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 
15. Decoder Unit: Connecting ABN, SSI, or SPI Encoders correctly ............................. 141
Selecting the correct Encoder ............................................................................................ 142
Disabling digital differential Encoder Signals ....................................................................... 143
Inverting of Encoder Direction ........................................................................................... 143
Encoder Misalignment Compensation ................................................................................. 144
Incremental ABN Encoder Settings ..................................................................................... 145
Automatic Constant Configuration of Incremental ABN Encoder ........................................... 145
Manual Constant Configuration of Incremental ABN Encoder ............................................... 145
Incremental Encoders: Index Signal: N resp. Z ................................................................... 146
Setup of Active Polarity for Index Channel ......................................................................... 146
Configuration of N Event ................................................................................................... 146
External Position Counter ENC_POS Clearing ...................................................................... 147
Latching External Position ................................................................................................. 148
Latching Internal Position .................................................................................................. 148
Absolute Encoder Settings ................................................................................................. 149
Singleturn or Multiturn Data .............................................................................................. 149
Automatic Constant Configuration of Absolute Encoder ....................................................... 150
Manual Constant Configuration of incremental ABN Encoder ................................................ 150
Absolute Encoder Data Setup ............................................................................................ 151
Emitting Encoder Data Variation ........................................................................................ 152
SSI Clock Generation ........................................................................................................ 153
Enabling Multicycle SSI request ........................................................................................ 154
Gray-encoded SSI Data Streams ....................................................................................... 154
SPI Encoder Data Evaluation ............................................................................................. 155
SPI Encoder Mode Selection .............................................................................................. 156
SPI Encoder Configuration via TMC4361A ........................................................................... 157
16. Possible Regulation Options with Encoder Feedback ............................................ 158
Feedback Monitoring ......................................................................................................... 158
Target-Reached during Regulation ..................................................................................... 158
PID-based Control of XACTUAL .......................................................................................... 159
PID Readout Parameters ................................................................................................... 159
PID Control Parameters and Clipping Values ....................................................................... 160
Enabling PID Regulation .................................................................................................... 160
Closed-Loop Operation ...................................................................................................... 161
Basic Closed-Loop Parameters ........................................................................................... 161
Enabling and calibrating Closed-Loop Operation ................................................................. 162
Limiting Closed-Loop Catch-Up Velocity .............................................................................. 163
Enabling the Limitation of the Catch-Up Velocity ................................................................. 163
Enabling Closed-Loop Velocity Mode .................................................................................. 164
Closed-loop Scaling ........................................................................................................... 165
Closed-Loop Scaling Transition Process Control .................................................................. 166
Back-EMF Compensation during Closed-loop Operation ....................................................... 167
Encoder Velocity Readout Parameters ................................................................................ 168
Encoder Velocity Filter Configuration .................................................................................. 168
Encoder Velocity equals 0 Event ........................................................................................ 168