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 
ENC_POS_DEV
[µSteps]
New output angle
ENC_POS+45°
(+128 µSteps)
ENC_POS+90°
(+256 µSteps)
ENC_POS-90°
(-256 µSteps)
ENC_POS-45°
(-128 µSteps)
128
(45°)
256
(90°)
384
(135°)
-128
(-45°)
-256
(-90°)
-384
(-135°)
p
PID
= 1p
PID
= 1
p
PID
=
2
p
PID
=
2
p
PID
= 4
p
PID
= 4
0°
–CL_TOLERANCE
CL_TOLERANCE
CL_BETA
–CL_BETA
Figure 66: Calculation of the Output Angle with appropriate CL_DELTA_P
Now that basic closed-loop control parameters are configured, as explained above,
closed-loop regulation can be enabled.
i The presented calibration process is very basic. Refer to the closed-loop
Application Note for detailed calibration process information.
In order to enable and calibrate closed-loop control, do as follows:
PRECONDITION: SET TO BEST POSSIBLE MAXIMUM CURRENT SCALING
PROCEED WITH: OPTION 1: CL_OFFSET IS GENERATED DURING
CALIBRATION
Action:
 Set MSTEPS_PER_FS = 0 ( STEP_CONF register 0x0A) [256 microsteps per
fullstep].
 Move to any fullstep position ( MSCNT mod 128 = 0).
 Set regulation_modus = b’01 ( ENC_IN_CONF register 0x07).
 Set cl_caclibration_en =1 ( ENC_IN_CONF register 0x07).
 Wait for a defined time span (system settle down).
 Set cl_caclibration_en =0 ( ENC_IN_CONF register 0x07).
Result:
Closed-loop operation is enabled with basic calibration. CL_OFFSET is set to position
mismatch during calibration process.
OR PROCEED WITH OPTION 2: CL_OFFSET IS USED FOR CALIBRATION
In case CL_OFFSET was saved and no position loss has occurred while closed-loop
operation was disabled, it can be used to replace the calibration process.
Action:
 Set MSTEPS_PER_FS = 0 ( STEP_CONF register 0x0A)  256 microsteps per
fullstep.
 Set regulation_modus = b’01 ( ENC_IN_CONF register 0x07).
 Set CL_OFFSET to any preferred microstep value.
Result:
Closed-loop operation is enabled.
Enabling and
calibrating
Closed-Loop
Operation