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
Register Names for SPI Output Registers
Register Name
Register Address
Remarks
FREEWHEEL_DELAY
0x16
RW
Delay time after freewheeling is valid.
VDRV_SCALE_LIMIT
0x17
RW
Velocity setting for changing the drive scale value.
UP_SCALE_DELAY
0x18
RW
Increment delay to a higher scaling value; 24 bits.
HOLD_SCALE_DELAY
0x19
RW
Decrement delay to the hold scaling value; 24 bits.
DRV_SCALE_DELAY
0x1A
RW
Decrement delay to the drive scaling value.
BOOST_TIME
0x1B
RW
Delay time after ramp start when boost scaling is valid.
SCALE_PARAM
0x7C
R
Actual current scaling parameter; 8 bits.
CURRENTA
CURRENTB
0x7A
R
Actual current values of the MSLUT:
SIN (coil A) and SIN90_120 (coil B); 9 bit for each.
CURRENTA_SPI
CURRENTB_SPI
0x7B
R
Actual scaled current values of the MSLUT:
SIN (coil A) and SIN90_120 (coil B); 9 bits for each.
MSLUT registers
0x70…78
W
MSLUT values definitions.
MSCNT
0x79
R
Actual microstep position of the MSLUT.
START_SIN
START_SIN90_120
DAC_OFFSET
0x7E
RW
Sine start value of the MSLUT (bit7:0).
Cosine start value of the MSLUT (bit23:16).
Offset value for DAC output values (bit31:24).
Table 39: Dedicated SPI Output Registers
Getting Started with TMC Motor Drivers
In this chapter information is provided about how to easily start up a connected TMC motor
driver.
In order to start up a connected TMC motor stepper driver, proper setup of
SPIOUT_CONF
register 0x04 is important. TMC4361A offers presets for current
transfer and automatic configuration routines if the correct TMC driver is selected.
Status bits of TMC motor drivers are also transmitted to the status register of the
motion controller.
TMC4361A provides a programmable lookup table for storing the current wave. Per
default, the tables are preprogrammed with a sine wave, which is a good starting
point for most stepper motors.
Setting up
SPIOUT_CONF
correctly