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TMC4331A Datasheet(PDF) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4331A Datasheet(HTML) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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5 / 178 page  TMC4331A Datasheet | Document Revision 1.00 • 2016-NOV-10 5/178 © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation; especially the “Supplemental Directives” on page 172. MAIN MANUAL Start Signal Trigger Selection ............................................................................................. 64 User-specified Impact Configuration of Timing Procedure..................................................... 64 Delay Definition between Trigger and internally generated Start Signal ................................. 65 Active START Pin Output Configuration ............................................................................... 65 Ramp Timing Examples...................................................................................................... 66 Shadow Register Settings................................................................................................... 69 Shadow Register Configuration Options............................................................................... 70 Delayed Shadow Transfer................................................................................................... 74 Pipelining Internal Parameters ............................................................................................ 75 Configuration and Activation of Target Pipeline.................................................................... 75 Using the Pipeline for different internal Registers................................................................. 76 Pipeline Mapping Overview................................................................................................. 77 Cyclic Pipelining ................................................................................................................. 78 Pipeline Examples .............................................................................................................. 78 Masterless Synchronization of Several Motion Controllers via START Pin................................ 80 10. Serial Data Output ................................................................................................... 81 Getting Started with TMC Motor Drivers .............................................................................. 82 Sine Wave Lookup Tables................................................................................................... 83 Actual Current Values Output ............................................................................................. 84 How to Program the Internal MSLUT................................................................................... 84 Setup of MSLUT Segments ................................................................................................. 85 Current Waves Start Values................................................................................................ 86 Default MSLUT .................................................................................................................. 86 Explanatory Notes for Base Wave Inclinations ..................................................................... 87 SPI Output Interface Configuration Parameters ................................................................... 89 Pins dedicated to SPI Output Communication ...................................................................... 89 Setup of SPI Output Timing Configuration ........................................................................... 89 Current Diagrams .............................................................................................................. 90 Change of Microstep Resolution.......................................................................................... 90 Cover Datagrams Communication between µC and Driver .................................................... 90 Sending Cover Datagrams .................................................................................................. 91 Configuring Automatic Generation of Cover Datagrams ........................................................ 92 Overview: TMC Motor Driver Connections............................................................................ 93 TMC Stepper Motor Driver Settings ..................................................................................... 93 TMC Motor Driver Response Datagram and Status Bits......................................................... 94 Events and Interrupts based on Motor Driver Status Bits ...................................................... 94 Stall Detection and Stop-on-Stall......................................................................................... 95 TMC23x, TMC24x Stepper Motor Driver............................................................................... 96 TMC23x Setup ................................................................................................................... 96 TMC24x Setup ................................................................................................................... 96 TMC23x/24x Status Bits ..................................................................................................... 97 Automatic Fullstep Switchover for TMC23x/24x.................................................................... 97 Mixed Decay Configuration for TMC23x/24x ........................................................................ 98 ChopSync Configuration for TMC23x/24x Stepper Drivers..................................................... 98 Doubling ChopSync Frequency during Standstill................................................................... 98 Using TMC24x stallGuard Characteristics ............................................................................. 99 TMC26x Stepper Motor Driver............................................................................................100 TMC26x Setup (SPI mode) ...............................................................................................100 TMC26x Setup (S/D mode)................................................................................................100 |
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