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 
Absolute Encoder Settings
Serial encoders provide absolute encoder angle data in contrast to step transitions, which are
delivered from incremental encoders.
TMC4361A provides an external clock for the encoder in order to trigger serial data input,
TMC4361A offers singleturn and multiturn options for the serial data stream
interpretation. Per default, multiturn data is not enabled. In case multiturn data is
enabled, it is interpreted as unsigned count of revolutions.
In case multiturn encoder data is transmitted, do as follows:
Action:
 Set multi_turn_in_en = 1 ( ENC_CONF register 0x07).
 OPTIONAL CONFIGURATION: Set multi_turn_in_signed = 1.
In case multiturn data is provided as signed count of encoder revolutions.
Result:
Data from connected encoders are interpreted as multiturn data.
In case only singleturn data is transmitted TMC4361A is able to permanently calculate
internally the number of encoder revolutions as if it where externally transferred
multiturn data.
In case singleturn encoder data is transmitted but internally multiturn data
is required, do as follows:
Action:
 Set multi_turn_in_en = 0 ( ENC_CONF register 0x07).
 Set calc_multi_turn_behav = 1 ( ENC_CONF register 0x07).
Result:
Data from connected singleturn encoders is internally transferred to multiturn data.
NOTE:
 Multiturn calculations are only correct in case two consecutive singleturn data
values differ only by one step less than a half turn difference, or even less.
Singleturn or
Multiturn Data