Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
110/230
© 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 
SPI mode-supported TMC26x drivers are automatically scaled by means of current
datagrams. In order to automatically scale the current of a connected TMC26x motor
stepper driver in S/D mode, TM4361A sends auto-generated cover datagrams by
altering directly the CS value of the TMC26x SGCSCONF register.
TMC4361A provides features that change the current scaling automatically, which are
explained in chapter 11, page 120.
In order to activate automatic current scaling for a connected TMC26x in
S/D mode, do as follows:
Action:
 Set scale_val_transfer_en = 1 (bit5 of SPI_OUT_CONF register 0x04).
 Set the scale value register 0x06 and scale configuration register 0x05 according
to your requirements (see chapter 11, page 120).
Result:
If the current scaling is adapted internally, TMC4361A automatically sends cover
datagrams to TMC26x that change the CS bit directly.
Presettings of the TMC26x SGCSCONF register – that are executed beforehand via
cover datagrams – become considered whenever the particular register is overwritten
with a newly assigned current scaling value.
NOTE:
 Please consider that the CS value consists of 5 bits only. Therefore, the scaling
values in register 0x06 must be adapted to 5-bit values as well.
TMC4361A maps the following status bits of TMC26x stepper drivers – which are
transferred within each SPI response – to the STATUS register 0x0F:
Status Register Mapping for TMC26x
STATUS Bit
@TMC4361A
Status Flag
@TMC26x
Description
STATUS (24)
SG
stallGuard2™ status flag
STATUS (25)
OT
Over temperature flag
STATUS (26)
OTPW
Temperature prewarning flag
STATUS (27)
S2GA
Short-to-ground detection flag for high
side MOSFET of coil A
STATUS (28)
S2GB
Short-to-ground detection flag for high
side MOSFET of coil B
STATUS (29)
OLA
Open load flag for bridge A
STATUS (30)
OLB
Open load flag for bridge B
STATUS (31)
STST
Standstill flag
Table 45: Mapping of TMC26x Status Flags
i If polling is not disabled, status data from TMC26x is also available in S/D mode.
The DRV_STATUS register of TMC26x is always sent in response to any transferred
datagram of TMC4361A.
In order to store the DRV_STATUS response of TMC26x, do as follows:
Action:
 Set disbale_polling = 0 (bit5 of SPI_OUT_CONF register 0x04).
Result:
TMC4361A stores the value of this response in POLLING_STATUS register 0x6C which
then can be read out.
TMC 26x S/D
Mode: Change of
Current Scaling
Parameter
TMC26x Status
Bits
TMC26x Status
Response