Datasheet
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 25
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RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (MOTOR 1: 0X30…0X36, MOTOR 2: 0X50…0X56)
R/W
Addr
n
Register
Description / bit names
RW
0x34
0x54
12
SW_MODE
Switch mode configuration
See separate table!
R+C
0x35
0x55
14
RAMP_STAT
Ramp status and switch event status
See separate table!
R
0x36
0x56
32
XLATCH
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
Time reference t for velocities: t = 2^24 / f
CLK
Time reference ta² for accelerations: ta² = 2^41 / (f
CLK
)²