Datasheet

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
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4.2.4 Step/Direction Interface
The user can manipulate the target position via the step direction interface. It can be enabled by setting
the STEP_WIDTH (S32) register to a proper step width.
Info
The Step/Direction interface is not working properly, due to wrong mapping of
internal signals. The target position is updated, but not fed into the position
controller. This error will be fixed in next IC Version.
4.2.5 Single Pin Interface
The TMC4671 can be operated in Motion Modes in which the main target value is calculated from either a
PWM input signal on PIN PWM_I or by analog input to AGPI_A.
Number Motion Mode Using PWM_I or AGPI_A
0 Stopped Mode no
1 Torque Mode no
2 Velocity Mode no
3 Position Mode no
4 PRBS Flux Mode no
5 PRBS Torque Mode no
6 PRBS Velocity Mode no
7 PRBS Position Mode no
8 UQ UD Ext Mode no
9 Encoder Init Mini Move Mode no
10 AGPI_A Torque Mode AGPI_A
11 AGPI_A Velocity Mode AGPI_A
12 AGPI_A Position Mode AGPI_A
13 PWM_I Torque Mode PWM_I
14 PWM_I Velocity Mode PWM_I
15 PWM_I Position Mode PWM_I
Table 3: Single Pin Interface Motion Modes
Registers SINGLE_PIN_IF_OFFSET and SINGLE_PIN_IF_SCALE can be used to scale the value to desired range.
In case of the PWM input, a permanent low input signal or permanent high signal is treated as input error
and chosen target value is set to zero.
Register SINGLE_PIN_IF_CFG configures the length of a digital filter for the PWM_I signal. Spikes on the
signal can be thereby suppressed. Bit 0 in register SINGLE_PIN_IF_STATUS is set high when PWM_I is
constant low, Bit 1 is set high when the PWM_I is constant high. Writing to this register resets these flags.
Maximum PWM period of the PWM signal must be 65536 x 40 ns. The calculation of the normalized duty
cycle is started on the rising edge of PWM_I. The PWM frequency needs to be constant as big variations
(tolerance of 4 us in PWM period) in the PWM frequency are treated as error.
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