Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
173/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
The internal [microstep] value of the external position ENC_POS 0x50 can be
transferred to a serial data stream using the SPI output interface. SSI output format
and structure can be configured freely.
In order to provide SSI output data at the SPI output interface, do as
follows:
Action:
 Set encoder resolution in register ENC_OUT_RES 0x55 (write access).
 Set SINGLE_TURN_RES_OUT (Bit4:0 of ENC_OUT_DATA register 0x09) to the
number of singleturn data bits – 1.
OPTIONAL: IF MULTITURN DATA MUST BE TRANSMITTED
 Set MULTI_TURN_RES_OUT (Bit9:5 of ENC_OUT_DATA register 0x09) to the
number of multiturn data bits – 1.
 Set multi_turn_out_en = 1 (Bit14 of ENC_IN_CONF register 0x07).
 Set proper SSI_MTIME register 0x04(23:4).
 Set serial_enc_out_enable = 1 (Bit24 of GENERAL_CONF register 0x00).
Result:
Differential SSI output data is streamed via SPI output interface:
 Master clock input pin is SDODRV_SCLK
 Negated clock input pin is SDIDRV_NSCLK.
 NSCSDRV_SDO acts as serial data output
 Negated data output is SCKDRV_NSDO.
 Output data remains unchanged until SSI_OUT_MTIME clock cycles expires
after the last master request to support multicycle data requests.
The angle of the singleturn data is calculated considering the external position
ENC_POS and the requested encoder resolution ENC_OUT_RES . The number of
singleturn bits is equal to SINGLE_TURN_RES_OUT + 1.
If multiturn data must be transferred, the number of revolutions is also calculated and
transmitted as signed number before singleturn data bits follow. The number of
multiturn bits is equal to MULTI_TURN_RES_OUT + 1.
An example is provided below: SSI output stream consists of five multiturn bits
( MULTI_TURN_RES_OUT = 4) and seven singleturn bits
( SINGLE_TURN_RES_OUT = 6) that follow each other successively in one data
stream.
Figure 72: Example for SSI Output Configuration: M - Multiturn; S - Singleturn
 Turn page for information on additional configuration options.
SDODRV_SCLK
MSB
M
LSB
M
MSB
S
LSB
S
MSB
M
LSB
M
MSB
S
LSB
S
SDIDRV_NSCLK
NSCSDRV_SDO
SCKDRV_NSDO
Configuration
and Enabling of
SSI Output
Interface