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 
Status Event Register (0x0E)
Status Event Register EVENTS 0x0E
R/W
Bit
Description
R+C
W
0
TARGET_REACHED has been triggered.
1
POS_COMP_REACHED has been triggered.
2
VEL_REACHED has been triggered.
3
VEL_STATE = b’00 has been triggered ( VACTUAL = 0).
4
VEL_STATE = b’01 has been triggered ( VACTUAL > 0).
5
VEL_STATE = b’10 has been triggered ( VACTUAL < 0).
6
RAMP_STATE = b’00 has been triggered ( AACTUAL = 0, VACTUAL is constant).
7
RAMP_STATE = b’01 has been triggered (| VACTUAL | increases).
8
RAMP_STATE = b’10 has been triggered (| VACTUAL | increases).
9
MAX_PHASE_TRAP : Trapezoidal ramp has reached its limit speed using maximum values for
AMAX or DMAX (| VACTUAL | > VBREAK ; VBREAK ≠0).
10
FROZEN: NFREEZE has switched to low level.
i Reset TMC4361A for further motion.
11
STOPL has been triggered. Motion in negative direction is not executed until this event is
cleared and (STOPL is not active any more or stop_left_en is set to 0).
12
STOPR has been triggered. Motion in positive direction is not executed until this event is cleared
and (STOPR is not active any more or stop_right_en is set to 0).
13
VSTOPL_ACTIVE: VSTOPL has been activated. No further motion in negative direction until this
event is cleared and (a new value is chosen for VSTOPL or virtual_left_limit_en is set to 0).
14
VSTOPR_ACTIVE: VSTOPR has been activated. No further motion in positive direction until this
event is cleared and (a new value is chosen for VSTOPR or virtual_right_limit_en is set to 0).
15
HOME_ERROR: Unmatched HOME_REF polarity and HOME is outside of safety margin.
16
XLATCH_DONE indicates if X_LATCH was rewritten or homing process has been completed.
17
FS_ACTIVE : Fullstep motion has been activated.
18
ENC _ FAIL : Mismatch between XACTUAL and ENC _ POS has exceeded specified limit.
19
N_ACTIVE: N event has been activated.
20
ENC_DONE indicates if ENC_LATCH was rewritten.
21
SER_ENC_DATA_FAIL: Failure during multi-cycle data evaluation or between two consecutive
data requests has occured.
22
Reserved.
23
SER_DATA_DONE: Configuration data was received from serial SPI encoder.
24
One of the SERIAL _ ENC _ F lags was set.
25
COVER_DONE: SPI datagram was sent to the motor driver.
26
ENC_VEL0: Encoder velocity has reached 0.
27
CL_MAX: Closed-loop commutation angle has reached maximum value.
28
CL_FIT: Closed-loop deviation has reached inner limit.
29
STOP_ON_STALL: Motor stall detected. Motor ramp has stopped.
30
MOTOR_EV: One of the selected TMC motor driver flags was triggered.
31
RST_EV : Reset was triggered.
Table 78: Status Event Register EVENTS (0x0E)