Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
192/230
© 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
20
spi_data_on_cs
(SPI encoder only)
0
BNEG_NSDI provides serial output data at next serial clock line (A_SCLK) transition.
1
BNEG_NSDI provides serial output data immediately in case negated chip select line
ANEG_NSCLK switches to low level.
21
spi_low_before_cs
(SPI encoder only)
0
Serial clock line A_SCLK switches to low level after negated chip select line
ANEG_NSCLK switches to low level.
1
Serial clock line A_SCLK switches to low level before negated chip select line
ANEG_NSCLK switches to low level.
23:22
regulation_modus
0
No internal regulation on encoder feedback data.
1
Closed-loop operation is enabled.
Use full microstep resolution only! (256 µSteps/FS 
MSTEPS_PER_FS=0).
2
PID regulation is enabled. Pulse generator base velocity equals 0.
3
PID regulation is enabled. Pulse generator base velocity equals VACTUAL .
24
cl_calibration_en
(Closed-loop operation only)
0
Closed-loop calibration is deactivated.
1
Closed-loop calibration is active.
Use maximum current without scaling during calibration.
It is recommend to keep the motor driver at fullstep position with no
motion occurrence during the calibration process.
25
cl_emf_en
(Closed-loop operation only)
0
Back-EMF compensation deactivated during closed-loop operation.
1
Back-EMF compensation is enabled during closed-loop operation. Closed-loop operation
compensates Back-EMF in case | VACTUAL | > CL_VMIN .
26
cl_clr_xact
(Closed-loop operation only)
0
XACTUAL is not reset to ENC_POS during closed-loop operation.
1
XACTUAL is set to ENC_POS in case | ENC_POS_DEV | > ENC_POS_DEV_TOL during
closed-loop operation.
This feature must only be used if understood completely.
27
cl_vlimit_en
(Closed-loop operation only)
0
No catch-up velocity limit during closed-loop regulation.
1
Catch-up velocity during closed-loop operation is limited by internal PI regulator.
28
cl_velocity_mode_en
(Closed-loop operation only)
0
Closed-loop velocity mode is deactivated.
1
Closed-loop velocity mode is deactivated.
In case | ENC_POS_DEV | > 768, XACTUAL is adjusted accordingly.
29
invert_enc_dir
0
Encoder direction is NOT inverted internally.
1
Encoder direction is inverted internally.
Continued on next page.