Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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© 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 
TMC23x, TMC24x Stepper Motor Driver
In this chapter specific information pertaining to the setup of TMC23x and TMC24x is provided.
TMC4361A provides the following features in order to support the TMC23x motor stepper
driver family well:
 Automatic Mixed Decay chopper mode
 ChopSync
 Automatic switchover between microstep and fullstep operation
 Controlled PWM signal generation and automatic switchover between SPI and
PWM mode; see section 13.2. (page 133).
In the following section, the features are explained in greater detail.
i For further information, please refer to the manual of the particular stepper driver
motor.
In order to activate the SPI data transfer and SPI feature set for a
connected TMC23x stepper motor driver, do as follows:
Action:
 Set spi_output_format = b’1000 ( SPI_OUT_CONF register 0x04).
 Set COVER_DATA_LENGTH = 0 ( SPI_OUT_CONF register 0x04).
Result:
TMC23x is selected as connected stepper motor driver.
In order to activate the SPI data transfer and feature set for a connected
TMC24x stepper motor driver, do as follows:
Action:
 Set spi_output_format = b’1001 ( SPI_OUT_CONF register 0x04).
 Set COVER_DATA_LENGTH = 0 ( SPI_OUT_CONF register 0x04).
Result:
TMC24x is selected as connected stepper motor driver.
i In addition to the TMC23x features mentioned above, the TMC24x stepper driver
family provides three stallGuard bits as load measurement indicator. Therefore,
the TMC24x stepper family is supported by the TMC4361A for the following:
 Stall detection and
 Stop-on-Stall behavior
 Turn to next page for more information.
TMC23x/24x
Support
TMC23x Setup
TMC24x Setup