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 
Home Reference Configuration
In this section home reference switch handling is explained with information about home
tracking modes, possible home event configurations and home event monitoring. For
monitoring, the switch reference input HOME_REF is provided.
Perform the following to initiate the homing process:
Action:
 Assign a ramp according to your needs for the homing process.
 Enable the home tracking mode with start_home_tracking = 1
( REFERENCE_CONF register 0x01).
 Set the correct home_event ( REFERENCE_CONF register 0x01) for the
HOME_REF input pin (see table below).
 Start the ramp towards the home switch HOME_REF.
Result:
 When the next home event is recognized, XACTUAL is latched to X_HOME .
 At the same time, the start_home_tracking switch is disabled automatically in
case XLATCH_DONE event is cleared.
 The XLATCH_DONE event is released in the events register 0x0E. This event
can be used for an interrupt routine for the homing process to avoid polling.
i If an incremental encoder is used to monitor the motion, the N channel can be
used to fine-tune the homing position ( home_event = b’0000). After performing
the homing process - as explained before - the N channel events can be used to
obtain a more precise home position.
i X_HOME can be overwritten manually.
Nine different home events are possible.
i Except for the home_event = b’0000, which uses the index channel of an
incremental encoder, home events are related to the the HOME_REF input pin:
Switch
Reference Input
HOME_REF
Home Event
Selection
Home Event Selection Table
home_event
Description
X_HOME
(direction: negative / positive)
b’0011
HOME_REF = 0 indicates negative direction in
reference to X_HOME
b’1100
HOME_REF = 0 indicates positive direction in
reference to X_HOME
b’0110
HOME_REF = 1
indicates home
position
X_HOME in center
b’0010
X_HOME on the left side
b’0100
X_HOME on the right side
b’1001
HOME_REF = 0
indicates home
position
X_HOME in center
b’1011
X_HOME on the right side
b’1101
X_HOME on the left side
Table 25: Overview of different home_event Settings
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1
HOME_REF
0
1