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 
18. Serial Encoder Output
TMC4361A provides an option to render internal encoder data into absolute SSI encoder data.
This encoder data is streamed via the SPI output interface.
Pin Names for SPI Motor Drive
Pin Names
Type
Remarks
NSCSDRV_SDO
Output
Serial data output.
SCKDRV_NSDO
Output
Negated serial data output.
SDODRV_SCLK
InOut as Input
Serial clock input.
SDIDRV_NSCLK
Input
Negated serial clock input.
Table 63: Pin Names for Encoder Output Interface
Register Names for SPI Output Registers
Register Name
Register Address
Remarks
GENERAL_CONF
0x00
RW
Affect switches: Bit25:24.
SSI_OUT_MTIME
0x04
RW
Bit24:4: Monoflop time.
ENC_IN_CONF
0x07
RW
Affect switches: Bit14, Bit30.
ENC_OUT_DATA
0x09
RW
Encoder output data structure.
ENC_OUT_RES
0x55
W
Resolution of singleturn data.
Table 64: Dedicated SPI Output Registers
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