Datasheet

TMC8460-BI Datasheet (V1.00 / 2016-Sep-01)
Copyright © 2016 TRINAMIC Motion Control GmbH & Co. KG 131
2.1.2 Step Direction Unit Signals
Table 143 : MFCIO S/D unit signals
Signal I/O Function
STP Out Step Pulse Output
DIR Out Direction Signal Output
IRQ_TARGET_REACHED Out Interrupt Request Output indicating target reached condition
2.1.3 Step Direction Unit and Register Set
Table 144 : MFCIO S/D unit register set
MFCIO
direct
access
register
address #
Register Name R/W Size Description
12
SD_CH_SR
W 31 … 0 Signed accumulation constant, this accumulation
constant determines the time tSTEP between
two successive steps rate resp. the step
frequency,
the Sign (MSB) of this accumulation constant is
used for the direction signal output (DIR_P,
DIR_N); the accumulation constant c is 2th
complement (section 6.8.1)
13
SD_CH_SC
R 31 … 0 step counter, counting up/down depending on
step direction, the direction is programmed via
sign (2th complement) of SD_CH_SRs (section
6.8.2)
14
SD_CH_ST
W 31 ... 0
steps to be done
(section
0
)
15
SD_CH_SL
W 15 … 0 Step pulse length in terms of CLK25MHz cycles,
with tSTP = … (section 6.8.4)
16
SD_CH_D
LY
W 15 … 0 Delay between change of direction and first step
pulse, delay is … (section 6.8.5)
17
SD_CFG
W 7 … 0 7: -
6: -
5: 0 : stp pulse / 1 toggle
4: 0 - / 1 clears step count
3: dir signal polarity
2: step pulse polarity
1: 0=n pulses / 1=continuous
0: 0=disable / 1=enable
CH = channel (in case of more than one step direction unit)