Datasheet

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
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Address Registername Access
Target position register (for position mode).
0x69
h
PID_TORQUE_FLUX_ACTUAL R
Mask Name Type
0x0000FFFF
h
PID_FLUX_ACTUAL Signed
Min Max Default Unit
-32768 32767 0
Mask Name Type
0xFFFF0000
h
PID_TORQUE_ACTUAL Signed
Min Max Default Unit
-32768 32767 0
0x6A
h
PID_VELOCITY_ACTUAL R
Mask Name Type
0xFFFFFFFF
h
PID_VELOCITY_ACTUAL Signed
Min Max Default Unit
-2147483648 2147483647 0
Actual velocity.
0x6B
h
PID_POSITION_ACTUAL RW
Mask Name Type
0xFFFFFFFF
h
PID_POSITION_ACTUAL Signed
Min Max Default Unit
-2147483648 2147483647 0
Actual multi turn position for positioning. WRITE
on PID_POSITION_ACTUAL writes same value into
PID_POSITION_TARGET to avoid unwanted move.
0x6C
h
PID_ERROR_DATA R
Variant 0
Mask Name Type
0xFFFFFFFF
h
PID_TORQUE_ERROR Signed
Min Max Default Unit
-2147483648 2147483647 0
PID torque error.
Variant 1
Mask Name Type
0xFFFFFFFF
h
PID_FLUX_ERROR Signed
Min Max Default Unit
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