Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
54/230
© 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 
8. Reference Switches
The reference input signals of the TMC4361A function partly as safety features. The TMC4361A
provides a range of reference switch settings that can be configured for many different
applications. The TMC4361A offers two hardware switches (STOPL, STOPR) and two additional
virtual stop switches ( VIRT_STOP_LEFT , VIRT_STOP_RIGHT ). A home reference switch
HOME_REF is also available.
Pins used for Reference Switches
Pin Names
Type
Remarks
STOPL
Input
Left reference switch.
STOPR
Input
Right reference switch.
HOME_REF
Input
Home switch.
TARGET_REACHED
Output
Reference switch to indicate XACTUAL = XTARGET.
Table 22: Pins used for Reference Switches
Dedicated Registers for Reference Switches
Register Name
Register Address
Remarks
REFERENCE_CONF
0x01
RW
Configuration of interaction with reference pins.
HOME_SAFETY_MARGIN
0x1E
RW
Region of uncertainty around X_HOME.
DSTOP
0x2C
RW
Deceleration value if stop switches STOPL / STOPR or
virtual stops are used with soft stop ramps. The
deceleration value allows for an automatic linear stop
ramp.
POS_COMP
0x32
RW
Free configurable compare position; signed; 32 bits.
VIRT_STOP_LEFT
0x33
RW
Virtual left stop that triggers a stop event at
XACTUAL ≤ VIRT_STOP_LEFT ; signed; 32 bits.
VIRT_STOP_RIGHT
0x34
RW
Virtual left stop that triggers a stop event at
XACTUAL ≥ VIRT_STOP_RIGHT ; signed; 32 bits.
X_HOME
0x35
RW
Home reference position; signed; 32 bits.
X_LATCH
0x36
RW
Stores XACTUAL at different conditions; signed; 32 bits.
Table 23: Dedicated Registers for Reference Switches