Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
179/230
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
REFERENCE_CONF 0x01 (Default value: 0x00000000)
R/W
Bit
Val
Remarks
RW
12
latch_x_on_inactive_r
0
No latch of XACTUAL if STOPR becomes inactive.
1
X_LATCH = XACTUAL is stored in the case STOPL becomes inactive.
13
latch_x_on_active_r
0
No latch of XACTUAL if STOPR becomes active.
1
X_LATCH = XACTUAL is stored in the case STOPL becomes active.
14
stop_left_is_home
0
STOPL input signal is not also the HOME position.
1
STOPL input signal is also the HOME position.
15
stop_right_is_home
0
STOPR input signal is not lso the HOME position.
1
STOPR input signal is also the HOME position.
19:16
home_event
0
Next active N event of connected ABN encoder signal indicates HOME position.
2
HOME_REF = 1 indicates an active home event
X_HOME is located at the rising edge of the active range.
3
HOME_REF = 0 indicates negative region/position from the home position.
4
HOME_REF = 1 indicates an active home event
X_HOME is located at the falling edge of the active range.
6
HOME_REF = 1 indicates an active home event
X_HOME is located in the middle of the active range.
9
HOME_REF = 0 indicates an active home event
X_HOME is located in the middle of the active range.
11
HOME_REF = 0 indicates an active home event
X_HOME is located at the rising edge of the active range.
12
HOME_REF = 1 indicates negative region/position from the home position.
13
HOME_REF = 0 indicates an active home event
X_HOME is located at the falling edge of the active range.
20
start_home_tracking
0
No storage to X_HOME by passing home position.
1
Storage of XACTUAL as X_HOME at next regular home event.
An XLATCH_DONE event is released.
In case the event is cleared, start_home_tracking is reset automatically.
21
clr_pos_at_target
0
Ramp stops at XTARGET if positioning mode is active.
1
Set XACTUAL = 0 after XTARGET has been reached.
The next ramp starts immediately.
22
circular_movement_en
0
Range of XACTUAL is not limited: -2
31
≤ XACTUAL ≤ 2
31
-1
1
Range of XACTUAL is limited by X_RANGE : - X_RANGE ≤ XACTUAL ≤ X_RANGE - 1
Continued on next page.