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 
If incremental ABN or absolute SSI encoders are selected, the dedicated encoder
signals are treated as digital differential signals per default. For internally displaying a
valid input level, the levels of a dedicated pair must be digitally inversed.
i No analog differential circuit is available.
In order to disable the digital differential input signals, do as follows:
Action:
 Set diff_enc_in_disable = 1 ( GENERAL_CONF register 0x00).
Result:
Dedicated encoder signals are treated as single signals and every negated pin is
ignored.
i Concerning absolute SPI encoders, this is done automatically.
Pin Assignment based on selected Encoder Setup
Pin
No.
Pin Name
Incremental ABN
Absolute SSI
Absolute SPI
Differential
Single-ended
Differential
Single-ended
Single-ended
40
A_SCLK
A
A
SCLK
SCLK
SCLK
1
ANEG_NSCLK
¬A
-
¬SCLK
-
CS
10
B_SDI
B
B
SDI
SDI
SDI
11
BNEG_NSDI
¬B
-
¬SDI
-
SDO
21
N
N
N
-
-
-
22
NNEG
¬N
-
-
-
-
Table 57: Pin Assignment based on selected Encoder Setup
In order to easily align the encoder direction with the motor direction it is possible to
invert the encoder direction by setting one switch.
In order to invert the encoder direction, do as follows:
Action:
 Set invert_direction = 1 ( ENC_CONF register 0x07).
Result:
The calculation of the in external position ENC_POS is inverted, turning increment to
decrement and vice versa.
Disabling digital
differential
Encoder Signals
Inverting of
Encoder
Direction