Datasheet
TMC4361A Datasheet | Document Revision 1.22 • 2017-JAN-12
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to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 224.
MAIN MANUAL
Because the transfer of a cover datagram is usually accompanied by a data transfer
from the motor driver, the response is stored in registers; and is thus available for the
microcontroller.
COVER_DRV_HIGH
register 0x6F and
COVER_DRV_LOW
register
0x6E form this cover response register that can also comprise up to 64 bits.
Similar to
COVER_LOW
and
COVER_HIGH
, the motor driver response is divided in the
registers
COVER_DRV_LOW
and
COVER_DRV_HIGH
. The composition of the response
cover register and also the positioning of the MSB follow the same structure.
At the end of a successful data transmission, the event
COVER_DONE
becomes set.
This indicates that the cover register data is sent to the motor driver and that the
received response is stored in the
COVER_DRV_HIGH
register 0x6F and
COVER_DRV_LOW
register 0x6E.
In certain setups, it can be useful to automatically send ramp velocity-dependent cover
datagrams, e.g. to change chopper settings during motion.
NOTE:
This feature is only available if the cover datagram length does not exceed
32 bits.
In order to activate ramp velocity-dependent automatic cover data
transfer, do as follows:
Action:
Define the trigger velocity whenever an automatic cover datagram transfer is
initiated.
Set
SPI_SWITCH_VEL
register 0x1D to this absolute velocity [pps].
Set
COVER_LOW
register 0x6C to the cover_data, which is valid for lower velocity
values.
Set
COVER_HIGH
register 0x6D to the cover_data, which is valid for higher
velocity values.
Set
automatic_cover
= 1 (
REFERENCE_CONF
register 0x01).
Result:
Whenever the absolute internal ramp velocity |
VACTUAL
| passes the
SPI_SWITCH_VEL
value, the particular cover data is sent to the motor driver,
COVER_LOW
is sent in case |
VACTUAL
| <
SPI_SWITCH_VEL
,
COVER_HIGH
is sent in case |
VACTUAL
| ≥
SPI_SWITCH_VEL
.
Receiving
Responses to
Cover
Datagrams
COVER_DONE
Event
Configuring
Automatic
Generation of
Cover Datagrams