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 
System Overview
Figure 7: System Overview
SPI
NSCSIN
SCKIN
SDIIN
SDOIN
Host CPU
SPI Interface
Register Block
STOPL
STOPR
v
SCLK SCLK A
N
Encoder (differential)
Step/Dir Output
I
DIROUT
STPOUT
O
INTR
HOME_REF
Scan Test
I
TEST_MODE
I
SDODRV
SCKDRVSDIDRV
NSCSDRV
SPI Datagram Generator
NSTDBY_OUT or
Clk_Out or
ChopSync Clk
START
SDI SDI
B
CLK_EXT
O
IO
I
I
O
O
O
Motion
Profile
ShadowReg
SPI Output
GearRatio
I
I
I
Reference
processing
OOI
Start / Stop /
Reference Switches
Step/Dir Input
DIR_IN
STP_IN
Serial
Encoder
Unit
Ramp
Status
I
I
IO
NSCS NSCLK ANEG
NNEG
External
PosCounter
MasterCLK
SSI
Internal
Pos
External
Pos
IO
or
Pos
Counter
PWM
Unit
SCLK NSCLK SDO NSDO
PWMA
(Sine)
PWMB
(Cosine)
Serial Encoder
PWM Output
GND(4x) VDD5(3x)
or
or ororor
IO I
I
I
NRST
VDD1V8(2x)
Target
Register(s)
Timer Unit
CLK_INT
Status Flags /
Events
for
Interrupt
Control
ClkGating
Parameters
from/for all
Units
O
TARGET_REACHED
PulseGen
dcStep™
DDS
retain
dcStep Signals
DC_OUT
DCSTEP_STALL
O
I
ChopperClk/
STEP_READY
ClosedLoop Unit
Compare
Internal
(Co)Sine LUT
Internal
Step
chopSync™
Actual
Co-/Sine
values
Closed
Loop
Scaling
PWM or DAC
encrypted co-/sine
voltage values
StdBy
signal
Scaled
current
values
CoverReg
Drv type
FS
DataOut
SSI
SDO NSDI BNEG
DACA
(Sine)
DACB
(Cosine)
DAC Output
or
NFREEZE
I
immediate freeze
of operation
DAC
Unit
IO
ABNSSI
or
SPI
or
I
SSI
SPI
ABN
PID
PID_E
Ramp-Generator
S-Ramps with 4 Bows
Trapezoid Ramps
Rectangle Ramps
Circles
Decoder Unit
Scale
Unit
Commutation
angle
POR
R
E
S
E
T