Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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 MAIN MANUAL 
24. Figures Index
Figure 1: Sample Image TMC4361A Closed-Loop Drive ............................................................................ 1
Figure 2: Block Diagram .......................................................................................................................... 1
Figure 3: S-shaped Velocity Profile ........................................................................................................... 2
Figure 4: Hardware Set-up for Closed-loop Operation with TMC262 ........................................................... 2
Figure 5: Hardware Set-up for Open-loop Operation with TMC2130............................................................ 2
Figure 6: Package Outline: Pin Assignments Top View ............................................................................. 10
Figure 7: System Overview .................................................................................................................... 13
Figure 8: TMC4361A Connection: VCC=3.3V ........................................................................................... 14
Figure 9: TMC4361A with TMC26x Stepper Driver in SPI Mode or S/D Mode ............................................. 14
Figure 10: TMC4361A with TMC248 Stepper Driver in SPI Mode ............................................................... 15
Figure 11: TMC4361A with TMC2130 Stepper Driver in SPI Mode or S/D Mode ......................................... 15
Figure 12: TMC4361A SPI Datagram Structure ........................................................................................ 16
Figure 13: Difference between Read and Write Access ............................................................................ 17
Figure 14: SPI Timing Datagram ............................................................................................................ 18
Figure 15: Reference Input Pins: SR_REF = 1, FILT_L_REF = 1 ............................................................... 22
Figure 16: START Input Pin: SR_S = 2, FILT_L_S = 0 ............................................................................. 22
Figure 17: Encoder Interface Input Pins: SR_ENC_IN = 0, FILT_L_ENC_IN = 7 ........................................ 22
Figure 18: Step/Dir Input Filter Parameter .............................................................................................. 23
Figure 19: No Ramp Motion Profile ......................................................................................................... 34
Figure 20: Trapezoidal Ramp without Break Point ................................................................................... 35
Figure 21: Trapezoidal Ramp with Break Point ........................................................................................ 35
Figure 22: S-shaped Ramp without initial and final Acceleration/Deceleration Values ................................. 37
Figure 23: S-shaped Ramp with initial and final Acceleration/Deceleration Values ...................................... 38
Figure 24: Trapezoidal Ramp with initial Velocity ..................................................................................... 40
Figure 25: S-shaped Ramp with initial Start Velocity ................................................................................ 41
Figure 26: S-shaped Ramp with Stop Velocity ......................................................................................... 43
Figure 27: S-shaped Ramp with Start and Stop Velocity ........................................................................... 44
Figure 28: S-shaped Ramps with combined VSTART and ASTART Parameters ........................................... 45
Figure 29: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity ................................................ 46
Figure 30: Example for U-Turn Behavior of sixPoint Ramp ....................................................................... 47
Figure 31: Example for U-Turn Behavior of S-shaped Ramp ..................................................................... 48
Figure 32: Direct transition via VACTUAL=0 for S-shaped Ramps ............................................................. 48
Figure 33: HOME_REF Monitoring and HOME_ERROR_FLAG .................................................................... 60
Figure 34: Ramp Timing Example 1 ........................................................................................................ 72
Figure 35: Ramp Timing Example 2 ........................................................................................................ 73
Figure 36: Ramp Timing Example 3 ........................................................................................................ 74
Figure 37: Single-level Shadow Register Option to replace complete Ramp Motion Profile. ......................... 76
Figure 38: Double-stage Shadow Register Option 1, suitable for S-shaped Ramps. ................................... 77
Figure 39: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps. ................................ 78
Figure 40: Double-Stage Shadow Register Option 3, suitable for Trapezoidal Ramps ................................. 79
Figure 41: SHADOW_MISS_CNT Parameter for several internal Start Signals ............................................ 80
Figure 42: Target Pipeline with Configuration Options ............................................................................. 81
Figure 43: Pipeline Example A ................................................................................................................ 84
Figure 44: Pipeline Example B ................................................................................................................ 84
Figure 45: Pipeline Example C ................................................................................................................ 84
Figure 46: Pipeline Example D ............................................................................................................... 84
Figure 47: Pipeline Example E ................................................................................................................ 85
Figure 48: Pipeline Example F ................................................................................................................ 85
Figure 49: Pipeline Example G ............................................................................................................... 85
Figure 50: Pipeline Example H ............................................................................................................... 85
Figure 51: LUT Programming Example .................................................................................................... 89
Figure 52: MSLUT Curve with all possible Base Wave Inclinations (highest Inclination first) ....................... 93
Figure 53: SPI Output Datagram Timing ................................................................................................. 96
Figure 54: Cover Data Register Composition (CDL – COVER_DATA_LENGTH) ........................................... 98
Figure 55: Scaling Example 1 ............................................................................................................... 126
Figure 56: Scaling Example 2 ............................................................................................................... 127
Figure 57: Calculation of PWM Duty Cycles (PWM_AMPL) ...................................................................... 132