Datasheet

TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
 MAIN MANUAL 
The following positions are located within the blocking zone:
XACTUAL ≤ VIRT_STOP_LEFT
AND / OR
XACTUAL ≥ VIRT_STOP_RIGHT
NOTE:
 In case VIRTUAL_STOP_LEFT < VIRTUAL_STOP_RIGHT , one of these conditions
must be met in order to be located inside the blocking zone.
 In case VIRTUAL_STOP_LEFT > VIRTUAL_STOP_RIGHT , both conditions must be
met in order to be located inside the blocking zone.
The table below shows circular motion ( X_RANGE = 300). The green arrow depicts
the path which is chosen for positioning.
The shortest path selection is shown in Figure A and the consideration of blocking
zones are shown in Figures B1 and B2.
Circular Motion with (B1, B2) and Without (A) Blocking Zone
A
B1
B2
Table 28: Circular motion (X_RANGE = 300)
When XACTUAL is located inside the blocking zone, it is possible to move out without
redefining the blocking zone.
In order to get out of the blocking zone, do the following:
Action:
 Activate positioning mode: RAMPMODE (2) = 1.
 Configure velocity ramp according to your needs.
 Clear virtual stop events by reading out EVENTS register 0x0E.
 Set regular target position XTARGET outside of the blocking zone.
Result:
TMC4361A initiates a ramp with the shortest way to the target XTARGET .
i In order to match an incremental encoder in the same manner, select
circular_enc_en =1 ( REFERENCE_CONF register 0x01).
0
299
-300
200
-200
Long
path
Short
path
0
299
-300
200
-200
Long path
(but free)
Short path
(but blocked)
VSTOPL
=
-
290
VSTOPR=220
0
299
-300
200
-200
Long path
(and blocked)
Short
path
VSTOPL=140
VSTOPR=
70
Blocking Zone
Definition
Circular Motion
with and without
Blocking Zone
Moving out of
the Blocking
Zone