TMC4331A-LA

Motion Controller for Stepper Motors Integrated Circuits TMC4331A DATASHEET TMC4331A Document Revision 1.01 • 2016-NOV-25 SHORT SPEC The S-ramp and sixPoint™ ramp motion controller for stepper motors is optimized for high velocities, allowing on-the-fly changes. TMC4331A offers SPI and Step/Dir interfaces. Features  SPI Interfaces for µC with easy-to-use protocol.  SPI Interfaces for SPI motor stepper drivers.  Integrated ChopSync™ and dcStep™ support.  Internal ramp generator generating S-shaped ramps or sixPoint™ ramps supporting on-the-fly changes.  Controlled PWM output.  Reference switch handling.  Hardware and virtual stop switches. Figure 1: Sample Image TMC4331A  Extensive Support of TMC stepper motor drivers. *Marking details are explained on page 172.  Electronic gearing support. Applications     Textile, sewing machines CCTV, security Printers, scanners ATM, cash recycler     Office automation POS Factory automation Lab automation     Pumps and valves Heliostat controllers CNC machines Robotics Block Diagram: TMC4331A Interfaces & Features Ref. Switches START TMC4331 SPI to µC INTR / TR to µC CLK SPI to Master Status Flags Interrupt Controller Ref. Switch Processing dcStep Timer Unit S-Ramp Generator incl. trapezoid, rectangle, 4bows Power-on Reset Figure 2: Block Diagram © 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 in chapter 18 (page 173).  SHORT SPEC  Step Sequencer Current Regulation Driver Interface: SPI / Step/Dir SPI Step/Dir TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 2/179 Functional Scope of TMC4331A TMC4331A is a miniaturized high-performance motion controller for stepper motor drivers, particularly designed for fast and jerk-limited motion profile applications with a wide range of ramp profiles. The S-shaped or sixPoint™ velocity profile, and open-loop features offer many configuration options to suit the user’s specifications, as presented below: S-Shaped Velocity Profile S-shaped ramp profiles are jerk-free. Seven ramp segments form the S-shaped ramp that can be optimally adapted to suit the user’s requirements. High torque with high velocities can be reached by calibrating the bows of the ramp, as explained in this user manual. v(t) VMAX t Figure 3: S-shaped Velocity Profile i Reference Switch Support More information on ramp configurations and other velocity profiles, e.g. sixPoint™ ramps, are provided in chapter 6 (Page 24). A typical hardware setup for open-loop operation with enhanced modifications, by use of external stop switches with the TMC26x motor stepper driver is shown below. Home switches with different configurations are also supported. High level interface SPI µC SPI TMC4331 Motion Controller TMC26x Motor Driver STEP/DIR M Stop switches +5V Figure 4: Open-Loop Hardware Set-up with TMC26x supporting External Stop Switches Open-loop Operation with dcStep™ Feature A typical hardware setup for dcStep operation with a TMC2130 stepper motor driver is shown in the diagram below. This feature is also available for TMC26x stepper motor drivers. SPI High level interface µC SPI TMC4331 Motion Controller TMC2130 S/D dcStep™ signals Motor Driver M Figure 5: Hardware Set-up for Open-loop Operation with TMC2130 Order Codes Order code Description Size TMC4331A-LA Motion controller with dcStep features, QFN32 4 x 4 mm2 Table 1: TMC4331A Order Codes © 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 173.  SHORT SPEC  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 3/179 T A BL E O F C O NT E NT S TMC4331A DATASHEET .................................................................................................... 1 SHORT SPEC ..................................................................................................................... 1 Features ........................................................................................................................... 1 Applications ..................................................................................................................... 1 Block Diagram: TMC4331A Interfaces & Features ........................................................... 1 Functional Scope of TMC4331A ........................................................................................ 2 Order Codes ..................................................................................................................... 2 TABLE OF CONTENTS ....................................................................................................... 3 MAIN MANUAL ................................................................................................................. 8 1. Pinning and Design-In Process Information .............................................................. 8 Pin Assignment: Top View .................................................................................................... 8 Pin Description .................................................................................................................... 9 System Overview ............................................................................................................... 10 2. Application Circuits .................................................................................................. 11 TMC4331A TMC4331A TMC4331A TMC4331A Standard Connection: VCC=3.3V ....................................................................... 11 with TMC26x Stepper Connection....................................................................... 11 with TMC248 Stepper Driver .............................................................................. 12 with TMC2130 Stepper Driver ............................................................................ 12 3. SPI Interfacing ........................................................................................................ 13 SPI Datagram Structure ..................................................................................................... 13 SPI Timing Description ....................................................................................................... 16 4. Input Filtering .......................................................................................................... 17 Input Filtering Examples..................................................................................................... 19 5. Status Flags and Events ........................................................................................... 20 Status Event Description .................................................................................................... 21 SPI Status Bit Transfer ....................................................................................................... 22 Generation of Interrupts..................................................................................................... 22 Connection of Multiple INTR Pins ........................................................................................ 23 6. Ramp Configurations for different Motion Profiles .................................................. 24 Step/Dir Output Configuration ............................................................................................ 25 Step/Dir Output Configuration Steps ................................................................................... 25 STPOUT: Changing Polarity ............................................................................................... 25 Altering the Internal Motion Direction.................................................................................. 26 Configuration Details for Operation Modes and Motion Profiles ............................................. 27 Starting Point: Choose Operation Mode ............................................................................... 28 Stop during Motion ............................................................................................................ 28 Motion Profile Configuration ............................................................................................... 29 No Ramp Motion Profile...................................................................................................... 30 Trapezoidal 4-Point Ramp without Break Point..................................................................... 31 Trapezoidal Ramp with Break Point .................................................................................... 31 Position Mode combined with Trapezoidal Ramps ................................................................ 32 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 4/179 Configuration of S-Shaped Ramps ....................................................................................... 33 Changing Ramp Parameters during S-shaped Motion or Switching to Positiong Mode ............. 34 Configuration of S-shaped Ramp with ASTART and DFINAL .................................................. 34 S-shaped Mode and Positioning: Fast Motion ....................................................................... 35 Start Velocity VSTART and Stop Velocity VSTOP .................................................................. 36 S-shaped Ramps with Start and Stop Velocity ...................................................................... 40 Combined Use of VSTART and ASTART for S-shaped Ramps ............................................... 41 sixPoint Ramps .................................................................................................................. 