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 order to set up the standard sine wave table, proceed as follows:
Action:
 Set a starting value START_SIN = 0 matching sine wave entry 0.
 Set a base wave inclination range of W0 = b’10 = 2 to skip between +1 / +2, valid
from 0 to X1.
 Calculate the differences between every entry: {+1, +2, +1, +2, +1, +2, +1,…}.
 Set the microstep table entries ofs XX to 0 for the lower value (+1); 1 for the higher
value (+2). Thus, the first seven microstep table entries ofs 00 to ofs 06 are: {0, 1,
0, 1, 0, 1, 0 …}
 The base wave inclination must be lowered at position 153, at very latest. Use the
next base wave inclination range 1 with W1 = b’01 = 1 to skip between +0 and
+1.
 Set X1 = 153 in order to switch to the next inclination range. From here on, an
offset ofs XX of 0 means add nothing; 1 means add +1.
 Set START_SIN90_120 = 247, which is equal to the value at position 256.
 Only two of four wave segments with different base wave inclinations are used.
The remaining wave inclination ranges W2 and W3 should be set to the same value
as W1; and X2 and X3 can be set to 255. Thereby, only two wave inclination
segments are effective.
Result:
A standard sine wave is defined as MSLUT. The following table shows an extract of
this curve.
Overview of the Microstep Behavior Example
Microstep
number
0
1
2
3
4
5
6
7
…
153
154
…
255
Desired table
entry
0
1
3
4
6
7
9
10
…
200
200
…
247
Difference to
next entry
1
2
1
2
1
2
1
…
…
0
…
…
0
Required
segment
inclination
+2
+2
+2
+2
+2
+2
+2
…
…
+1
…
…
+1
Ofs bit entry
0
1
0
1
0
1
0
…
…
0
…
…
0
Table 41: Overview of the Microstep Behavior Example
Standard Sine
Wave Setup