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
10. Serial Data Output
TMC4361A provides an SPI interface for initialization and configuration of the motor driver (in
addition to the Step/Dir output) before and during motor motion. It is possible to control TMC
stepper drivers during SPI motor drive.
The SPI interface is used for the following tasks:
TMC4361A integrates an adjustable cover register for configuration purposes in
order to adjust TMC motor driver chips and third parties chips easily.
The integrated microstep Sine Wave Lookup Table (MSLUT) generates two
current values that represent sine and cosine values.
These two current values can be transferred to a TMC motor driver chip at a time,
in order to energize the motor coils. This occurs within each SPI datagram. A
series of current values is transferred to move the motor. Values of the MSLUT
are adjusted using velocity ramp dependent scale values that align the maximum
amplitude current values to the requirements of certain velocity slopes.
Pin Names for SPI Motor Drive
Pin Names
Type
Remarks
NSCSDRV_SDO
Output
Chip select output to motor driver, low active.
SCKDRV_NSDO
Output
Serial clock output to motor driver.
SDODRV_SCLK
InOut as Output
Serial data output to motor driver.
SDIDRV_NSCLK
Input
Serial data input from motor driver.
STDBY_CLK
Output
Clock output, standby output, or ChopSync clock output.
Table 38: Pin Names for SPI Motor Drive
Register Names for SPI Output Registers
Register Name
Register Address
Remarks
GENERAL_CONF
0x00
RW
Affect switches: Bit14:13, bit19, bit20, bit28.
REFERENCE_CONF
0x01
RW
Affect switches: Bit26, bit27, bit30.
SPIOUT_CONF
0x04
RW
Configuration register for SPI output communication.
STEP_CONF
0x0A
RW
Microsteps per fullstep, fullsteps per revolution, and
motor status bit event selection.
DAC_ADDR
0x1D
RW
SPI addresses/commands which are put in front of the
DAC values: CoilA: DAC_ADDR(15:0),
CoilB: DAC_ADDR(31:16)
SPI_SWITCH_VEL
Velocity at which automatic cover datagrams are sent.
CHOPSYNC_DIV
0x1F
RW
Chopper clock divider (bit 11:0).
FS_VEL
0x60
W
Velocity at which fullstep drive are enabled.
COVER_LOW
0x6C
W
Lower 32 bits of the cover register (µC to motor driver).
COVER_HIGH
0x6D
W
Upper 32 bits of the cover register (µC to motor driver).
COVER_DRV_LOW
0x6E
R
Lower 32 bits of the cover response register
(motor driver to µC).
COVER_DRV_HIGH
0x6F
R
Upper 32 bits of the cover response register
(motor driver to µC).
CURRENT_CONF
0x05
RW
Current scaling configuration.
SCALE_VALUES
0x06
RW
Current scaling values.
STDBY_DELAY
0x15
RW
Delay time after standby mode is valid.
SPI Interface
Configuration