42 U-Turn Behavior ................................................................................................................ 43 Continuous Velocity Motion Profile for S-shaped Ramps ...................................................... 44 Internal Ramp Generator Units ........................................................................................... 45 Clock Frequency ................................................................................................................ 45 Velocity Value Units ........................................................................................................... 45 Acceleration Value Units ..................................................................................................... 45 Bow Value Units ................................................................................................................ 46 Overview of Minimum and Maximum Values: ....................................................................... 46 7. External Step Control and Electronic Gearing .......................................................... 47 Description of Electronic Gearing ........................................................................................ 48 Indirect External Control .................................................................................................... 48 Switching from External to Internal Control ......................................................................... 49 8. Reference Switches ................................................................................................. 50 Hardware Switch Support ................................................................................................... 51 Stop Slope Configuration for Hard or Linear Stop Slopes ...................................................... 51 How Active Stops are indicated and reset to Free Motion ..................................................... 52 How to latch Internal Position on Switch Events .................................................................. 52 Virtual Stop Switches ......................................................................................................... 53 Enabling Virtual Stop Switches ............................................................................................ 53 Virtual Stop Slope Configuration ......................................................................................... 53 How Active Virtual Stops are indicated and reset to Free Motion ........................................... 54 Home Reference Configuration ........................................................................................... 55 Home Event Selection ........................................................................................................ 55 HOME_REF Monitoring ....................................................................................................... 56 Homing with STOPL or STOPR ............................................................................................ 56 Target Reached / Position Comparison ................................................................................ 57 Connecting several Target-reached Pins .............................................................................. 57 Use of TARGET_REACHED Output ...................................................................................... 58 Position Comparison of Internal Values ............................................................................... 58 Repetitive and Circular Motion ............................................................................................ 59 Repetitive Motion to XTARGET ............................................................................................ 59 Activating Circular Motion ................................................................................................... 59 Uneven or Noninteger Microsteps per Revolution ................................................................. 60 Release of the Revolution Counter ...................................................................................... 61 Blocking Zones .................................................................................................................. 61 Activating Blocking Zones during Circular Motion ................................................................. 61 Circular Motion with and without Blocking Zone ................................................................... 62 9. Ramp Timing and Synchronization .......................................................................... 63 Basic Synchronization Settings ............................................................................................ 64 Start Signal Trigger Selection ............................................................................................. 64 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 5/179 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 Sending Cover Datagrams to TMC26x ................................................................................101 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 6/179 Automatic Continuous Streaming of Cover Datagrams for TMC26x .......................................101 TMC26x SPI Mode: Automatic Fullstep Switchover .............................................................102 TMC26x S/D Mode: Automatic Fullstep Switchover ..............................................................102 TMC 26x S/D Mode: Change of Current Scaling Parameter ..................................................103 TMC26x Status Bits ...........................................................................................................103 TMC26x Status Response ..................................................................................................103 TMC389 Stepper Motor Driver ...........................................................................................104 TMC2130 Stepper Motor Driver ..........................................................................................105 Set-up TMC2130 Support (SPI Mode) .................................................................................105 Set-up TMC2130 Support (S/D Mode) ................................................................................105 Sending Cover Datagrams to TMC2130 ..............................................................................106 Automatic Continuous Streaming of Cover Datagrams for TMC2130 .....................................106 TMC2130 SPI Mode: Automatic Fullstep Switchover ............................................................107 TMC2130 S/D Mode: Automatic Fullstep Switchover ............................................................107 TMC 2130 S/D Mode: Changing current Scaling Parameter ..................................................107 TMC2130 Status Response ................................................................................................108 Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface ....................109 Connecting a SPI-DAC .......................................................................................................110 DAC Data Transfer ............................................................................................................110 Changing SPI Output Protocol for SPI-DAC .........................................................................110 DAC Address Values ..........................................................................................................111 DAC Data Values ..............................................................................................................111 11. Current Scaling ...................................................................................................... 113 Hold Current Scaling .........................................................................................................114 Freewheeling ....................................................................................................................114 Current Scaling during Motion ...........................................................................................115 Drive Scaling ....................................................................................................................115 Alternative Drive Scaling ...................................................................................................115 Boost Current ...................................................................................................................116 Scale Mode Transition Process Control ...............................................................................117 Current Scaling Examples ..................................................................................................119 12. Controlled PWM Output ......................................................................................... 121 PWM Output Generation and Scaling Possibilities ................................................................122 PWM Scale Example ..........................................................................................................123 PWM Output Generation for TMC23x/24x ...........................................................................124 Switching between SPI and Voltage PWM Modes ................................................................125 13. dcStep Support for TMC26x or TMC2130 ............................................................... 