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 
TMC4361A maps the following status bits of TMC2130 stepper drivers – which are
transferred within each SPI response – to the STATUS register 0x0F:
Status Register Mapping for TMC2130
STATUS Bit @TMC4361A
Status Flag @TMC2130
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 46: Mapping of TMC2130 Status Flags
i If polling is not disabled ( disable_polling = 0), status data from TMC2130 is also
available in S/D mode.
TMC4361A continuously polls five status registers of TMC2130, if not disabled. These
register are GSTAT 0x01, PWM_SCALE 0x71, LOST_STEPS 0x73 and
DRV_STATUS 0x6F.
In order to store the polled register values of TMC2130, do as follows:
Action:
 Set disbale_polling = 0 (bit5 of SPI_OUT_CONF register 0x04).
Result:
TMC4361A stores the value of DRV_STATUS in POLLING_STATUS register 0x6C, which
then can be read out.
The response for polling of GSTAT, PWM_SCALE and LOST_STEPS are merged in the
POLLING_REG register 0x6D, which then can also be read out.
TMC2130 Status
Bits
TMC2130 Status
Response