Datasheet

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06

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(ENCODER_INIT_MINI_MOVE), and motion modes where target values are fed into the TMC4671 via PWM

interface (Pin: PWM_IN) or analog input via pin AGPI_A.

There are additional motion modes, which are using input from the PWM_I input and the AGPI_A input.

Input signals can be scaled via a standard scaler providing oﬀset and gain correction. The interface can

be conﬁgured via the registers SINGLE_PIN_IF_OFFSET_SCALE and SINGLE_PIN_IF_STATUS_CFG, where the

status of the interface can be monitored as well. PWM input signals which are out of frequency range can

be neglected. In case of wrong input data, last correct position is used or velocity and torque are set to

zero.

Number Motion Mode Description

0 Stopped Mode Disabling all controllers

1 Torque Mode Standard Torque Control Mode

2 Velocity Mode Standard Velocity Control Mode

3 Position Mode Standard Position Control Mode

4 PRBS Flux Mode PRBS Value is used as Target Flux Value for Ident.

5 PRBS Torque Mode PRBS Value is used as Target Torque Value for Ident.

6 PRBS Velocity Mode PRBS Value is used as Target Velocity Value for Ident.

7 PRBS Position Mode PRBS Value is used as Target Position Value for Ident.

8 UQ UD Ext Mode Voltage control mode (Software Mode)

9 Encoder Init Mini Move Mode Encoder Initialization by minimal movement of the rotor.

10 AGPI_A Torque Mode AGPI_A used as Target Torque value

11 AGPI_A Velocity Mode AGPI_A used as Target Velocity value

12 AGPI_A Position Mode AGPI_A used as Target Position value

13 PWM_I Torque Mode PWM_I used as Target Torque value

14 PWM_I Velocity Mode PWM_I used as Target Velocity value

15 PWM_I Position Mode PWM_I used as Target Position value

Table 16: Motion Modes

4.8.11 Brake Chopper

During regenerative braking of the motor, current is driven into the DC link. If the power frontend is not

actively controlled, the DC link voltage will rise. The brake chopper output pin (BRAKE) can be used for

control of an external brake chopper, which burns energy over a brake resistor. The BRAKE pin is set to

high for a complete PWM cycle if measured voltage is higher then ADC_VM_LIMIT_HIGH. Once active it will

be deactivated when voltage drops below ADC_VM_LIMIT_LOW. This acts like a hysteresis. BRAKE can be

deactivated by setting both registers to Zero. By setting proper values in the registers it is automatically

enabled.

4.9 Filtering and Feed-Forward Control

The TMC4671 uses diﬀerent ﬁlters for certain target and actual values. When using standard velocity

meter, a standard velocity ﬁlter is used which is optimized for velocity signals from Hall sensors. Additional

Biquad ﬁlters can be used to suppress measurement noise or damp resonances.

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