Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
191/230
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
ENC_IN_CONF 0x07 (Default 0x00000400)
R/W
Bit
Val
Description
RW
10
latch_enc_on_n
0
ENC_POS is not latched.
1
ENC_POS is latched to ENC_LATCH
on every N event in case clr_latch_cont_on_n =1, or
on the next N event in case clr_latch_once_on_n =1.
11
latch_x_on_n
0
XACTUAL is not latched.
1
XACTUAL is latched to X_LATCH
on every N event in case clr_latch_cont_on_n =1, or
on the next N event in case clr_latch_once_on_n =1.
12
multi_turn_in_en
(Absolute encoder only)
0
Connected serial encoder transmits singleturn values.
1
Connected serial encoder input transmits singleturn and multiturn values.
13
multi_turn_in_signed
(Absolute encoder only)
0
Multiturn values from serial encoder input are unsigned numbers.
1
Multiturn values from serial encoder input are signed numbers.
14
multi_turn_out_en
(Serial encoder output only)
0
Serial encoder output transmits singleturn values.
1
Serial encoder output transmits singleturn and multiturn values.
15
use_usteps_instead_of_xrange
0
X_RANGE is valid in case circular motion is also enabled for encoders.
1
USTEPS_PER_REV is valid in case circular motion is also enabled for encoders.
16
calc_multi_turn_behav
(Absolute encoder only)
0
No multiturn calculation.
1
TMC4361A calculates internally multiturn data for singleturn encoder data.
17
ssi_multi_cycle_data
(Absolute encoder only)
0
Every SSI value request is executed once.
1
Every SSI value request is executed twice.
18
ssi_gray_code_en
(Absolute encoder only)
0
SSI input data is binary-coded.
1
SSI input data is gray-coded.
19
left_aligned_data
(Absolute encoder only)
0
Serial input data is aligned right (first flags, then data).
1
Serial input data is aligned left (first data, then flags).
Continued on next page.