126 Enabling dcStep for TMC26x Stepper Motor Drivers ............................................................128 Setup: Minimum dcStep Velocity ........................................................................................129 Enabling dcStep for TMC2130 Stepper Motor Drivers ..........................................................131 14. Reset and Clock Gating .......................................................................................... 132 Power-On-Reset ...............................................................................................................132 Manual Software Reset .....................................................................................................132 Reset Indication ...............................................................................................................132 Activating Clock Gating manually .......................................................................................133 Clock Gating Wake-up .......................................................................................................133 Automatic Clock Gating Procedure .....................................................................................134 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 7/179 TECHNICAL SPECIFICATIONS ...................................................................................... 135 15. Complete Register and Switches List ..................................................................... 135 General Configuration Register GENERAL_CONF 0x00 .........................................................135 Reference Switch Configuration Register REFERENCE_CONF 0x01 .......................................138 Start Switch Configuration Register START_CONF 0x02 .......................................................141 Input Filter Configuration Register INPUT_FILT_CONF 0x03 ................................................143 SPI Output Configuration Register SPI_OUT_CONF 0x04 .....................................................144 Current Scaling Configuration Register CURRENT_CONF 0x05 .............................................147 Current Scale Values Register SCALE_VALUES 0x06 ............................................................148 Various Scaling Configuration Registers ..............................................................................148 Motor Driver Settings Register STEP_CONF 0x0A ................................................................149 Event Selection Registers 0x0B..0X0D ................................................................................150 Status Event Register (0x0E) .............................................................................................151 Status Flag Register (0x0F) ...............................................................................................152 Various Configuration Registers .........................................................................................153 PWM Configuration Registers .............................................................................................154 Ramp Generator Registers.................................................................................................155 External Clock Frequency Register .....................................................................................159 Target and Compare Registers ..........................................................................................159 Pipeline Registers .............................................................................................................160 Shadow Register ...............................................................................................................160 Reset and Clock Gating Register ........................................................................................161 dcStep Registers ...............................................................................................................161 Transfer Registers ............................................................................................................162 SinLUT Registers ..............................................................................................................163 SPI-DAC Configuration Registers ........................................................................................164 TMC Version Register ........................................................................................................164 16. Absolute Maximum Ratings ................................................................................... 165 17. Electrical Characteristics........................................................................................ 166 Power Dissipation .............................................................................................................166 General IO Timing Parameters ...........................................................................................167 Layout Examples ..............................................................................................................168 Internal Cirucit Diagram for Layout Example.......................................................................168 Top Layer: Assembly Side .................................................................................................169 Inner Layer (GND) ............................................................................................................169 Inner Layer (Supply VS) ....................................................................................................170 Package Dimensions .........................................................................................................171 Package Material Information ............................................................................................172 Marking Details provided on Single Chip .............................................................................172 APPENDICES ................................................................................................................ 173 18. Supplemental Directives ........................................................................................ 173 ESD-DEVICE INSTRUCTIONS ...........................................................................................................173 19. Tables Index .......................................................................................................... 175 20. Figures Index ......................................................................................................... 177 21. Revision History ..................................................................................................... 179 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 8/179 M AI N MA NU AL 1. Pinning and Design-In Process Information In this chapter you are provided with a list of all pin names and a functional description of each. TARGET_REACHED STDBY_CLK INTR TEST_MODE VDD1V8 GND VCC CLK_EXT Pin Assignment: Top View 32 31 30 29 28 27 26 25 NSCSIN 1 24 NSCSDRV SCKIN 2 23 SCKDRV SDIIN 3 22 SDIDRV VCC 4 21 SDODRV GND 5 20 VCC SDOIN 6 19 GND MP1 7 18 STPOUT_PWMA MP2 8 17 DIROUT_PWMB TMC4331 QFN32 4mm x 4mm 0.4 pitch START DIRIN STPIN VDD1V8 GND STOPR HOME_REF STOPL 9 10 11 12 13 14 15 16 Figure 6: Package Outline: Pin Assignments Top View © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 9/179 Pin Description Pin Names and Descriptions Pin Number Type Function Supply Pins GND 5, 12, 19, 30 GND Digital ground pin for IOs and digital circuitry. VCC 4, 20, 31 VCC Digital power supply for IOs and digital circuitry (3.3V… 5V). VDD1V8 13, 29 VDD Connection of internal generated core voltage of 1.8V. CLK_EXT 32 I Clock input to provide a clock with the frequency fCLK for all internal operations. TEST_MODE 28 I Test mode input. Tie to low for normal operation. Interface Pins for µC NSCSIN 1 I Low active chip selects input of SPI interface to µC. SCKIN 2 I Serial clock for SPI interface to µC. SDIIN 3 I Serial data input of SPI interface to µC. SDOIN 6 O Serial data output of SPI interface to µC (Z if NSCSIN=1). INTR 27 O Interrupt output, programmable PD/PU for wired-and/or. TARGET_REACHED 25 O Target reached output, programmable PD/PU for wired-and/or. Reference Pins STOPL 9 I (PD) Left stop switch. External signal to stop a ramp. If not connected, internal pull-down resistor is active. HOME_REF 10 I (PD) Home reference signal input. External signal for reference search. If not connected, internal pull-down resistor is active. STOPR 11 I (PD) Right stop switch. External signal to stop a ramp. If not connected, internal pull-down resistor is active. STPIN 14 I (PD) Step input for external step control. If not connected, internal pull-down resistor is active. DIRIN 15 I (PD) Direction input for external step control. If not connected, internal pull-down resistor is active. START 16 IO Start signal input/output. S/D Output Pins STPOUT PWMA DACA 18 O Step output. First PWM signal (Sine). First DAC output signal (Sine). DIROUT PWMB DACB 17 O Direction output. Second PWM signal (Cosine). Second DAC output signal (Cosine).  