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 
TMC24x forwards stallGuard values ={LD2&LD1&LD0} instead of one stallGuard2
status bit. These bits represent an unsigned value between 0 and 7. The lower the
value is the higher the mechanical load is. TMC4361A can generate a one-bit internal
stall signal by analyzing the stallGuard values.
In order to set up the stall load limit for automatic stall recognition, do as
follows:
Action:
 Set proper STALL_LOAD_LIMIT (bit10:8 of SPIOUT_CONF register 0x04).
Result:
Whenever {LD2&LD1&LD0} ≤ STALL_LOAD_LIMIT a stall is indicated.
This feature also allows use of the Stop-on-Stall feature – already explained in section
10.4.4, page 102 – because this also applies to other TMC motor stepper drivers.
Additionally, a standby datagram can be sent automatically when a
Stop-on-Stall is executed. In order to activate this behavior, do as follows:
Action:
 Set VSTALL_LIMIT register 0x67 [pps] according to minimum absolute velocity
value for a correct stall recognition.
 Set stop_on_stall = 1 (bit26 of REFERENCE_CONF register 0x01).
 Set drive_after_stall = 0 (bit27 of REFERENCE_CONF register 0x01).
 Set stdby_on_stall_for_24x = 1 (bit6 of SPIOUT_CONF register 0x04).
Result:
Whenever a stall is calculated by comparing STALL_LOAD_LIMIT to the response of
TMC24x, while at the same time the absolute value of VACTUAL exceeds
VSTALL_LIMIT , the internal ramp velocity is stopped immediately. Additionally, both
current values are then set to 0 whereupon a standby mode for the TMC24x stepper
motor driver is generated that switches off all power driver outputs and clears the
error flags.
i To return from Stop-on-Stall, drive_after_stall must be set manually, as stated
further in section 10.4.4 (page 102).
In order to exchange the UV status bit in the STATUS register 0x0F with the
calculated stallGuard bit, do as follows:
Action:
 Set stall_flag_instead_of_uv_en = 1(bit10:8 of SPIOUT_CONF register 0x04).
Result:
STATUS (24) shows the calculated stallGuard bit by comparing STALL_LOAD_LIMIT
with the received response datagram of TMC24x.
Connection of STDBY_CLK output pin of TMC4361A and OSC input pin of TMC23x/24x
1
Risk of Burns! Avoid overheating and damage of the TMC23x/24x stepper
driver and damage of the connected motor!
 You MUST use a low pass filter between STDBY_CLK output of
TMC4361A and the OSC input pin of TMC23x/24x.
 You MUST keep the external clock frequency of the TMC23x/24x
stepper motor driver below 50 kHz (to prevent overheating).
This will ensure smooth and safe operation.
1
Per default (i.e. after power on and reset), STDBY_CLK forwards the internal clock that is too high for the TMC23x/24x.
See Figure 10, (page 15) that provides a properly connected sample hardware setup.
Using TMC24x
stallGuard
Characteristics
NOTICE