Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
9. Ramp Timing and Synchronization .......................................................................... 69
Basic Synchronization Settings ............................................................................................ 70
Start Signal Trigger Selection ............................................................................................. 70
User-specified Impact Configuration of Timing Procedure ..................................................... 70
Delay Definition between Trigger and internally generated Start Signal ................................. 71
Active START Pin Output Configuration ............................................................................... 71
Ramp Timing Examples ...................................................................................................... 72
Shadow Register Settings ................................................................................................... 75
Shadow Register Configuration Options ............................................................................... 76
Delayed Shadow Transfer................................................................................................... 80
Pipelining Internal Parameters ............................................................................................ 81
Configuration and Activation of Target Pipeline .................................................................... 81
Using the Pipeline for different internal Registers ................................................................. 82
Pipeline Mapping Overview ................................................................................................. 83
Cyclic Pipelining ................................................................................................................. 84
Pipeline Examples .............................................................................................................. 84
Masterless Synchronization of Several Motion Controllers via START Pin ................................ 86
10. Serial Data Output ................................................................................................... 87
Getting Started with TMC Motor Drivers .............................................................................. 88
Sine Wave Lookup Tables................................................................................................... 89
Actual Current Values Output ............................................................................................. 90
How to Program the Internal MSLUT ................................................................................... 90
Setup of MSLUT Segments ................................................................................................. 91
Current Waves Start Values ................................................................................................ 92
Default MSLUT .................................................................................................................. 92
Explanatory Notes for Base Wave Inclinations ..................................................................... 93
SPI Output Interface Configuration Parameters ................................................................... 95
How to enable SPI Output Communication .......................................................................... 95
Setup of SPI Output Timing Configuration ........................................................................... 96
Current Diagrams .............................................................................................................. 97
Change of Microstep Resolution .......................................................................................... 97
Cover Datagrams Communication between µC and Driver .................................................... 97
Sending Cover Datagrams .................................................................................................. 98
Configuring Automatic Generation of Cover Datagrams ........................................................ 99
Overview: TMC Motor Driver Connections ........................................................................... 100
TMC Stepper Motor Driver Settings .................................................................................... 100
TMC Motor Driver Response Datagram and Status Bits ........................................................ 101
Events and Interrupts based on Motor Driver Status Bits ..................................................... 101
Stall Detection and Stop-on-Stall........................................................................................ 102
TMC23x, TMC24x Stepper Motor Driver .............................................................................. 103
TMC23x Setup .................................................................................................................. 103
TMC24x Setup .................................................................................................................. 103
TMC23x/24x Status Bits .................................................................................................... 104
Automatic Fullstep Switchover for TMC23x/24x................................................................... 104
Mixed Decay Configuration for TMC23x/24x ....................................................................... 105
ChopSync Configuration for TMC23x/24x Stepper Drivers .................................................... 105
Doubling ChopSync Frequency during Standstill .................................................................. 105
Using TMC24x stallGuard Characteristics ............................................................................ 106
TMC26x Stepper Motor Driver ............................................................................................ 107