Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
67/230
© 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
By overstepping the position overflow, the internal
REV_CNT
register is increased by
one revolution as soon as
XACTUAL
oversteps from (
X_RANGE
– 1) to -
X_RANGE
or
is decreased by one revolution as soon as
XACTUAL
oversteps in the opposite
direction.
The information about the number of revolutions can be obtained by reading out
register 0x36, which by default is the
X_LATCH
register (read only).
In order to gain information on the number of revolutions:
Action:
Set
circular_cnt_as_xlatch
=
1 (
GENERAL_CONF
register 0x00).
Result:
Register 0x36 cease to display the
X_LATCH
value. Instead, the revolution counter
REV_CNT
can be read out at this register address.
NOTE:
As soon as circular motion is inactive (
circular_motion
=0),
REV_CNT
is reset to 0.
Blocking Zones
During circular motion, virtual stops can be used to set blocking zones. Positions inside
these blocking zones are NOT dedicated for motion.
In order to activate the blocking zone, do as follows:
PRECONDITION:
Circular motion is activated (
circular_motion
= 0) and properly assigned
(
X_RANGE
≠ 0).
PROCEED WITH:
Action:
Set
VIRTUAL_STOP_LEFT
register 0x33 as left limit for the blocking zone.
Set
VIRTUAL_STOP_RIGHT
register 0x34 as right limit for the blocking zone.
Enable both virtual limits as explained in section 8.2.1 (page 57).
Result:
The blocking zone reaches from
VIRTUAL_STOP_LEFT
to
VIRTUAL_STOP_RIGHT
.
During positioning, the path from
XACTUAL
to
XTARGET
does not lead through the
blocking zone; which can result in a longer path compared to the direct path through
the blocking zone (see Figure B1 in Table 28, page 68).
However, the selected virtual stop deceleration ramp is initiated as soon as one of the
limits is reached. This can result from the velocity mode or if the target
XTARGET
is
located in the blocking zone.
Continued on next page.
Release of the
Revolution
Counter
Activating
Blocking Zones
during Circular
Motion