Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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 MAIN MANUAL 
23. Tables Index
Table 1: TMC4361A Order Codes ............................................................................................................. 2
Table 2: Pin Names and Descriptions ...................................................................................................... 12
Table 3: SPI Input Control Interface Pins ................................................................................................ 16
Table 4: Read and Write Access Examples .............................................................................................. 17
Table 5: SPI Interface Timing ................................................................................................................ 19
Table 6: Input Filtering Groups (Assigned Pins) ....................................................................................... 20
Table 7: Input Filtering (Assigned Register) ............................................................................................ 20
Table 8: Sample Rate Configuration ....................................................................................................... 21
Table 9: Configuration of Digital Filter Length ......................................................................................... 21
Table 10: Pins Names: Status Events...................................................................................................... 24
Table 11:Register Names: Status Flags and Events ................................................................................. 24
Table 12: Pin Names: Ramp Generator ................................................................................................... 28
Table 13: Register Names: Ramp Generator ........................................................................................... 28
Table 14: Overview of General and Basic Ramp Configuration Options ..................................................... 31
Table 15: Description of TMC4361A Motion Profiles ................................................................................. 33
Table 16: Trapezoidal Ramps: AACTUAL Assignments during Motion ........................................................ 36
Table 17: Parameter Assignments for S-shaped Ramps ........................................................................... 39
Table 18: Minimum and Maximum Values if Real World Units are selected ................................................ 50
Table 19: Minimum and Maximum Values for Steep Slopes for f
CLK
=16MHz .............................................. 50
Table 20: Pins used for External Step Control ......................................................................................... 51
Table 21: Registers used for External Step Control .................................................................................. 51
Table 22: Pins used for Reference Switches ............................................................................................ 54
Table 23: Dedicated Registers for Reference Switches ............................................................................. 54
Table 24: Reference Configuration and Corresponding Transition of particular Reference Switch ................ 56
Table 25: Overview of different home_event Settings .............................................................................. 59
Table 26: TARGET_REACHED Output Pin Configuration ........................................................................... 63
Table 27: Comparison Selection Grid to generate POS_COMP_REACHED_Flag .......................................... 64
Table 28: Circular motion (X_RANGE = 300) ........................................................................................... 68
Table 29: Dedicated Ramp Timing Pins ................................................................................................... 69
Table 30: Dedicated Ramp Timing Registers ........................................................................................... 69
Table 31: Start Trigger Configuration ..................................................................................................... 70
Table 32: Start Enable Switch Configuration ........................................................................................... 70
Table 33: Parameter Settings Timing Example 1 ..................................................................................... 72
Table 34: Parameter Settings Timing Example 2 ..................................................................................... 73
Table 35: Parameter Settings Timing Example 3 ..................................................................................... 74
Table 36: Pipeline Activation Options ...................................................................................................... 82
Table 37: Pipeline Mapping for different Pipeline Configurations ............................................................... 83
Table 38: Pin Names for SPI Motor Drive ................................................................................................ 87
Table 39: Dedicated SPI Output Registers .............................................................................................. 88
Table 40: Wave Inclination Characteristics of Internal MSLUT .................................................................. 90
Table 41: Overview of the Microstep Behavior Example ........................................................................... 94
Table 42: SPI Output Communication Pins .............................................................................................. 95
Table 43: TMC Stepper Motor Driver Options ........................................................................................ 100
Table 44: Mapping of TMC23x/24x Status Flags .................................................................................... 104
Table 45: Mapping of TMC26x Status Flags ........................................................................................... 110
Table 46: Mapping of TMC2130 Status Flags ......................................................................................... 115
Table 47: Non-TMC Data Transfer Options ............................................................................................ 116
Table 48: Available SPI-DAC Options .................................................................................................... 119
Table 49: Pin Description: NFREEZE ..................................................................................................... 128
Table 50: Pin Descriptions DFREEZE and IFREEZE ................................................................................. 128
Table 51: Dedicated PWM Output Pins ................................................................................................. 130
Table 52: Dedicated PWM Output Registers .......................................................................................... 130
Table 53: Dedicated dcStep Pins .......................................................................................................... 135
Table 54: Dedicated dcStep Registers ................................................................................................... 135
Table 55: Dedicated Decoder Unit Pins ................................................................................................. 141
Table 56: Dedicated Decoder Unit Registers ......................................................................................... 141
Table 57: Pin Assignment based on selected Encoder Setup .................................................................. 143