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 
Four different optional shadow register assignments are available to match the
shadow register set according to your selected ramp type. The available options are
described on the next pages.
i Please note that the only difference between the configuration of shadow option
3 and 4 is that VSTART is exchanged by VSTOP for the transfer of the shadow
registers.
If the whole ramp register is needed to set in a single level stack, do as
follows:
Action:
 Set shadow_option = b’00 ( START_CONF register 0x02).
 Set start_en (4) = 1 and select one or more trigger_events ( START_CONF register
0x02)
Action:
 Default configuration: Set cyclic_shadow_regs = 0 ( START_CONF register
0x02)
 Optional configuration: Set cyclic_shadow_regs = 1 ( START_CONF register
0x02)
Result:
Every relevant motion parameter is altered at the next internal start signal by the
corresponding shadow register parameter. In case cyclic shadow registers are used,
the shadow register set is altered by the current motion profile set.
Figure 37: Single-level Shadow Register Option to replace complete Ramp Motion Profile.
i Green arrows show default settings
i Blue arrows show optional settings.
In case an S-shaped ramp type is selected and operation mode is switched
from velocity to positioning mode (triggered by shadow register transfer),
SH_REG10 must not be equal to BOW3 ; to ensure safe operation mode
switching.
 On the following pages more options are explained. Pleae turn page.
Shadow Register
Configuration
Options
Option 1:
Shadow Default
Configuration
AREAS OF
SPECIAL
CONCERN
!
20 RAMPMODE
24 VMAX
25 VSTART
26 VSTOP
27 VBREAK
28 AMAX
29 DMAX
2A ASTART
2B DFINAL
2D BOW1
2E BOW2
2F BOW3
30 BOW4
4C SH_REG12
40 SH_REG0
46 SH_REG6
47 SH_REG7
45 SH_REG5
41 SH_REG1
42 SH_REG2
43 SH_REG3
44 SH_REG4
48 SH_REG8
49 SH_REG9
4A SH_REG10
4B SH_REG11
xx XXXX
Register address
Register name
cyclic_shadow_reg=0
Caption
cyclic_shadow_reg=1
20 RAMPMODE
24 VMAX
25 VSTART
26 VSTOP
27 VBREAK
28 AMAX
29 DMAX
2A ASTART
2B DFINAL
2D BOW1
2E BOW2
2F BOW3
30 BOW4
4C
40
46
47
45
41
42
43
44
48
49
4A
4B
SH_REG12
SH_REG0
SH_REG6
SH_REG7
SH_REG5
SH_REG1
SH_REG2
SH_REG3
SH_REG4
SH_REG8
SH_REG9
SH_REG10
SH_REG11