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
In case trapezoidal ramps are configured, a double-stage shadow register set can be
used. Seven relevant motion parameters for trapezoidal ramps are affected when the
shadow registers become active.
In order to use a double-stage shadow register pipeline for trapezoidal
ramps, do as follows:
Action:
Set
shadow_option
= b’10 (
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:
Seven motion parameters (
VMAX
,
AMAX
,
DMAX, ASTART, DFINAL, VBREAK
, and
VSTART
) are altered at the next internal start signal by the corresponding shadow
register parameters (
SH_REG0...6
). Simultaneously, these shadow registers are
exchanged with the parameters of the second shadow stage (
SH_REG7…13
).
If cyclic shadow registers are used, the second shadow register set (
SH_REG7…13
) is
altered by the current motion profile set, e.g. 0x27 (
VBREAK
) is written back to 0x4C
(
SH_REG12
). The other ramp registers remain unaltered.
Figure 39: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps.
i Green arrows show default settings.
i Blue arrows show optional settings.
Description is continued on next page.
40
46
45
41
42
43
44
xx XXXX
Register address
Register name
start_en(4)=1
Caption
cyclic_shadow_reg=1
SH_REG0
SH_REG6
SH_REG5
SH_REG1
SH_REG2
SH_REG3
SH_REG4
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
47
48
49
4A
4B
SH_REG12
SH_REG7
SH_REG8
SH_REG9
SH_REG10
SH_REG11
4C
SH_REG134D
Option 3:
Double-stage
Shadow
Register Set for
Trapezoidal
Ramps
(
VSTART
)