Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
198/230
© 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 
Status Flag Register (0x0F)
Status Flag Register STATUS 0x0F
R/W
Bit
Description
R
0
TARGET_REACHED_F is set high if XACTUAL = XTARGET
1
POS_COMP_REACHED_F is set high if XACTUAL = POS_COMP
2
VEL_REACHED_F is set high if VACTUAL = | VMAX |
4:3
VEL_STATE_F : Current velocity state: 0  VACTUAL = 0;
1  VACTUAL > 0;
2  VACTUAL < 0
6:5
RAMP_STATE_F : Current ramp state: 0  AACTUAL = 0;
1  AACTUAL increases (acceleration);
2  AACTUAL decreases (deceleration)
7
STOPL_ACTIVE_F : Left stop switch is active.
8
STOPR_ACTIVE_F : Right stop switch is active.
9
VSTOPL_ACTIVE_F : Left virtual stop switch is active.
10
VSTOPR_ACTIVE_F : Right virtual stop switch is active.
11
ACTIVE_STALL_F : Motor stall is detected and VACTUAL > VSTALL_LIMIT .
12
HOME_ERROR_F : HOME_REF input signal level is not equal to expected home level.
13
FS_ACTIVE_F : Fullstep operation is active.
14
ENC_FAIL_F : Mismatch between XACTUAL and ENC_POS is out of tolerated range.
15
N_ACTIVE_F : N event is active.
16
ENC_LATCH_F : ENC_LATCH is rewritten.
17
Applies to absolute encoders only:
MULTI_CYCLE_FAIL_F indicates a failure during last multi cycle data evaluation.
Applies to absolute encoders only:
SER_ENC_VAR_F indicates a failure during last serial data evaluation due to a substantial
deviation between two consecutive serial data values.
18
Reserved.
19
CL_FIT_F : Active if ENC_POS_DEV < CL_TOLERANCE. The current mismatch between
XACTUAL and ENC_POS is within tolerated range.
23:20
Applies to absolute encoders only: SERIAL_ENC_F LAGS received from encoder. These
flags are reset with a new encoder transfer request.
24
TMC26x / TMC2130 only: SG : StallGuard2 status
Optional for TMC24x only: Calculated stallGuard status.
TMC23x / TMC24x only: UV_SF : Undervoltage flag.
25
All TMC motor drivers: OT : Overtemperature shutdown.
26
All TMC motor drivers: OTPW : Overtemperature warning.
27
TMC26x / TMC2130 only: S2GA : Short to ground detection bit for high side MOSFE
of coil A.
TMC23x / TMC24x only: OCA : Overcurrent bridge A.
28
TMC26x / TMC2130 only: S2GB : Short to ground detection bit for high side
MOSFET of coil B.
TMC23x / TMC24x only: OCB : Overcurrent bridge B.
29
All TMC motor drivers: OLA : Open load indicator of coil A.
30
All TMC motor drivers: OLB : Open load indicator of coil B.
31
TMC26x / TMC2130 only: STST : Standstill indicator.
TMC23x / TMC24x only: OCHS : Overcurrent high side.
Table 79: Status Flag Register STATUS (0x0F)