Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
112/230
© 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 
TMC2130 Stepper Motor Driver
TMC4361A provides the following features in order to support the TMC2130 motor
stepper driver well:
 SPI mode that sets up current values directly.
 S/D mode in which the TMC2130 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 datagrams from TMC4361A to
TMC2130.
 S/D mode only: Transfer of auto-generated polling datagrams sent by
TMC4361A for reception of status data and microstep position from TMC2130.
In the following section, the features are explained in greater detail.
i For more information, please refer to the manual of the TMC2130 stepper driver
motor.
In order to activate the SPI data transfer mode and feature set - for a
connected TMC2130 stepper motor driver - do as follows:
Action:
 Set spi_output_format = b’1101 ( SPI_OUT_CONF register 0x04).
 Set COVER_DATA_LENGTH = 0 ( SPI_OUT_CONF register 0x04).
Result:
TMC2130 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
TMC2130 stepper motor driver - do as follows:
Action:
 Connect SPI output pins and S/D outputs to the TMC2130 stepper motor driver.
 Set spi_output_format = b’1100 ( 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:
TMC2130 in S/D mode is selected as connected stepper motor driver. SPI output pins
transfer only cover datagrams 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.
TMC2130
Support
Set-up TMC2130
Support
(SPI Mode)
Set-up TMC2130
Support
(S/D Mode)