Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
TMC26x Stepper Motor Driver
TMC4361A provides the following features in order to support the TMC26x motor
stepper driver family well:
 SPI mode that sets up current values directly.
 S/D mode in which the TMC26x processes S/D outputs of TMC4361A.
 Automatic switchover between microstep and fullstep operation for both modes.
 Stall detection and Stop-on-Stall behavior for both modes.
 S/D mode only: Transfer of automatic scaling values from TMC4361A to TMC26x.
 S/D mode only: Transfer of auto-generated polling datagrams sent by TMC4361A
for reception of status data and microstep position from TMC26x.
In the following section, the features are explained in greater detail.
i For more information, please refer to the manual of the connected stepper driver
motor.
In order to activate the SPI data transfer mode and feature set for a
connected TMC26x stepper motor driver, do as follows:
Action:
 Set spi_output_format = b’1010 ( SPI_OUT_CONF register 0x04).
 Set COVER_DATA_LENGTH = 0 ( SPI_OUT_CONF register 0x04).
Result:
TMC26x in SPI mode is selected as connected stepper motor driver. Cover datagrams
and current datagrams are sent via SPI output pins.
In order to activate the S/D mode and feature set for a connected TMC26x
stepper motor driver, do as follows:
Action:
 Connect SPI output pins and S/D outputs to the TMC26x stepper motor driver.
 Set spi_output_format = b’1011 ( SPI_OUT_CONF register 0x04).
 Set COVER_DATA_LENGTH = 0 ( SPI_OUT_CONF register 0x04).
 Set DIR_SETUP_TIME and STP_LENGTH_ADD (register 0x10) according to the
hardware setup.
 Set proper POLL_BLOCK_EXP (bit11:8 of SPIOUT_CONF register 0x04).
Result:
TMC26x in S/D mode is selected as connected stepper motor driver. SPI output pins
transfer only cover datagram and automatic configuration datagrams because motion
is generated by processing the STPOUT/DIROUT output signals of TMC4361A.
The next polling datagram is sent 2^ POLL_BLOCK_EXP · SPI_BLOCK_TIME clock
cycles after the last polling datagram.
i A high microstep frequency requires a short SPI datagram polling time.
 Continued on next page.
TMC26x Stepper
Motor Driver
Support
TMC26x Setup
(SPI mode)
TMC26x Setup
(S/D mode)