Continued on next page! © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 10/179 Pin Names and Descriptions Pin Number Type Function Interface Pins for Stepper Motor Drivers NSCSDRV PWMB 24 O Low active chip selects output of SPI interface to motor driver. Second PWM signal (Cosine) to connect with PHB (TMC23x/24x). SCKDRV MDBN 23 O Serial clock output of SPI interface to motor driver. MDBN output signal for MDBN pin of TMC23x/24x. SDODRV PWMA 21 O Serial data output of SPI interface to motor driver. First PWM signal (Sine) to connect with PHA (TMC23x/24x). SDIDRV ERR 22 I (PD) Serial data input of SPI interface to motor driver. Error input signal to ERR pin of TMC23x/24x. If not connected, internal pull-down resistor is active. MP1 7 I (PD) DC_IN as external dcStep input control signal. If not connected, internal pull-down resistor is active. MP2 8 IO DCSTEP_ENABLE as dcStep output control signal. SPE_OUT as output signal, connect to SPE pin of TMC23x/24x. STDBY_CLK 26 O StandBy signal or internal CLK output or ChopSync output. Table 2: Pin Names and Descriptions System Overview GND(4x) VDD1V8(2x) VDD5(3x) CLK_EXT I Host CPU SPI Interface R E S E T POR NSCSIN I SCKIN I SDIIN I SDOIN O Register Block SPI Motion Profile ShadowReg Target Register(s) Status Flags / Events for Interrupt Control ClkGating Scan Test O TARGET_REACHED O INTR I Step/Dir Input CLK_INT Start / Stop / Reference Switches START Parameters from/for all Units STOPL I HOME_REF I STOPR Timer Unit IO GearRatio DDS retain Reference processing I Ramp-Generator S-Ramps with 4 Bows Trapezoid Ramps Rectangle Ramps Circles Internal Pos Internal (Co)Sine LUT STP_IN I DIR_IN I Drv type SPI Datagram Generator MP2 O DIROUT O NSTDBY_OUT or Clk_Out or ChopSync Clk Pos Counter StdBy signal Scaled current values CoverReg dcStep Signals MP1 Step/Dir Output or PWM Output or DAC Output O STPOUT PWMA DACA (Sine) (Sine) Internal Step FS Actual Co-/Sine values I O Ramp Status Scale Unit ChopperClk/ STEP_READY dcStep™ PulseGen v TEST_MODE chopSync™ PWM Unit PWM or DAC encrypted co-/sine voltage values DAC Unit I SPI Output O O O SDIDRV SCKDRV NSCSDRV SDODRV Figure 7: System Overview © 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 173.  MAIN MANUAL  PWMB (Cosine) DACB (Cosine) TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 2. 11/179 Application Circuits In this chapter application circuit examples are provided that show how external components can be connected. Reference Switches TMC4331A Standard Connection: VCC=3.3V HOME NSCSIN STOPL STOPR SDIIN SPI Control Interface to Microcontroller NSCSDRV SCKIN SDODRV SDOIN Ext. Clock SDIDRV CLK_EXT Start Signal Input or Output TMC4331 STPOUT_PWMA START Interrupt Output Step/Dir Interface to Motor Driver DIRPOUT_PWMB STDBY_CLK INTR Target Reached Output SPI Output Interface to Motor Driver SCKDRV Standby Clock Output TARGET_REACHED VCC GND TEST_MODE VDD1V8 VDD1V8 100 nF 100 nF 100 nF +3.3 V Figure 8: TMC4331A Connection: VCC=3.3V TMC4331A with TMC26x Stepper Connection SS µC CLK NSCSIN MOSI SDIIN SCK SCKIN MISO SDOIN STPOUT_PWMA STEP DIRPOUT_PWMB DIR MP1 TMC4331 CLK_EXT TMC26x SG_TST NSCSDRV CSN SDODRV SDI SCKDRV SCK SDO SDIDRV M Figure 9: TMC4331A with TMC26x Stepper Driver in SPI Mode or S/D Mode © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 12/179 NSCSDRV TMC4331A with TMC248 Stepper Driver SS µC NSCSIN SCKDRV MOSI SDIIN SDODRV SDI SCK SCKIN SDIDRV SDO MISO SDOIN TMC4331 TMC248 OSC STDBY_CLK CLK CSN SCK CLK_EXT Output for chopSync 15K 680pF M Figure 10: TMC4331A with TMC248 Stepper Driver in SPI Mode TMC4331A with TMC2130 Stepper Driver SS µC MOSI SDIIN SCK SCKIN MISO CLK NSCSIN STPOUT_PWMA STEP DIRPOUT_PWMB DIR MP1 MP2 TMC4331 SDOIN CLK_EXT TMC2130 DCO DCEN_CFG4 NSCSDRV CSN_CFG3 SDODRV SDI_CFG1 SCKDRV SCK_CFG2 SDO_CFG0 SDIDRV M Figure 11: TMC4331A with TMC2130 Stepper Driver in SPI Mode or S/D Mode © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 3. 13/179 SPI Interfacing TMC4331A uses 40-bit SPI datagrams for communication with a microcontroller. The bit-serial interface is synchronous to a bus clock. For every bit sent from the bus master to the bus slave, another bit is sent simultaneously from the slave to the master. In the following chapter information is provided about the SPI control interface, SPI datagram structure and SPI transaction process. SPI Input Control Interface Pins Pin Name Type Remarks NSCSIN Input Chip Select of SPI-µC interface (low active) SCKIN Input Serial clock of SPI-µC interface SDIIN Input Serial data input of SPI-µC interface SDOIN Output Serial data output of SPI-µC interface Table 3: SPI Input Control Interface Pins  SPI Datagram Structure   i Microcontrollers that are equipped with hardware SPI are typically able to communicate using integer multiples of 8 bit. The NSCSIN line of the TMC4331A has to stay active (low) for the complete duration of the datagram transmission. Each datagram that is sent to TMC4331A is composed of an address byte followed by four data bytes. This allows direct 32-bit data word communication with the register set of TMC4331A. Each register is accessed via 32 data bits; even if it uses less than 32 data bits. Each register is specified by a one-byte address: For read access the most significant bit of the address byte is 0. For write access the most significant bit of the address byte is 1. NOTE:  Some registers are write only registers. Most registers can be read also; and there are also some read only registers. TMC4331A SPI Datagram Structure MSB (transmitted first) 40 bits 39 ...  8-bit address  8-bit SPI status 39 ... 32  to TMC4331: RW + 7-bit address  from TMC4331: 8-bit SPI status 39 / 38 ... 32 W LSB (transmitted last) 38...32 0   32-bit data 31 ... 0 8-bit data 31 ... 24 31...28 27...24 8-bit data 8-bit data 23 ... 16 23...20 19...16 15 ... 8 15...12 11...8 39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 Figure 12: TMC4331A SPI Datagram Structure © 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 173.  MAIN MANUAL  8-bit data 7 ... 0 7...4 8 7 6 5 3...0 4 3 2 1 0 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Read/Write Selection Principles and Process 14/179 Read and write selection is controlled by the MSB of the address byte (bit 39 of the SPI datagram). This bit is 0 for read access and 1 for write access. Consequently, the bit named W is a WRITE_notREAD control bit. The active high write bit is the MSB of the address byte. Consequently, 0x80 must be added to the address for a write access. The SPI interface always delivers data back to the master, independent of the Write bit W. Difference between Read and Write Access If … Then … The previous access was a read access. The data transferred back is the data read from the address which was transmitted with the previous datagram. The previous access was a write access The data read back mirrors the previously received write data. Figure 13: Difference between Read and Write Access Conclusion: Consequently, the difference between a read and a write access is that the read access does not transfer data to the addressed register but it transfers the address only; and its 32 data bits are dummies. NOTE:  Please note that the following read delivers back data read from the address AREAS OF SPECIAL CONCERN ! Use of Dummy Write Data Read and Write Access Examples transmitted in the preceding read cycle. The data is latched immediately after the read request. A read access request datagram uses dummy write data. Read data is transferred back to the master with the subsequent read or write access. i Reading multiple registers can be done in a pipelined fashion. Data that is delivered is latched immediately after the initiated data transfer. For read access to register XACTUAL with the address 0x21, the address byte must be set to 0x21 in the access preceding the read access. For write access to register VACTUAL, the address byte must be set to 0x80 + 0x22 = 0xA2. For read access, the data bit can have any value, e.g., 0. Read and Write Access Examples Action Data sent to TMC Data received from TMC read XACTUAL  0x2100000000  0xSS1) & unused data read XACTUAL  0x2100000000  0xSS & XACTUAL  0xA200ABCDEF  0xSS & XACTUAL  0xA200123456  0xSS00ABCDEF write VACTUAL:= 0x00ABCDEF write VACTUAL:= 0x00123456 Table 4: Read and Write Access Examples 1) SS is a placeholder for the status bits SPI_STATUS. