Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
129/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
DFREEZE can be used for an automatic ramp stop configuration. Two
options are available:
 Option 1: Use of DFREEZE = 0 for a hard stop.
 Option 2: Use of DFREEZE ≠ 0 for a linear deceleration ramp.
PRINCIPLE:
Due to the independence of DFREEZE from internal register values like
direct_acc_val_en or the given clock frequency f
CLK
(which can be altered by erroneous
SPI signals) the deceleration value DFREEZE is always given as velocity value change
per clock cycle. Therefore, the DFREEZE value is calculated as follows:
d_freeze [pps²] = DFREEZE / 2
37
· f
CLK
2
This leads to the same behavior of the motor and is like setting direct_acc_val_en to 1
for the other acceleration values during normal operation.
IFREEZE can be used to configure the current scaling value during a freeze
event. Two options are available:
 Option 1: Use of IFREEZE = 0 for assigning the last specified current scaling
value before the freeze event.
 Option 2: Use of IFREEZE ≠ 0 for assigning a defined current scaling value.
PRINCIPLE:
IFREEZE is a current scaling value which becomes valid in case NFREEZE has been
tied to low and the related event ( FROZEN ) has been released.
In case IFREEZE is set to 0, the last scaling value before the emergency event is
assigned permanently.
The scale value IFREEZE then manipulates the current value in the same way as
explained in chapter 11, page 120.
Configuration of
DFREEZE for
automatic Ramp
Stop
Configuration of
IFREEZE current
Scaling Value