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 
When an enabled stop switch becomes active the related status flag is set in the
STATUS flags register 0x0F. The flag remains active as long as the stop switch remains
active.
The particular event is also released in the EVENTS register 0x0E, which remains active
until the event bit is reset manually. When VACTUAL = 0 is reached after the stop
event no motion toward this particular direction is possible.
In order to move into the locked direction, the following is required:
PRECONDITION 1:
The particular stop switch is NOT active anymore.
AND/OR
PRECONDITION 2:
The stop switch is disabled ( stop_left/right_en = 0).
Action:
 Set back the active event by reading out the EVENTS register 0x0E.
i See information about clearing events provided in section 5.1. , page 25.
Result:
The active stop event is reset to free motion into the locked direction.
It is possible to select four different events to store the current internal position
XACTUAL in the register X_LATCH .
The table below show which transition of the reference signal leads to the X_LATCH
transfer. For each transition process the specified reference configurations in the
REFERENCE_CONF register 0x01 must be set accordingly.
If you need to change the directions of the reference switches, do as
follows:
Action:
 Set invert_stop_direction =1 ( REFERENCE_CONF register 0x01).
Result:
STOPL is now the right reference switch and STOPR is now the left reference switch.
Consequently, all configuration parameters for STOPL become valid for STOPR and
vice versa.
How Active
Stops are
indicated and
reset to Free
Motion
How to latch
Internal Position
on Switch Events
Reference Configuration
pol_stop_left =0
pol_stop_left =1
pol_stop_right =0
pol_stop_right =1
latch_x_on_inactive_l=1
STOPL=0  1
STOPL=1  0
---
---
latch_x_on_active_l=1
STOPL=1  0
STOPL=0  1
---
---
latch_x_on_inactive_r=1
---
---
STOPR=0  1
STOPR = 10
latch_x_on_active_r=1
---
---
STOPR=1  0
STOPR = 01
Table 24: Reference Configuration and Corresponding Transition of particular Reference Switch
Interchange the
Reference
Switches
without Physical
Reconnection