Datasheet
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 27
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6.2.2.2 RAMP_STAT – Ramp and Reference Switch Status Register
0X35, 0X55: RAMP_STAT – RAMP AND REFERENCE SWITCH STATUS REGISTER
R/W
Bit
Name
Comment
R
13
status_sg
1: Signals an active stallGuard2 input from the coolStep driver, if
configured.
Hint: When polling this flag, stall events may be missed – activate
sg_stop to be sure not to miss the stall event.
R+C
12
second_move
1: Signals that the automatic ramp required moving back in the
opposite direction, e.g. due to on-the-fly parameter change
(Flag is cleared upon reading)
R
11
t_zerowait_
active
1: Signals, that TZEROWAIT is active after a motor stop. During this
time, the motor is in standstill.
R
10
vzero
1: Signals, that the actual velocity is 0.
R
9
position_
reached
1: Signals, that the target position is reached.
This flag becomes set while XACTUAL and XTARGET match.
R
8
velocity_
reached
1: Signals, that the target velocity is reached.
This flag becomes set while VACTUAL and VMAX match.
R+C
7
event_pos_
reached
1: Signals, that the target position has been reached
(position_reached becoming active).
(Flag and interrupt condition are cleared upon reading)
This bit is ORed to the interrupt output signal.
R+C
6
event_stop_
sg
1: Signals an active StallGuard2 stop event.
Reading the register will clear the stall condition and the motor may
re-start motion, unless the motion controller has been stopped.
(Flag and interrupt condition are cleared upon reading)
This bit is ORed to the interrupt output signal.
R
5
event_stop_r
1: Signals an active stop right condition due to stop switch.
The stop condition and the interrupt condition can be removed by
setting RAMP_MODE to hold mode or by commanding a move to the
opposite direction. In soft_stop mode, the condition will remain
active until the motor has stopped motion into the direction of the
stop switch. Disabling the stop switch or the stop function also
clears the flag, but the motor will continue motion.
This bit is ORed to the interrupt output signal.
4
event_stop_l
1: Signals an active stop left condition due to stop switch.
The stop condition and the interrupt condition can be removed by
setting RAMP_MODE to hold mode or by commanding a move to the
opposite direction. In soft_stop mode, the condition will remain
active until the motor has stopped motion into the direction of the
stop switch. Disabling the stop switch or the stop function also
clears the flag, but the motor will continue motion.
This bit is ORed to the interrupt output signal.
R+C
3
status_latch_r
1: Latch right ready
(enable position latching using SWITCH_MODE settings
latch_r_active or latch_r_inactive)
(Flag is cleared upon reading)
2
status_latch_l
1: Latch left ready
(enable position latching using SWITCH_MODE settings
latch_l_active or latch_l_inactive)
(Flag is cleared upon reading)
R
1
status_stop_r
Reference switch right status (1=active)
0
status_stop_l
Reference switch left status (1=active)