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 15/179 Data Alignment All data is right-aligned. Some registers represent unsigned (positive) values; others represent integer values (signed) as two’s complement numbers. Some registers consist of switches that are represented as bits or bit vectors. SPI Transaction Process The SPI transaction process is as follows:    i AREAS OF SPECIAL CONCERN ! System Behavior Specifics The slave is enabled for SPI transaction by a transition to low level on the chip select input NSCSIN. Bit transfer is synchronous to the bus clock SCKIN, with the slave latching the data from SDIIN on the rising edge of SCKIN and driving data to SDOIN following the falling edge. The most significant bit is sent first. A minimum of 40 SCKIN clock cycles is required for a bus transaction with TMC4331A. Take the following aspects into consideration:     Whenever data is read from or written to the TMC4331A, the first eight bits that are delivered back contain the SPI status SPI_STATUS that consists of eight user-selected event bits. The selection of these bits are explained in chapter 5.2. (Page 22). If less than 40 clock cycles are transmitted, the transfer is not valid; even for read access. However, sending only eight clock cycles can be useful to obtain the SPI status because it sends the status information back first. If more than 40 clocks cycles are transmitted, the additional bits shifted into SDIIN are shifted out on SDOIN after a 40-clock delay through an internal shift register. This can be used for daisy chaining multiple chips. NSCSIN must be low during the whole bus transaction. When NSCSIN goes high, the contents of the internal shift register are latched into the internal control register and recognized as a command from the master to the slave. If more than 40 bits are sent, only the last 40 bits received - before the rising edge of NSCSIN - are recognized as the command. NSCSIN tCC tCL tCH tCH tCC SCKIN tDU SDIIN bit39 tDH bit38 bit0 tDO SDOIN tZC bit39 bit38 bit0 Figure 14: SPI Timing Datagram © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 16/179 SPI Timing Description The SPI interface is synchronized to the internal system clock, which limits SPI bus clock SCKIN to a quarter of the system clock frequency. The signal processing of SPI inputs is supported with internal Schmitt Trigger, but not with RC elements. NOTE:  In order to avoid glitches at the inputs of the SPI interface between µC and TMC4331A, external RC elements have to be provided. Figure 14 shows the timing parameters of an SPI bus transaction, and the table below specifies the parameter values. SPI Interface Timing SPI Interface Timing AC Characteristics: External clock period: tCLK Parameter Symbol Min SCKIN valid before or after change of NSCSIN tCC NSCSIN high time tCSH SCKIN low time tCL SCKIN high time tCH SCKIN frequency using external clock (Example: fCLK = 16 MHz) SDIIN setup time before rising edge of SCKIN SDIIN hold time after rising edge of SCKIN Data out valid time after falling SCKIN clock edge fSCK Conditions Type 10 Min. time is for synchronous CLK with SCKIN high one tCH before SCSIN high only. Min. time is for synchronous CLK only. Min. time is for synchronous CLK only. Unit ns tCLK >2·tCLK+10 ns tCLK >tCLK+10 ns tCLK >tCLK+10 ns Assumes synchronous CLK. fCLK / 4 (4) MHz tDU 10 ns tDH 10 ns tDO No capacitive load on SDOIN. Table 5: SPI Interface Timing i Max tCLK = 1 / fCLK © 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 173.  MAIN MANUAL  tFILT+5 ns TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 4. 17/179 Input Filtering Input signals can be noisy due to long cables and circuit paths. To prevent jamming, every input pin provides a Schmitt trigger. Additionally, several signals are passed through a digital filter. Particular input pins are separated into three filtering groups. Each group can be programmed individually according to its filter characteristics. In this chapter informed on the digital filtering feature of TMC4331A is provided; and how to separately set up the digital filter for input pins. Input Filtering Groups Pin Names STPIN DIRIN STOPL HOME_REF STOPR START Type Remarks Inputs Step/Dir interface inputs. Inputs Reference input pins. Input START input pin. Table 6: Input Filtering Groups (Assigned Pins) Register Names Register Names Register Address INPUT_FILT_CONF 0x03 RW Remarks Filter configuration for all four input groups. Table 7: Input Filtering (Assigned Register) Input Filter Assignment Every filtering group can be configured separately with regard to input sample rate and digital filter length. The following groups exist:    Step/Dir input pins. Reference input pins. Start input pin. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Input Sample Rate (SR) 18/179 Input sample rate = fCLK 1/2SR where: SR i (extended with a particular name extension) is in [0… 7]. This means that the next input value is considered after 2SR clock cycles. Sample Rate Configuration Sample Rate Configuration SR Value Sample Rate 0 fCLK 1 fCLK/2 2 fCLK/4 3 fCLK/8 4 fCLK/16 5 fCLK/32 6 fCLK/64 7 fCLK/128 Table 8: Sample Rate Configuration Digital Filter Length (FILT_L) Digital Filter Length Configuration Table i i The filter length FILT_L can be set within the range [0… 7]. The filter length FILT_L specifies the number of sampled bits that must have the same voltage level to set a new input bit voltage level. Configuration of Digital Filter Length FILT_L value Filter Length 0 No filtering. 1 2 equal bits. 2 3 equal bits. 3 4 equal bits. 4 5 equal bits. 5 6 equal bits. 6 7 equal bits. 7 8 equal bits. Table 9: Configuration of Digital Filter Length © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 19/179 Input Filtering Examples The following three examples depict input pin filtering of three different input filtering groups. i After passing Schmitt trigger, voltage levels are compared to internal signals, which are processed by the motion controller. i The sample points are depicted as green dashed lines. Example 1: Reference Input Pins In this example every second clock cycle is sampled. Two sampled input bits must be equal to receive a valid input voltage. CLK HOME internal home signal STOPL internal left stop signal Figure 15: Reference Input Pins: SR_REF = 1, FILT_L_REF = 1 Example 2: START Input Pin This example shows the START input pattern at every fourth clock cycle: CLK START internal Start input signal START internal Start input signal Figure 16: START Input Pin: SR_S = 2, FILT_L_S = 0 Example 3: S/D Input Pins This example shows every clock cycle bit. Eight sampled input bits must be equal to receive a valid input voltage. CLK STPIN internal stpin input signal DIRIN internal dirin signal Figure 17: S/D Input Pins: SR_SD_IN = 0, FILT_L_SD_IN = 7 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 5. 20/179 Status Flags and Events TMC4331A provides a range of over 20 status flags and status events in order to obtain short information on the internal status or motor driver status. These flags and events can be read out from dedicated registers. In the following chapter, you are informed about the generation of interrupts based on status events. Status events can also be assigned to the first eight SPI status bits, which are sent within each SPI datagram. Pin Names: Status Events Pin Names Type Remarks INTR Output Interrupt output to indicate status events. Table 10: Pins Names: Status Events Register Names: Status Flags and Events Register Name Register Address Remarks GENERAL_CONF 0X00 RW Bits: 15, 29, 30. STATUS_FLAGS 0X0F R Status flags of TMC4331A and the connected TMC motor driver chip. EVENTS 0X0E R+C W Events triggered by altered TMC4331A status bits. SPI_STATUS_SELECTION 0X0B RW Selection of 8 out of 32 events for SPI status bits. EVENT_CLEAR_CONF 0X0C RW Exceptions for cleared event bits. INTR_CONF 0X0D RW Selection of events for INTR output. Table 11:Register Names: Status Flags and Events © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 21/179 Status Event Description Status events are based on status bits. If the status bits change, related events are triggered from inactive to active level. Resetting events back to inactive must be done manually. Association of Status Bits Status bits and status events are associated in different ways:    Status flags reflect the as-is-condition, whereas status events indicate that the dedicated information has changed since the last read request of the EVENTS register. Several status events are associated with one status bit. Some status events show the status transition of one or more status bits out of a status bit group. The motor driver flags, e.g., trigger only one motor driver event MOTOR_EV in case one of the selected motor driver status flags becomes active. In case a flag consists of more than one bit, the number of associated events that can be triggered corresponds to the valid combinations. The VEL_STATE flag, e.g., has two bit but three associated velocity state events (b’00/b’01/b’10). Such an event is triggered if the associated combination switches from inactive to active. NOTE:  Some events have no equivalence in the STATUS_FLAGS register 0x0F (e.g., COVER_DONE which indicates new data from the motor driver chip). The EVENTS register 0x0E is automatically cleared after reading the register; subsequent to an SPI datagram request. Events are important for interrupt generation and SPI status monitoring. Automatic Clearance of EVENTS NOTE:  It is recommended to clear EVENTS register 0x0E by read request before regular operation. AREAS OF SPECIAL CONCERN How to Avoid Lack of Information ! Recognition of a status event can fail; in case it is triggered right before or during EVENTS register 0x0E becomes cleared. In order to prevent events from being cleared, assign EVENT_CLEAR_CONF register 0x0C according to the particular event in the EVENTS register: Action:  Set related EVENT_CLEAR_CONF register bit position to 1. Result: The related event is not cleared when EVENTS register is read out. In order to clear these events, do the following, if necessary: Action:  Set related EVENTS register 0x0E bit position to 1. Result: The related event is cleared by writing to the EVENTS register. