Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
60/230
© 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
An error flag
HOME_ERROR_F
is permanently evaluated. This error flag indicates
whether the current voltage level of the HOME_REF reference input is valid in regard
to
X_HOME
and the selected home_event.
In order to avoid false error flags (
HOME_ERROR_F
) because of mechanical
inaccuracies, it is possible to setup an uncertainty home range around
X_HOME
. In
this range, the error flag is not evaluated.
If you want to define an uncertainty area around
X_HOME
, do as follows:
Action:
Set
HOME_SAFETY_MARGIN
register 0x1E according to the required range [ustep].
Result:
The homing uncertainties – related to the application environment – are considered
for the ongoing motion. The error flag is NOT evaluated in the following range:
X_HOME
−
HOME_SAFETY_MARGIN
≤
XACTUAL
≤
X_HOME
+
HOME_SAFETY_MARGIN
NOTE:
It is recommended to assign to a higher range value for HOME_SAFETY_MARGIN
in which the HOME_REF level is active for the home_events b’0110, b’0010,
b’0100, b’1001, b’1011, and b’1101. It avoids false positive HOME_ERROR_Flags.
After homing with the index channel (home_event = b’0000) for a precise
assignment of X_HOME the correct home_event has to be assigned in order to
activate the generation of HOME_ERROR_Flags. Note that home_event = b’0000
results in HOME_ERROR_Flag=0 permanently.
The following examples illustrate the points at which the error flag is
release – based on the selected home_event – here for home_event = b’0011 (*),
b’1100 (**), b’0110 (***), b’0010 (***), b’0100 (***), b’1001 (****), b’1011
(****), and b’1101 (****).
Figure 33: HOME_REF Monitoring and HOME_ERROR_FLAG
HOME_ERROR_Flag ***
HOME_REF
X_HOME
HOME_SAFETY_MARGIN
HOME_ERROR_Flag *
HOME_ERROR_Flag **
HOME_ERROR_Flag ****
X_HOME
HOME_SAFETY_MARGIN
HOME_ERROR_Flag ***
HOME_REF
HOME_ERROR_Flag *
HOME_ERROR_Flag **
HOME_ERROR_Flag ****
HOME_REF
Monitoring
Defining a Home
Range around
HOME_REF