).
TMC Motor
Driver Response
Datagram and
Status Bits
Events and
Interrupts based
on Motor Driver
Status Bits