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 
The TMC4361A pipeline (registers 0x38…0x3F) can be configured so that it splits up
into maximal four segments. These segments can be used to feed the following
internal parameters:
 XTARGET register 0x37
 POS_COMP register 0x32
 GEAR_RATIO register 0x12
 GENERAL_CONF 0x00
Consequently, these definite parameter value changes can be of importance
concerning a continuous ramp motion and/or for reduced overhead synchronizing of
several motion controllers.
The POS_COMP value can be used to initiate a start signal generation during motion.
Therefore, it can be useful to pipeline this parameter in order to avoid dependence on
SPI transfer speed.
For instance, if the distance between two POS_COMP values is very close and the
current velocity is high enough that it misses the second value before the
SPI transfer is finished, it is advisable to change POS_COMP immediately after the
start signal.
The same is true for the GEAR_RATIO parameter, which defines the step response on
incoming step impulses. Some applications require very quick gear factor alteration of
the slave controller. Note that when the start signal is prompted directly, an immediate
change can be very useful instead of altering the parameter by an SPI transfer.
Likewise, it can (but must not) be essential to change general configuration
parameters at a defined point in time. A suitable application is a clearly defined
transfer from a direct external control ( sd_in_mode = b’01) to an internal ramp
( sd_in_mode = b’00) or vice versa because in this case the master/slave relationship
is interchanged.
The following pipeline options are available, which can be adjusted accordingly:
Pipeline Activation Options
pipeline_en (3:0)
Description
b’xxx1
Pipeline for XTARGET is enabled.
b’xx1x
Pipeline for POS_COMP is enabled.
b’x1xx
Pipeline for GEAR_RATIO is enabled.
b’1xxx
Pipeline for GENERAL_CONF is enabled.
Table 36: Pipeline Activation Options
Using the
Pipeline for
different internal
Registers