Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Reference Switch Configuration Register REFERENCE_CONF 0x01
REFERENCE_CONF 0x01 (Default value: 0x00000000)
R/W
Bit
Val
Remarks
RW
0
stop_left_en
0
STOPL signal processing disabled.
1
STOPL signal processing enabled.
1
stop_right_en
0
STOPR signal processing disabled.
1
STOPR signal processing enabled.
2
pol_stop_left
0
STOPL input signal is low active.
1
STOPL input signal is high active.
3
pol_stop_right
0
STOPR input signal is low active.
1
STOPR input signal is high active.
4
invert_stop_direction
0
STOPL/STOPR stops motor in negative/positive direction.
1
STOPL/STOPR stops motor in positive/negative direction.
5
soft_stop_en
0
Hard stop enabled. VACTUAL is immediately set to 0 on any external stop event.
1
Soft stop enabled. A linear velocity ramp is used for decreasing VACTUAL to v = 0.
6
virtual_left_limit_en
0
Position limit VIRT_STOP_LEFT disabled.
1
Position limit VIRT_STOP_LEFT enabled.
7
virtual_right_limit_en
0
Position limit VIRT_STOP_RIGHT disabled.
1
Position limit VIRT_STOP_RIGHT enabled.
9:8
virt_stop_mode
0
Reserved.
1
Hard stop: VACTUAL is set to 0 on a virtual stop event.
2
Soft stop is enabled with linear velocity ramp (from VACTUAL to v = 0).
3
Reserved.
10
latch_x_on_inactive_l
0
No latch of XACTUAL if STOPL becomes inactive.
1
X_LATCH = XACTUAL is stored in the case STOPL becomes inactive.
11
latch_x_on_active_l
0
No latch of XACTUAL if STOPL becomes active.
1
X_LATCH = XACTUAL is stored in the case STOPL becomes active.
Continued on next page.