Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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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
Transfer Registers
Transfer Registers
R/
W
Addr
Bit
Val
Description
W
0x68
31:0
ADDR_TO_ENC (Default:0x00000000)
(SPI encoders only)
-
Address data permanently sent to get encoder angle data from the SPI encoder slave
device.
Address data sent from TMC4361A to SPI encoder for one-time data transfer.
W
0x69
31:0
DATA_TO_ENC (Default:0x00000000)
(SPI encoders only)
-
Configuration data sent from TMC4361A to SPI encoder for one-time data transfer.
R
0x6A
31:0
ADDR_FROM_ENC (Default:0x00000000)
(SPI encoders only)
-
Repeated request data is stored here.
Address data received from SPI encoder as response of the one-time data transfer.
R
0x6B
31:0
DATA_FROM_ENC (Default:0x00000000)
(SPI encoders only)
-
Data received from SPI encoder as response of the one-time data transfer.
W
0x6C
31:0
COVER_LOW (Default:0x00000000)
-
Lower configuration bits of SPI orders that can be sent from TMC4361A to the motor
drivers via SPI output.
Automatic cover data transfer (
automatic_cover
= 1): Value in
COVER_LOW
are sent
in case |
VACTUAL
| crosses
SPI_SWITCH_VEL
downwards.
Set
COVER_DATA_LENGTH
≤ 32.
In case
COVER_DATA_LENGTH
= 0, no TMC2130 must be selected.
R
POLLING_STATUS (Default:0x00000000)
(TMC26x / TMC2130 only)
-
DRV_STATUS response of TMC26x / TMC2130
W
0x6D
31:0
COVER_HIGH (Default:0x00000000)
-
Upper configuration bits of SPI orders that can be sent from TMC4361A to the motor
drivers via SPI output.
Automatic cover data transfer (
automatic_cover
= 1): Value in
COVER_LOW
are sent
if |
VACTUAL
| crosses
SPI_SWITCH_VEL
upwards.
Set
COVER_DATA_LENGTH
≤ 32.
In case
COVER_DATA_LENGTH
= 0, no TMC2130 must be selected.
R
POLLING_REG (Default:0x00000000)
(TMC2130 only)
19:0
-
LOST_STEPS response of TMC2130
27:20
-
PWM_SCALE response of TMC2130
31:28
-
GSTAT response of TMC2130
R
0x6E
31:0
COVER_DRV_LOW (Default:0x00000000)
-
Lower configuration bits of SPI response received from the motor driver connected to
the SPI output.
R
0x6F
31:0
COVER_DRV_HIGH (Default:0x00000000)
-
Upper configuration bits of SPI response received from the motor driver connected to
the SPI output.
Table 92: Transfer Registers