Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
142/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
The encoder interface consists of six pins that can be connected with different encoder
types. Depending on the encoder type, the pins serve as inputs or as outputs. If inputs
are assigned, the incoming signals can be filtered, as explained in chapter 4, page 20.
Consequently, SR_ENC_IN and FILT_L_ENC_IN must be set accordingly. In the
following, three options are presented to select a connected encoder properly.
OPTION 1: INCREMENTAL ABN ENCODERS
In order to set up a connected incremental ABN encoder, do as follows:
Action:
 Set serial_enc_in_mode = b’00 ( GENERAL_CONF register 0x00).
Result:
An incremental ABN encoder is selected.
OPTION 2: ABSOLUTE SSI ENCODERS
In order to set up a connected absolute SSI encoder, do as follows:
Action:
 Set serial_enc_in_mode = b’01 ( GENERAL_CONF register 0x00).
Result:
An absolute SSI encoder is selected.
i In order to avoid an erroneous status of the connected absolute SSI encoder, a
proper configuration is necessary prior to enabling; as described further down
below on the subsequent pages: see section 15.4. on page 149.
OPTION 3: ABSOLUTE SPI ENCODERS
In order to set up a connected absolute SPI encoder:
Action:
 Set serial_enc_in_mode = b’11 ( GENERAL_CONF register 0x00).
Result:
An absolute SPI encoder is selected.
i In order to avoid an erroneous status of the connected absolute SPI encoder, a
proper configuration is necessary prior to enabling; as described further down
below on the subsequent pages: see section 15.4. on page 149.
Turn page for encoder pin assignment overview.
Selecting the
correct Encoder