TMC236/A/B DATA SHEET (V2.10 / 2016-Jun-06)

9

Copyright © 2004, TRINAMIC Motion Control GmbH & Co KG

Control via the SPI Interface

The SPI data word sets the current and polarity for both coils. By applying consecutive values,

describing a sine and a cosine wave, the motor can be driven in microsteps. Every microstep is

initiated by its own telegram. Please refer to the description of the analog mode for details on the

waveforms required. The SPI interface timing is described in the timing section. We recommend the

TMC428 to automatically generate the required telegrams and motor ramps for up to three motors.

Serial data word transmitted to TMC236

(MSB transmitted first)

Bit

Name

Function

Remark

11

MDA

mixed decay enable phase A

“1” = mixed decay

10

CA3

current bridge A.3

MSB

9

CA2

current bridge A.2

8

CA1

current bridge A.1

7

CA0

current bridge A.0

LSB

6

PHA

polarity bridge A

“0” = current flow from OA1 to OA2

5

MDB

mixed decay enable phase B

“1” = mixed decay

4

CB3

current bridge B.3

MSB

3

CB2

current bridge B.2

2

CB1

current bridge B.1

1

CB0

current bridge B.0

LSB

0

PHB

polarity bridge B

“0” = current flow from OB1 to OB2

Serial data word transmitted from TMC236

(MSB transmitted first)

Bit

Name

Function

Remark

11

0

always “0”

10

0

always “0”

9

0

always “0”

8

1

always “1”

7

OT

overtemperature

“1” = chip off due to overtemperature

6

OTPW

temperature prewarning

“1” = prewarning temperature exceeded

5

UV

driver undervoltage

“1” = undervoltage on VS

4

OCHS

overcurrent high side

3 PWM cycles with overcurrent within 63 PWM cycles

3

OLB

open load bridge B

no PWM switch off for 14 oscillator cycles

2

OLA

open load bridge A

no PWM switch off for 14 oscillator cycles

1

OCB

overcurrent bridge B low side

3 PWM cycles with overcurrent within 63 PWM cycles

0

OCA

overcurrent bridge A low side

3 PWM cycles with overcurrent within 63 PWM cycles