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 
SPI_OUT_CONF 0x04 (Default value: 0x00000000)
R/W
Bit
Val
Remarks
RW
5:4
mixed_decay
(TMC23x/24x only)
0
Both mixed decay bits are always off.
1
Mixed decay bits are on during falling ramps until reaching a current value of 0.
2
Mixed decay bits are always on, except during standstill.
3
Mixed decay bits are always on.
6
stdby_on_stall_for_24x
(TMC24x only)
0
No standby datagram is sent.
1
In case of a Stop-on-Stall event, a standby datagram is sent to the TMC24x.
7
stall_flag_instead_of_uv_en
(TMC24x only)
0
Undervoltage flag of TMC24x is mapped at STATUS (24).
1
Calculated stall status of TMC24x is forwarded at STATUS (24).
10:8
STALL_LOAD_LIMIT
(TMC24x only)
U
A stall is detected if the stall limit value STALL_LOAD_LIMIT is higher than the
combination of the load bits (LD2&LD1&LD0).
11
pwm_phase_shft_en
(TMC24x only)
0
No phase shift during PWM mode.
1
During PWM mode, the internal SinLUT microstep position MSCNT is shifted to
MS_OFFSET microsteps. Consequently, the sine/cosine values have a phase shift of
( MS_OFFSET / 1024 ∙ 360°)
12
double_freq_at_stdby
(TMC23x/24x only)
0
ChopSync frequency remains stable during standby.
1
CHOP_SYNC_DIV is halfed during standby.
4
three_phase_stepper_en
(TMC389 only)
0
A 2-phase stepper motor driver is connected to the SPI output (TMC26x).
1
A 3-phase stepper motor driver is connected to the SPI output (TMC389).
5
scale_val_transfer_en
(TMC26x/2130 in SD mode only)
0
No transfer of scale values.
1
Transmission of current scale values to the appropriate driver registers.
6
disable_polling
(TMC26x/2130 in SD mode only)
0
Permanent transfer of polling datagrams to check driver status.
1
No transfer of polling datagrams.
7
autorepeat_cover_en
(TMC26x/2130 only)
0
No automatic continuous streaming of cover datagrams.
1
Enabling of automatic continuous streaming of cover datagrams.
11:8
POLL_BLOCK_EXP
(TMC26x in SD mode only, TMC2130 only)
U
Multiplier for calculating the time interval between two consecutive polling
datagrams: t
POLL
= 2^ POLL_BLOCK_EXP ∙ SPI_OUT_BLOCK_TIME / f
CLK
12
cover_done_only_for_cover
(TMC26x/2130 only)
0
COVER_DONE event is set for every datagram that is sent to the motor driver.
1
COVER_DONE event is only set for cover datagrams sent to the motor driver.
Continued on next page.