Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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© 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
Step/Dir Output Configuration
This section focuses on the description of the Step/Dir output configuration.
Step/Dir output signals can be configured for the driver circuit.
If step signals must be longer than one clock cycle, do as follows:
Action:
Set proper
STP
_
LENGTH
_
ADD
register 0x10 (bit 15:0).
Result:
The resulting step length is equal to
STP
_
LENGTH
_
ADD
+1 clock cycles. This is how
the step length is assigned within a range of up to 1-up-to-2
16
clock cycles.
Action:
Set proper
DIR
_
SETUP
_
TIME
register 0x10 (bit 31:16).
Result:
The delay period between DIROUT and STPOUT voltage level transitions last
DIR
_
SETUP
_
TIME
clock cycles. No steps are sent via STPOUT for
DIR
_
SETUP
_
TIME
clock cycles after a level change at DIROUT.
PRINCIPLE:
DIROUT does not change the level:
During active step pulse signal
For (
STP_LENGTH_ADD
+1) clock cycles after the step signal returns to inactive
level
STPOUT characteristics can be set differently, as follows:
Per default, the step output is high active because a rising edge at STPOUT indicates
a step.
In order to change the polarity, do as follows:
Action:
Set
step_inactive_pol
=1 (bit3 of
GENERAL_CONF
register 0x00).
Result:
Each falling edge indicates a step.
In order to prompt a step at every level change, do as follows:
Action:
Set
toggle_step
=1 (bit4 of
GENERAL_CONF
register 0x00).
Result:
Every level change indicates a step.
Per default, voltage level 1 at DIROUT indicates a negative step direction.
DIROUT characteristics can be set differently, as shown below.
In order to change polarity, do as follows:
Action:
Set
pol_dir_out
=0 (bit5 of
GENERAL_CONF
register 0x00).
Result:
A high voltage level at DIROUT indicates a positive step direction.
NOTE:
DIROUT is based on the internal µStep position MSCNT and is therefore based on
the internal SinLUT, see section 10.2. , page 89 .
Step/Dir Output
Configuration
Steps
STPOUT:
Changing
Polarity
How to prompt
Level Change
with every Step
DIROUT:
Changing the
Polarity