Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
208/230
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
Encoder Registers
Encoder Registers
R/W
Addr
Bit
Val
Description
RW
0x50
31:0
ENC_POS (Default: 0x00000000)
S
Actual encoder position [µsteps].
R
0x51
31:0
ENC_LATCH (Default: 0x00000000)
S
Latched encoder position.
W
ENC_RESET_VAL(Default: 0x00000000)
S
Defined reset value for ENC_POS in case the encoder position must be cleared to
another value than 0.
R
0x52
31:0
ENC_POS_DEV (Default: 0x00000000)
S
Deviation between XACTUAL and ENC_POS .
W
CL_TR_TOLERANCE (Default: 0x00000000)
(Closed-loop operation)
S
Tolerated absolute tolerance between XACTUAL and ENC_POS to trigger
TARGET_REACHED (incl. TARGET_REACHED_F lag and event).
W
0x53
31:0
ENC_POS_DEV_TOL (Default: 0xFFFFFFFF)
U
Maximum tolerated value of ENC_POS_DEV , which is not flagged as error.
W
0x54
30:0
ENC_IN_RES (Default: 0x00000000)
U
Resolution [encoder steps per revolution] of the encoder connected to the encoder
inputs.
R
ENC_CONST (Default: 0x00000000)
U
Encoder constant.
i Value representation: 15 digits and 16 decimal places
W
31
manual_enc_const (Default: 0)
0 ENC_CONST will be calculated automatically.
1 Manual definition of ENC_CONST = ENC_IN_RES
W
0x55
31:0
ENC_OUT_RES (Default: 0x00000000)
U
Resolution [encoder steps per revolution] of the serial encoder output interface.
 Continued on next page.