Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
MAIN MANUAL
Hardware Switch Support
The TMC4361A offers two hardware switches that can be configured according to your design.
The hardware provides a left and a right stop in order to stop the drive immediately
in case one of them is triggered. Therefore, pin 12 and pin 14 of the motion controller
must be used.
NOTE:
Both switches must be enabled before motion occurs.
In order to enable STOPL correctly, do as follows:
Action:
Determine the active polarity voltage of STOPL and set
pol_stop_left
(
REFERENCE_CONF
register 0x01) accordingly.
Set
stop_left_en
=1 (
REFERENCE_CONF
register 0x01).
Result:
The current velocity ramp stops in case the STOPL voltage level matches
pol_stop_left
and
VACTUAL
< 0.
In order to enable STOPR correctly, do as follows:
Action:
Determine the active polarity voltage of STOPR and set
pol_stop_right
(
REFERENCE_CONF
register 0x01) accordingly.
Set
stop_right_en
=1 (
REFERENCE_CONF
register 0x01).
Result:
The current velocity ramp stops in case STOPR voltage level matches
pol_stop_right
and
VACTUAL
> 0.
The stop slope can be configured for hard or linear stop slopes. Per default, hard stops
are selected.
If hard stops are required, do as follows:
OPTION 1: HARD STOP SLOPES
Action:
Set
soft_stop_en
=0 (
REFERENCE_CONF
register 0x01).
Result:
If one of the stop switches is active and enabled, the velocity ramp is set immediately
to
VACTUAL
= 0.
OPTION 2: LINEAR STOP SLOPES
If linear stop ramps are required:
Action:
Set proper
DSTOP
> max(
DMAX
;
DFINAL
) (register 0x2C).
Set
soft_stop_en
=1 (
REFERENCE_CONF
register 0x01).
Result:
If one of the stop switches is active and enabled, the velocity ramp is stopped with a
linear deceleration slope until
VACTUAL
= 0 is reached. In this case the deceleration
factor is determined by
DSTOP
.
VSTOP
is not considered during the stop deceleration
slope.
STOPL and
STOPR
Stop Slope
Configuration for
Hard or Linear
Stop Slopes