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 22/179 SPI Status Bit Transfer Up to eight events can be selected for permanent SPI status report. Consequently, these events are always transferred at the most significant transfer bits within each TMC4331A SPI response. Assign an Event to a Status Bit In order to select an event for the SPI status bits, assign the SPI_STATUS_SELECTION register 0x0B according to the particular event in the EVENTS register: Action:  Set the related SPI_STATUS_SELECTION register bit position to 1. Result: The related event is transferred with every SPI datagram response as SPI_STATUS. NOTE:  The bit positions are sorted according to the event bit positions in the EVENTS register 0x0E. In case more than eight events are selected, the first eight bits (starting from index 0 = LSB) are forwarded as SPI_STATUS. Generation of Interrupts Similar to EVENT_CLEAR_CONF register and SPI_STATUS_SELECTION register, events can be selected for forwarding via INTR output. The selected events are ORed to one signal which means that INTR output switches active as soon as one of the selected events triggers. Generate Interrupts In order to select an event for the INTR output pin, assign the INTR_CONF register 0x0D according to the particular event in the EVENTS register: Action:  Set the related INTR_CONF register bit position to 1. Result: The related event is forwarded at the INTR output. If more than one event is requested, INTR becomes active as soon as one of the selected events is active. INTR Output Polarity Per default, the INTR output is low active. In order to change the INTR polarity to high active, do the following: Action:  Set intr_pol =1 (GENERAL_CONF register 0x00). Result: INTR is high active. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 23/179 Connection of Multiple INTR Pins INTR pin can be configured for a shared interrupt signal line of several TMC4331A interrupt signals to the microcontroller. Connecting several Interrupt Pins In order to make use of a Wired-Or or Wired-And behavior, the below described actions must be taken: Action:  Step 1: Set intr_tr_pu_pd_en = 1 (GENERAL_CONF register 0x00). OPTION 1: WIRED-OR Action:  Step 2: Set intr_as_wired_and = 0 (GENERAL_CONF register 0x00). Result: The INTR pin works efficiently as Wired-Or (default configuration). i In case INTR pin is inactive, the pin drive has a weak inactive polarity output. If one of the connected pins is activated, the whole line is set to active polarity. OPTION 2: WIRED-AND Action:  Step 2: Set intr_as_wired_and = 1 of the GENERAL_CONF register 0x00. Result: In case no interrupt is active, the INTR pin has a strong inactive polarity output. During the active state, the pin drive has a weak active polarity output. Consequently, the whole signal line is activated in case all pins are forwarding the active polarity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 6. 24/179 Ramp Configurations for different Motion Profiles Step generation is one of the main tasks of a stepper motor motion controller. The internal ramp generator of TMC4331A provides several step generation configurations with different motion profiles. They can be configured in combination with the velocity or positioning mode. Pin Names: Ramp Generator Pin Names Type Remarks STPOUT_PWMA Output Step output signal. DIROUT_PWMB Output Direction output signal. Table 12: Pin Names: Ramp Generator Register Names: Ramp Generator Register Name GENERAL_CONF Register Address Remarks 0x00 RW 0x10 RW Additional time in clock cycles when no steps will occur after a direction change; 16 bits. RAMPMODE 0x20 RW Requested motion profile and operation mode; 3 bits. XACTUAL 0x21 RW Current internal microstep position; signed; 32 bits. VACTUAL 0x22 R Current step velocity; 24 bits; signed; no decimals. AACTUAL 0x23 R Current step acceleration; 24 bits; signed; no decimals. VMAX 0x24 RW Maximum permitted or target velocity; signed; 32 bits= 24+8 (24 bits integer part, 8 bits decimal places). VSTART 0x25 RW Velocity at ramp start; unsigned; 31 bits=23+8. VSTOP 0x26 RW Velocity at ramp end; unsigned; 31 bits=23+8. VBREAK 0x27 RW AMAX 0x28 RW DMAX 0x29 RW ASTART 0x2A RW DFINAL 0x2B RW BOW1 0x2D RW BOW2 0x2E RW BOW3 0x2F RW BOW4 0x30 RW CLK_FREQ 0x31 RW External clock frequency fCLK; unsigned; 25 bits. XTARGET 0x37 RW Target position; signed; 32 bits. STP_LENGTH_ADD DIR_SETUP_TIME Ramp generator affecting bits 5:0. Additional step length in clock cycles; 16 bits. At this velocity value, the aceleration/deceleration will change during trapezoidal ramps; unsigned; 31 bits=23+8. Maximum permitted or target acceleration; unsigned; 24 bits=22+2 (22 bits integer part, 2 bits decimal places). Maximum permitted or target deceleration; unsigned; 24 bits=22+2. Acceleration at ramp start or below VBREAK; unsigned; 24 bits=22+2. Deceleration at ramp end or below VBREAK; unsigned; 24 bits=22+2. First bow value of a complete velocity ramp; unsigned; 24 bits=24+0 (24 bits integer part, no decimal places). Second bow value of a complete velocity ramp; unsigned; 24bits=24+0. Third bow value of a complete velocity ramp; unsigned; 24 bits=24+0. Fourth bow value of a complete velocity ramp; unsigned; 24 bits=24+0. Table 13: Register Names: Ramp Generator © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 25/179 Step/Dir Output Configuration This section focuses on the description of the Step/Dir output configuration. Step/Dir output signals can be configured for the driver circuit. Step/Dir Output Configuration Steps If step signals must be longer than one clock cycle, do as follows: Action:  Set proper STP_LENGTH_ADD register 0x10 (bit 15:0). Result: The resulting step length is equal to STP_LENGTH_ADD+1 clock cycles. This is how the step length is assigned within a range of up to 1-up-to-216 clock cycles. Action:  Set proper DIR_SETUP_TIME register 0x10 (bit 31:16). Result: The delay period between DIROUT and STPOUT voltage level transitions last DIR_SETUP_TIME clock cycles. No steps are sent via STPOUT for DIR_SETUP_TIME clock cycles after a level change at DIROUT. PRINCIPLE: DIROUT does not change the level:   During active step pulse signal For (STP_LENGTH_ADD+1) clock cycles after the step signal returns to inactive level STPOUT characteristics can be set differently, as follows: STPOUT: Changing Polarity Per default, the step output is high active because a rising edge at STPOUT indicates a step. In order to change the polarity, do as follows: Action:  Set step_inactive_pol =1 (bit3 of GENERAL_CONF register 0x00). Result: Each falling edge indicates a step. How to prompt Level Change with every Step In order to prompt a step at every level change, do as follows: Action:  Set toggle_step =1 (bit4 of GENERAL_CONF register 0x00). Result: Every level change indicates a step. DIROUT: Changing the Polarity Per default, voltage level 1 at DIROUT indicates a negative step direction. DIROUT characteristics can be set differently, as shown below. In order to change polarity, do as follows: Action:  Set pol_dir_out =0 (bit5 of GENERAL_CONF register 0x00). Result: A high voltage level at DIROUT indicates a positive step direction. NOTE:  DIROUT is based on the internal µStep position MSCNT and is therefore based on the internal SinLUT, see 10.2. , page 83 . © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 26/179 Altering the Internal Motion Direction Per default, a positive internal velocity VACTUAL results in a forward motion through internal SinLUT. Consequently, if VACTUAL < 0, the SinLUT values are developed backwards. How to change Motion Direction In order to alter the default setting of the Internal Motion Direction, do as follows: Action:  Set reverse_motor_dir =1 (bit28 of GENERAL_CONF register 0x00). Result: A positive internal velocity for VACTUAL results in a backward motion through the internal SinLUT. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 27/179 Configuration Details for Operation Modes and Motion Profiles This section provides information on the two available operation modes (velocity mode and positioning mode), and on the four possible motion profiles (no ramp, trapezoidal ramp including sixPoint™ ramp, and S-shaped ramp). Different combinations are possible. Each one of them has specific advantages. The choice of configuration depends on the user’s design specification to best suit his design needs. Description of Internal Ramp Generator With proper configuration, the internal ramp generator of the TMC4331A is able to generate various ramps with the related step outputs for STPOUT. In order to configure the internal ramp generator successfully – i.e. to make it fit as best as possible with your specific use case – information about the scope of each possible combination is provided in the table below and on the following pages. Ramp Generator Configuration Options Operation Motion Profile Mode Velocity Mode RAMPMODE(2:0) Description No ramp b’000 Trapezoidal ramp b’001 sixPoint ramp b’001 S-shaped ramp b’010 No Ramp b’100 Trapezoidal ramp b’101 Positioning sixPoint ramp Mode S-shaped ramp b’101 b’110 Follows VMAX request only. Follows VMAX request and considers acceleration and deceleration values. Follows VMAX request and considers acceleration / deceleration values and start and stop velocity values. Follows VMAX request and considers maximum acceleration / deceleration values and adapts these values with 4 different bow values. Follows XTARGET and VMAX requests only. Follows XTARGET request and a maximum velocity VMAX request and considers acceleration and deceleration values. Follows XTARGET request and a maximum velocity VMAX request and considers acceleration / deceleration values and start and stop velocity values. Follows XTARGET request and a maximum velocity VMAX request and considers maximum acceleration / deceleration values and adapts these values with 4 different bow values. Table 14: Overview of General and Basic Ramp Configuration Options © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 28/179 Starting Point: Choose Operation Mode Two operation modes are available: velocity mode and positioning mode. BEFORE YOU BEGIN ! Before setting any parameters: First select:  Operation mode and  Motion profile It is not advisable to change operation mode nor motion profile during motion. Operation Mode: Velocity Mode The RAMPMODE register provides a choice of two operation modes. Either velocity mode or positioning mode can be chosen. In order to use the velocity mode, do as follows: Action:  Set RAMPMODE(2) =0 (RAMPMODE register 0x20). Result: Velocity mode is selected. The target velocity VMAX is reached with the selected motion profile. Operation Mode: Positioning Mode In order to make use of the positioning mode, do as follows: Action:  Set RAMPMODE(2)=1 (RAMPMODE register 0x20). Result: Positioning mode is selected. VMAX is the maximum velocity value of this motion profile that is based on the condition that the ramp stops at target position XTARGET. NOTE:  The sign of VMAX is not relevant during positioning. The direction of the steps depends on XACTUAL, XTARGET, and the current ramp motion profile status. NOTE:  Do NOT exceed VMAX ≤ fCLK ¼ pulses for positioning mode. Stop during Motion In order to stop the motion during positioning, do as follows: Action:  Set VMAX = 0 (register 0x24). Result: The velocity ramp directs to VACTUAL = 0, using the actual ramp parameters. i Motion is proceeded with VMAX ≠ 0. