Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
6/230
© 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 
TMC26x Setup (SPI mode) ............................................................................................... 107
TMC26x Setup (S/D mode) ................................................................................................ 107
Sending Cover Datagrams to TMC26x ................................................................................ 108
Automatic Continuous Streaming of Cover Datagrams for TMC26x ....................................... 108
TMC26x SPI Mode: Automatic Fullstep Switchover ............................................................. 109
TMC26x S/D Mode: Automatic Fullstep Switchover .............................................................. 109
TMC 26x S/D Mode: Change of Current Scaling Parameter .................................................. 110
TMC26x Status Bits ........................................................................................................... 110
TMC26x Status Response .................................................................................................. 110
TMC389 Stepper Motor Driver ........................................................................................... 111
TMC2130 Stepper Motor Driver .......................................................................................... 112
Set-up TMC2130 Support (SPI Mode) ................................................................................. 112
Set-up TMC2130 Support (S/D Mode) ................................................................................ 112
Sending Cover Datagrams to TMC2130 .............................................................................. 113
Automatic Continuous Streaming of Cover Datagrams for TMC2130 ..................................... 113
TMC2130 SPI Mode: Automatic Fullstep Switchover ............................................................ 114
TMC2130 S/D Mode: Automatic Fullstep Switchover ............................................................ 114
TMC 2130 S/D Mode: Changing current Scaling Parameter .................................................. 114
TMC2130 Status Response ................................................................................................ 115
Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface .................... 116
Connecting a SPI-DAC ....................................................................................................... 117
DAC Data Transfer ............................................................................................................ 117
Changing SPI Output Protocol for SPI-DAC ......................................................................... 117
DAC Address Values .......................................................................................................... 118
DAC Data Values .............................................................................................................. 118
11. Current Scaling ...................................................................................................... 120
Hold Current Scaling ......................................................................................................... 121
Freewheeling .................................................................................................................... 121
Current Scaling during Motion ........................................................................................... 122
Drive Scaling .................................................................................................................... 122
Alternative Drive Scaling ................................................................................................... 122
Boost Current ................................................................................................................... 123
Scale Mode Transition Process Control ............................................................................... 124
Current Scaling Examples .................................................................................................. 126
12. NFREEZE and Emergency Stop ............................................................................... 128
Configuration of FREEZE Function ...................................................................................... 128
Configuration of DFREEZE for automatic Ramp Stop ........................................................... 129
13. Controlled PWM Output ......................................................................................... 130
PWM Output Generation and Scaling Possibilities ................................................................ 131
PWM Scale Example .......................................................................................................... 132
PWM Output Generation for TMC23x/24x ........................................................................... 133
Switching between SPI and Voltage PWM Modes ................................................................ 134
14. dcStep Support for TMC26x or TMC2130 ............................................................... 135
Enabling dcStep for TMC26x Stepper Motor Drivers ............................................................ 137
Setup: Minimum dcStep Velocity ........................................................................................ 138
Enabling dcStep for TMC2130 Stepper Motor Drivers .......................................................... 140