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TMC4210 Datasheet(PDF) 34 Page - TRINAMIC Motion Control GmbH & Co. KG.

Part # TMC4210
Description  MOTION CONTROLLER FOR STEPPER MOTORS
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Manufacturer  TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Direct Link  http://www.trinamic.com
Logo TRINAMIC - TRINAMIC Motion Control GmbH & Co. KG.

TMC4210 Datasheet(HTML) 34 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
34
www.trinamic.com
6.2 Global Parameter Registers
The registers addressed by RRS=0 with SMDA=%11 are global common parameter registers. To
emphasize this difference, the address label JDX is used as index name instead of IDX (see overview
in chapter 5.3).
OVERVIEW GLOBAL PARAMETER REGISTER MAPPING
REGISTER
DESCRIPTION
IF_CONFIGURATION_4210
This register is used for configuration of
-
the reference switch inputs
-
the Step/Dir interface
-
the association of the position compare output signal to one stepper motor
STEPPER MOTOR GLOBAL
PARAMETER REGISTER
This register holds configuration bits for the stepper motor driver chain and defines
-
timing
-
reference switch adjustments
6.2.1 IF_CONFIGURATION_4210 (JDX=%0100)
The register IF_CONFIGURATION_4210 is the interface configuration register for the TMC4210. It is used
for configuration of
-
the reference inputs
-
the interrupt output
-
the Step/Dir interface
INTERFACE CONFIGURATION REGISTER CONTROL BITS
IF_CONFIGURATION_4210 Function
inv_ref
Invert common polarity for all reference switches. If this bit is set, a low level
on the input signals an active reference switch.
step_half
Toggle on each step pulse (this halfs the step frequency, both pulse edges
represent steps). step_half reduces the required step pulse bandwidth and is
useful if for low-bandwidth optocouplers. This function can be used for the
TMC262 stepper driver.
inv_stp
Invert step pulse polarity. This configuration can be used for adaption of the
step polarity to external driver stage.
inv_dir
Invert step pulse polarity. This is for adaption to external driver stages.
Alternatively, this can be used as a shaft bit to adjust the direction of motion
for the motor, but do not use this as a direction bit because it has no effect
on the internal handling of signs (X_ACTUAL, V_ACTUAL…).
en_sd
Enable the Step/Dir interface by setting this bit to 1 (EN_SD=1).
Note: The step pulse timing (length) must be compatible with both, the
desired step frequency and the external drivers’ requirements. The step pulse
timing is determined by the 4 LSBs of STPDIV_4210.
32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210
3
1
3
0
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
1
9
1
8
1
7
1
6
1
5
1
4
1
3
1
2
1
1
1
0
9 8 7 6 5 4 3 2 1 0
ADDRESS
DATA
0
1 1 0 1 0 0
IF_CONFIGURATION_4210
0 0


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