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Motion Profile Configuration 29/179 Three basic motion profiles are provided. Each one of them has a different velocity value development during the drive. See table below. For configuration of the motion profiles, do as follows: Action:  Use the bits 1 and 0 of the RAMPMODE register 0x20. Result: As specified in the table below. You can choose different configuration options from the list below:    No Ramp motion profile Trapezoidal Ramp motion profile (including sixPoint Ramp) S-shaped Ramp motion profiles TMC4331A Motion Profile RAMPMODE (1:0) Motion Profile Function b’00 No Ramp Follow VMAX only (rectangular velocity shape). Trapezoidal Ramp Consideration of acceleration and deceleration values without adaptation of these acceleration values. sixPoint Ramp Consideration of acceleration and deceleration values without adaptation of these acceleration values. Usage of start and stop velocity values. (see section 6.5. , Page 42) b’01 b’10 S-shaped Ramp Use all ramp values (including bow values). Table 15: Description of TMC4331A Motion Profiles © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 30/179 v(t) No Ramp Motion Profile VMAX t Figure 18: No Ramp Motion Profile In order to make use of the no ramp motion profile, which is rectangular, do as follows: Action:  Set RAMPMODE(1:0) =b’00 (register 0x20).  Set proper VMAX register 0x24. Result: The internal velocity VACTUAL is immediately set to VMAX. Positioning Mode combined with No Ramp Motion Profile Combining positioning mode with the no ramp motion profile determines that the ramp holds VMAX until XTARGET is reached. The motion direction depends on XTARGET. In order to make use of the no ramp motion profile in combination with the positioning mode, do as follows: Action:  Set RAMPMODE(2:0) =b’100.  Set proper VMAX register 0x24.  Set proper XTARGET register 0x37. Result: VACTUAL is set instantly to 0 in case the target position is reached. NOTE:  Do NOT exceed VMAX ≤ fCLK / 4 pulses for positioning mode. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 31/179 In order to make use of a trapezoidal 4-point ramp motion profile without break velocity, do as follows: Trapezoidal 4-Point Ramp without Break Point Action:  Set RAMPMODE(1:0) =b’01 (register 0x20).  Set VBREAK =0 (register 0x27).  Set proper AMAX register 0x28 and DMAX register 0x29.  Set proper VMAX register 0x24. Result: The internal velocity VACTUAL is changed successively to VMAX with a linear ramp. Only AMAX and DMAX define the acceleration/deceleration slopes. NOTE:  AMAX determines the rising slope from absolute low to absolute high velocities, whereas DMAX determines the falling slope from absolute high to absolute low velocities.  Acceleration slope and deceleration slopes have only one acceleration and deceleration value each. v(t) VMAX v(t) A1 A2 A3 VMAX VBREAK A1L A1 A2 A3 A3L t t Figure 19: Trapezoidal Ramp without Break Point Trapezoidal Ramp with Break Point Figure 20: Trapezoidal Ramp with Break Point In order to make use of a trapezoidal ramp motion profile with break velocity, do as follows: Action:  Set RAMPMODE(1:0)=b’01 (register 0x20).  Set proper VBREAK register 0x27.  Set proper AMAX register 0x28 and DMAX register 0x29.  Set proper ASTART register 0x2A and DFINAL register 0x2B.  Set proper VMAX register 0x24. Result: The internal velocity VACTUAL is changed successively to VMAX with a linear ramp. In addition to AMAX and DMAX, ASTART and DFINAL define the acceleration or deceleration slopes (see Figure above). NOTES:  AMAX and ASTART determines the rising slope from absolute low to absolute high velocities.  DMAX and DFINAL determines the falling slope from absolute high to absolute low velocities.  The acceleration/deceleration factor alters at VBREAK. ASTART and DFINAL are valid below VBREAK, whereas AMAX and DMAX are valid beyond VBREAK. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Position Mode combined with Trapezoidal Ramps 32/179 Motion direction depends on XTARGET. In order to use a 4-point or sixPoint ramps during positioning mode, do as follows: Action:  Set RAMPMODE(2:0) =b’101 (register 0x20).  Set Trapezoidal ramp type accordingly, as explained above.  Set proper XTARGET register 0x37. Result: The ramp finishes exactly at the |VACTUAL| = VMAX as long as possible. AACTUAL Assignments for Trapezoidal Ramps target position XTARGET by keeping AACTUAL assignments apply both for 4-point and sixPoint ramps. The acceleration/deceleration factor AACTUAL register depends on the current ramp phase and the velocity that needs to be reached. The related sign assignment for different ramp phases is given in the following table: AACTUAL ASSIGNMENTS for Trapezoidal Ramps Ramp phase: A1L A1 A2 A3 A3L v>0: AACTUAL= ASTART AMAX 0 −DMAX −DFINAL v0 DFINAL>0 t Figure 22: S-shaped Ramp with initial and final Acceleration/Deceleration Values  Description is continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25   Definitions for S-shaped Ramps 35/179   The acceleration/deceleration values are altered, based on the bow values. The start phase and the end phase of an S-shaped ramp is accelerated/decelerated by ASTART and DFINAL. The ramp starts with ASTART and stops with DFINAL. DFINAL becomes valid when AACTUAL reaches the chosen DFINAL value. i The parameter DFINAL is not considered during positioning mode. AACTUAL assignments and current bow value selection for S-shaped ramps. AACTUAL The acceleration/deceleration factor depends on the current ramp phase and alters every 64 clock cycles during the bow phases B1, B2, B3, and B4. Assignments for S-shaped Ramps Details are provided in the table below: S-shaped Ramps: Assignments for AACTUAL and Internal Bow Value Ramp phase: B1 B12 B2 B23 B3 B34 B4 v>0: AACTUAL= ASTARTAMAX AMAX AMAX0 0 0-DMAX -DMAX -DMAX-DFINAL BOW1 0 -BOW2 0 -BOW3 0 BOW4 -ASTART-AMAX -AMAX -AMAX0 0 0DMAX DMAX DMAXDFINAL -BOW1 0 0 BOW3 0 -BOW4 BOWACTUAL= v 0 (register 0x25).  Set VSTOP = 0 (register 0x26). Result: The trapezoidal ramp starts with initial velocity. NOTE:  The initial acceleration value is AMAX if VBREAK < VSTART, otherwise the starting acceleration value is ASTART. v(t) VMAX VBREAK A1L A1 A2 A3 A3L VSTART t Figure 23: Trapezoidal Ramp with initial Velocity If trapezoidal ramp with initial velocity VSTART is selected: NOTICE Avoid unintended system behavior during positioning mode!  Use VSTART without setting VSTOP > VSTART only in positioning mode if there is enough distance between the current position XACTUAL and the target position XTARGET. This will ensure smooth operation during positioning mode. Turn page for information on how to configure S-shaped ramps with initial start velocity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 S-shaped Ramps with initial Start Velocity 37/179 In order to use S-shaped ramps with initial start velocity, do as follows: Action:     Set Set Set Set RAMPMODE(1:0)=b’10 (register 0x20). S-shaped ramp type accordingly, as explained before. proper VSTART > 0 (register 0x25). VSTOP = 0 (register 0x26). Result: The S-shaped ramp starts with initial velocity. PRINCIPLE:  The initial acceleration value is equal to AMAX. The parameter ASTART is not considered. Consequently, ramp phase B1 is not performed. v(t) VMAX B1 B12 B2 B23 B3 B34 B4 VSTART t Figure 24: S-shaped Ramp with initial Start Velocity If S-shaped ramp with initial velocity VSTART is selected: NOTICE Avoid unintended system behavior during positioning mode!   Keep in mind that the S-shaped character of the curve is maintained. Because AMAX is the start acceleration value, the ramp will always execute phase B2 which could result in positioning overshoots. Use VSTART only in positioning mode if there is enough distance between the current position XACTUAL and the target position XTARGET. This will ensure smooth operation during positioning mode. Turn page for information on how to configure finishing ramps with stop velocity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Finishing Ramps with Stop Velocity 38/179 S-shaped and trapezoidal velocity ramps can be finished with a stop velocity value if you set VSTOP value higher than zero (see figure below). In order to configure trapezoidal ramps with stop velocity, do as follows: Action:  Set RAMPMODE(1:0)=b’01 (register 0x20).  