Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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© 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 
Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface
TMC4361A also provides configuration data for driver chips of other companies via the cover
registers. The following output format settings can be selected:
Non-TMC Data Transfer Options
Output Formats
spi_output_format
Comment
SPI output off
b’0000
SPI output driver pins are switched off.
Cover output only
b’1111
Only cover datagrams are sent via the SPI output pins.
Unsigned scaling
factor
b’0100
The actual unsigned current scaling value is provided at the SPI
output pins.
Signed current data
b’0101
Both actual signed current values are provided in one datagram
at the SPI output pins.
DAC scaling factor
b’0110
The actual unsigned current scaling value is provided at the SPI
output pins for a defined DAC address.
DAC absolute values
b’0011
Both actual signed current values are provided in two datagrams
at the SPI output pins for defined DAC addresses, which are
absolute values.
Phase bits are generated at the STPOUT/DIROUT interface.
Phase bit = 0 signifies positive values.
DAC absolute values
b’0010
Both actual signed current values are provided in two datagrams
at the SPI output pins for defined DAC addresses, which are
absolute values.
Phase bits are generated at the STPOUT/DIROUT interface.
Phase bit = 1 signifies positive values.
DAC adapted values
b’0001
Both actual signed current values are provided in two datagrams
at the SPI output pins for defined DAC addresses.
These values are mapped to positive values:
Current value equals minimum value (-255) = 0
Current value equals 0 = 128
Current value equals maximum value (+255) = 255
Table 47: Non-TMC Data Transfer Options
NOTE:
 Please note that the COVER_DATA_LENGTH must be set according to the predefined driver chip
datagram length.
In order to send cover datagrams only, use this option to avoid datagrams
that send scaling or current values whenever these internal values are
changed.
Please keep in mind that only the SPI protocol is available that is used for
TMC motor stepper drivers.
Setting spi_output_format = b’0100 leads to a transfer of the 8-bit scaling factor if
this value is altered internally: Output data(7:0) = SCALE_PARAM (7:0).
The MSB 7 is sent first. If more than 8 bits are configured as COVER_DATA_LENGTH,
leading zeros are inserted before the MSB.
Setting spi_output_format = b’0101 leads to a transfer of both signed current values
that consists of 18 bits and are sent one after the other in one datagram:
Output data(17:0) = CURRENTA_SPI (8:0) & CURRENTB_SPI (8:0).
The MSB (bit17) is sent first. If more than 18 bits are configured as
COVER_DATA_LENGTH , leading zeros are inserted before the MSB.
Cover
Output only
!
Sending
unsigned
Scaling Factor
Sending signed
Current Values