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 
dcStep operation with TMC2130 is similar to a handshake procedure:
The MP1 input must be connected to the DCO output pin of TMC2130, whereas MP2
must be connected to the DCEN input pin of TMC2130.
In order to set up a TMC2130 dcStep configuration, do as follows:
The mandatory TMC2130 configuration MUST be executed with cover
datagrams, as follows:
i Please refer to the TMC2130 manual for correct settings pertaining to the
TMC2130 CHOPCONF and DCCTRL registers.
Action:
 Set spi_output_format = b’1101 or b’1100 (automatic TMC2130 setting)
 Set dcstep_mode = b’01 ( GENERAL_CONF register 0x00).
Result:
In case VACTUAL ≥ DC_VEL , MP2 output is set to high voltage level to indicate that
dcStep can be activated.
TMC2130 will wait for the next fullstep position to switch to dcStep operation. The
dcStep signal is provided by the TMC2130 at DCO output pin.
TMC4361A is continually providing microsteps even though dcStep is enabled and
activated. TMC2130 auto-generates the dcStep behavior internally.
Because dcStep operates the motor in fullstep mode, a minimum fullstep frequency
f
FS
can be assigned. Therefore, a dcStep low speed timer must be assigned to achieve
the following minimum fullstep frequency:
f
FS
= f
CLK
/ DC_LSPTM .
In order to set up a minimum dcStep fullstep frequency, do as follows:
Action:
 Set DC_LSPTM register 0x62.
Result:
After DC_LSPTM clock cycles expires – without lifting the internal dcStep signal – a
step is enforced when dcStep is enabled.
Enabling dcStep
for TMC2130
Stepper Motor
Drivers
Set up minimum
dcStep/Fullstep
Frequency