Datasheet

TMC5062 DATASHEET (Rev. 1.11 / 2017-MAY-16) 25
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6 Register Mapping
This chapter gives an overview of the complete register set. Some of the registers bundling a number
of single bits are detailed in extra tables. The functional practical application of the settings is
detailed in dedicated chapters.
Note
- All registers become reset to 0 upon power up, unless otherwise noted.
- Add 0x80 to the address Addr for write accesses!
NOTATION OF HEXADECIMAL AND BINARY NUMBERS
0x
precedes a hexadecimal number, e.g. 0x04
%
precedes a multi-bit binary number, e.g. %100
NOTATION OF R/W FIELD
R
Read only
W
Write only
R/W
Read- and writable register
R+C
Clear upon read
OVERVIEW REGISTER MAPPING
REGISTER
DESCRIPTION
General Configuration Registers
These registers contain
- global configuration
- global status flags
- slave address configuration
- and I/O configuration
Ramp Generator Motion Control Register Set
This register set offers registers for
- choosing a ramp mode
- choosing velocities
- homing
- acceleration and deceleration
- target positioning
Ramp Generator Driver Feature Control Register Set
This register set offers registers for
- driver current control
- setting thresholds for coolStep operation
- setting thresholds for different chopper modes
- setting thresholds for dcStep operation
- reference switch and stallGuard2 event
configuration
- a ramp and reference switch status register
Encoder Register Set
The encoder register set offers all registers needed for
proper ABN encoder operation.
Motor Driver Register Set
This register set offers registers for
- setting / reading out microstep table and
counter
- chopper and driver configuration
- coolStep and stallGuard2 configuration
- dcStep configuration, and
- reading out stallGuard2 values and driver error
flags