Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
104/230
© 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
TMC4361A maps the following status bits of TMC23x/24x stepper drivers – which are
transferred with each SPI datagram – to the STATUS register 0x0F:
TMC4361A only forward new current data (
CURRENTA_SPI
and
CURRENTB_SPI
at
register 0x7B) for TMC23x/TMC24x in case the upper five bits of one of the two 9-bit
current values changes; because TMC23x and TMC24x current data consist of four bit
current values and one polarity bit for each coil.
Consequently, alterations of the internal microstep resolution only apply in case the
new microstep resolution is lower than 16 bits.
Because SPI current data is transmitted, automatic switchover from microsteps to
fullsteps and vice versa is only dependent on the internal ramp velocity.
In order to activate automatic switchover between microstep and fullstep
operation, do as follows:
Action:
Set
FS_VEL
register 0x60 according to the velocity [pps] at which the switchover
must happen.
Set
fs_en
= 1 (bit19 of
GENERAL_CONF
register 0x00).
Result:
Now, current values are switched to fullstep values in case |
VACTUAL
|≥
FS_VEL
.
A switchback from fullsteps to µsteps is executed in case |
VACTUAL
|<
FS_VEL
.
The status bit
FS_ACTIVE
is set active as long as fullstep mode is enabled and
activated.
Turn to next page for more information.
TMC23x/24x
Status Bits
Status Register Mapping for TMC23x/24x
STATUS bit
@TMC4361A
Status flag
@TMC23x/24x
Description
STATUS
(24)
UV
Undervoltage flag.
STATUS
(25)
OT
Over temperature flag.
STATUS
(26)
OTPW
Temperature prewarning flag.
STATUS
(27)
OCA
Overcurrent flag for bridge A.
STATUS
(28)
OCB
Overcurrent flag for bridge B.
STATUS
(29)
OLA
Open load flag for bridge A.
STATUS
(30)
OLB
Open load flag for bridge B.
STATUS
(31)
OCHS
Overcurrent high side flag.
Table 44: Mapping of TMC23x/24x Status Flags
TMC23x/24x
Microsteps
Automatic
Fullstep
Switchover for
TMC23x/24x