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
9. Ramp Timing and Synchronization
TMC4361A provides various options to initiate a new ramp. By default, every external register
change is assigned immediately to the internal registers via an SPI input. With a proper start
configuration, ramp sequences can be programmed without any intervention in between.
Three levels of ramp start complexity are available. Predefined ramp starts are
available, which are independent of SPI data transfer that are explained in the
subsequent section 9.1. (page 70).
Two optional features can be configured that can either be used individually
or combined, which are as follows:
A complete shadow motion register set can be loaded into the actual motion registers
in order to start the next ramp with an altered motion profile.
Different target positions can be predefined, which are then activated successively.
This pipeline can be configured as cyclic; and/or it can also be utilized to sequence
different parameters.
Also, another start state “busy” can be assigned in order to synchronize several motion
controllers for one single start event without a master.
Synchronization
Opportunities
Shadow
Register Set
Target Position
Pipeline
Masterless
Synchronization
Dedicated Ramp Timing Pins
Pin Names
Type
Remarks
START
Input and Output
External start input to get a start signal or external start
output to indicate an internal start event.
Table 29: Dedicated Ramp Timing Pins
Dedicated Ramp Timing Registers
Register Name
Register Address
Remarks
START_CONF
0x02
RW
The configuration register of the synchronization unit.
START_OUT_ADD
0x11
RW
Additional active output length of external start signal.
START_DELAY
0x13
RW
Delay time between start triggers and start signal.
X_PIPE0… 7
0x38…0x3F
RW
Target positions pipeline and/or parameter pipeline.
SH_REG0…12
0x40…0x4C
RW
Shadow register set
Table 30: Dedicated Ramp Timing Registers