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TMC4670 Datasheet(PDF) 9 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4670 Datasheet(HTML) 9 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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9 / 102 page  TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09 9 / 102 3.3.2 Register Access Datagram Examples 0x0100000000 h : reads data from address 0x01h 0x8123456789 h : writes data 0x23456789h to address 0x01h 3.3.3 Identi cation of Silicon via Type, Version, Date, and Time The read-only registers of silicon type, version with date and time identify the type of the silicon, the version of the silicon together with unique date stamp and time stamp. This enables the automatic identi cation of IC and version and enable the automatic handling of different IC and different versions. 3.3.4 Read of RAW Inputs & RAW Outputs For ease-of-use while setting up the con guration, raw input signals and raw output signals are mapped into the register bank for user read out. With this, the user can initially check without a scope that the desired signals come into the TMC4670 as expected. Examples of readable raw input signals are digital Hall signals and incremental encoder signals. 3.4 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs The TMC4670 uses different numerical representations for different parameters, measured values, and interim results. The terms electrical angle PHI_E, mechanical angle PHI_M, and number of pole pairs (N_POLE_PAIRS) of the motor are important for setup of FOC. This section describes the different numerical representations of parameters and terms. 3.4.1 Numerical Representation The TMC4670 uses singed and unsigned values of different length and xed point representation for parameters that require a non-integer granularity. Symbol Description Min Max u16 unsigned 16 bit value 0 65535 s16 signed 16 bit values, 2’th complement -32767 32767 u32 unsigned 32 bit value 0 232 = 4294967296 s32 signed 32 bit values, 2’th complement -2147483647 231 - 1 = 2147483647 q8.8 signed x point value with 8 bit interger part and 8 bit fractional part -32767/256 32767/256 q4.12 signed x point value with 4 bit interger part and 12 bit fractional part -32767/4096 -32767/4096 Table 3: Numerical Representations Info Two’s complement of n bit is −2n−1 . . . −2n−11 − 1. To avoid un-wanted over ow, the range is clipped to −2n−1 + 1 . . . −2n−11 − 1. Because the zero is interpreted as a positive number for 2’th complement representation of interger n bit number, the smallest negative number is −2(n−1) where the largest positive number is 2(n−1) − 1. Using ©2016 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. |
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