Set Trapezoidal ramp type accordingly, as explained before.  Set VSTART = 0 (register 0x25).  Set proper VSTOP > 0 (register 0x26). Result: The trapezoidal ramp stops with defined velocity. v(t) VMAX VBREAK A1L A1 A2 A3 A3L VSTOP t Figure 20: Trapezoidal Ramp with Stop Velocity If trapezoidal ramps are selected (VBREAK > 0): NOTICE Avoid unintended system behavior during positioning mode!   Set VBREAK > VSTOP. Set VSTART < VSTOP. This will ensure smooth operation during positioning mode. Turn page for configuration information on S-shaped ramps with stop velocity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 S-shaped Ramps with Stop Velocity 39/179 In order to use S-shaped ramps with stop velocity, do as follows: Action:  Set RAMPMODE(1:0)=b’10 (register 0x20).  Set S-shaped ramp type accordingly, as explained before.  Set VSTART = 0 (register 0x25).  Set proper VSTOP > 0 (register 0x26). Result: The S-shaped ramp finishes with stop velocity. NOTE:  The final deceleration value is equal to DMAX. The parameter DFINAL is not considered. Consequently, ramp phase B4 is not performed. v(t) VMAX B1 B12 B2 B23 B3 B34 B4 VSTOP t Figure 25: S-shaped Ramp with Stop Velocity Interaction of VSTART, VSTOP, VACTUAL and VMAX:     VSTOP can be used in positioning mode, if the target position is reached. In velocity mode, VSTOP is also used if VACTUAL ≠ 0 and the target velocity VMAX is assigned to 0. VSTART and VSTOP are not only used to start or end a velocity ramp. If the velocity direction alters due to register assignments while a velocity ramp is in progress, the velocity values develop according to the current velocity ramp type, using VSTART or VSTOP. The unsigned values VSTART and VSTOP are valid for both velocity directions. Every register value change is assigned immediately. Turn page for information on how to configure S-shaped ramps with start and stop velocity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 S-shaped Ramps with Start and Stop Velocity 40/179 S-shaped ramps can be configured with a combination of VSTART and VSTOP. It is possible to include both processes in one S-Shaped ramp to decrease the time between start and stop of the ramp. In order to use S-Shaped ramps with a combination of start and stop velocity, do as follows: Action:     Set RAMPMODE(1:0)=b’10. Set S-shaped ramp type accordingly, as explained before, but with BOW2 ≠ BOW4. Set proper VSTART > 0 (register 0x25). Set proper VSTOP > 0 (register 0x26). Result: The S-shaped ramp starts with initial velocity and stops with defined velocity. v(t) VMAX B1 B12 B2 B23 B3 B34 B4 VSTOP VSTART t Figure 26: S-shaped Ramp with Start and Stop Velocity If S-shaped ramp with initial velocity VSTART and stop velocity VSTOP is selected: NOTICE Avoid unintended system behavior during positioning mode!   Keep in mind that the S-shaped character of the curve is maintained. Because AMAX is the start acceleration value, the ramp will always execute phase B2, which could result in positioning overshoots. Use VSTART in positioning mode, if there is enough distance between the current position XACTUAL and the target position XTARGET. This will ensure smooth operation during positioning mode. Turn page for information on how to use VSTART and ASTART for S-shaped ramps. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Combined Use of VSTART and ASTART for S-shaped Ramps 41/179 For some S-shaped ramp applications it can be useful to start with a defined velocity value (VSTART > 0);but not with the maximum acceleration value AMAX. In order to start with a defined velocity value, do as follows: Action:  Set RAMPMODE(1:0) =b’10 (register 0x20).  Set S-shaped ramp type accordingly, as explained before.  Set proper VSTART > 0 (register 0x25).  Set proper VSTOP > 0 (register 0x26).  Set use_astart_and_vstart =1 (bit0 of the GENERAL_CONF register 0x00). Result: The following special ramp types can be generated in this way, as shown below. i Section B1 is passed through although VSTART is used. Using VSTART and starting acceleration of 0 for S-shaped ramps Using VSTART and starting acceleration, which is smaller than AMAX for S-shaped ramps v(t) v(t) B1 B12 B2 B23 B3 B34 B4 VMAX VSTART VSTOP VMAX B1 B12 B2 B23 B3 B34 B4 VSTART VSTOP t aSTART = 0 aSTART > 0 Figure 27: S-shaped Ramps with combined VSTART and ASTART Parameters If S-shaped ramp with VSTART, ASTART, and VSTOP is selected: NOTICE Avoid unintended system behavior during positioning mode!   Keep in mind that the S-shaped character of the curve is maintained. Because ASTART is the start acceleration value, the ramp will always execute phase B2, which could result in positioning overshoots. Use VSTART and ASTART > 0 without setting VSTOP > VSTART only in positioning mode, if there is enough distance between the current position XACTUAL and the target position XTARGET. This will ensure smooth operation during positioning mode. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 42/179 sixPoint Ramps sixPoint ramps are trapezoidal ramps with initial and stop velocity values that also make use of two acceleration and two deceleration values. Configuration of sixPoint Ramps sixPoint ramps are trapezoidal velocity ramps that can be configured with a combination of VSTART and VSTOP. In order to use trapezoidal ramps with a combination of start and stop velocity, do as follows: Action:      Set Set Set Set Set RAMPMODE(1:0)=b’01 (register 0x20). a Trapezoidal ramp type appropriately as explained in section 6.3.6, page 31. proper VSTART > 0 (register 0x25). proper VSTOP > 0 (register 0x26). proper VBREAK > 0 (register 0x27). Result: The sixPoint ramp starts with an initial velocity and stops with a defined velocity. Diagram of sixPoint Ramp v(t) VMAX VBREAK A1L A1 A2 A3 A3L VSTOP VSTART t Figure 28: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity If a sixPoint ramp is used: NOTICE Avoid unintended system behavior during positioning mode!   Set VBREAK > VSTOP. Set VSTART < VSTOP. This will ensure smooth operation during positioning mode. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 43/179 U-Turn Behavior The process that is triggered when motion direction changes during motion, is described below, and applies to all ramp types. U-Turn Behavior In case the motion direction is changed during motion in velocity mode (by direct assignment of VMAX) or in positioning mode (due to XTARGET reassignment), the following process is triggered: 1. Motion is directed to VACTUAL = 0. i 2. A standstill phase of TZEROWAIT clock cycles (register 0x7B) occurs. i 3. It is recommended to assign TZEROWAIT > 0, if VSTOP and/or a trapezoidal ramp type are used, because motor oscillations can occur that must peter out. Motion continues to the actual XTARGET (positioning mode), or to the newly assigned VMAX (velocity mode). i Example: U-Turn for sixPoint Ramps If VSTOP is used (≠ 0), motion terminates at VSTOP. If VSTART is used (≠ 0), motion begins with VSTART if TZEROWAIT > 0. After reaching VSTOP, TZEROWAIT clock cycles are waited until motion continues to peter out motor oscillations. v(t) TZEROWAIT VMAX VBREAK VSTOP VSTART t -VSTART -VSTOP -VBREAK -VMAX Figure 29: Example for U-Turn Behavior of sixPoint Ramp  Turn page for information on U-Turn for S-shaped ramps. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Example: U-Turn for S-shaped Ramps 44/179 When VACTUAL = 0 is reached, motion immediately continues. In most S-shaped ramp applications that do not use VSTOP, a standstill phase is not required. If ASTART > 0 and/or DFINAL > 0, these parameters are also used during U-Turn. v(t) TZEROWAIT =0 -VMAX t -VMAX Figure 30: Example for U-Turn Behavior of S-shaped Ramp Continuous Velocity Motion Profile for S-shaped Ramps There is one exception to the above explained U-Turn process: In case BOW2 equals BOW4, the S-shaped ramp is not stopped at VACTUAL = 0. While passing VACTUAL = 0, motion acceleration does not equal 0. Thus, the fastest possible U-Turn behavior for this ramp is created. In the figure below, this velocity ramp behavior is depicted as bold black line, whereas the velocity ramp behavior of the process explained above is depicted gray line: v(t) BOW2=BOW4! -VMAX t -VMAX Figure 31: Direct transition via VACTUAL=0 for S-shaped Ramps © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 45/179 Internal Ramp Generator Units This section provides information about the arithmetical units of the ramp parameters. Clock Frequency Velocity Value Units All parameter units are real arithmetical units. Therefore, it is necessary to set the CLK_FREQ register 0x31 to proper [Hz] value, which is defined by the external clock frequency fCLK. Any value between fCLK = 4.2 MHz and 32 MHz can be selected. Default configuration is 16 MHz. Velocity values are always defined as pulses per second [pps]. VACTUAL is given as a 32-bit signed value with no decimal places. The unsigned velocity values VSTART, VSTOP, and VBREAK consist of 23 digits and 8 decimal places. VMAX is a signed value with 24 digits and 8 decimal places. The maximum velocity VMAX is restricted as follows: Velocity mode: |VMAX| ≤ ½ pulse · fCLK Positioning mode: |VMAX| ≤ ¼ pulse · fCLK NOTE:  In case VACTUAL exceeds this limit INCORRECT step pulses at STPOUT output occur and/or positioning is not executed properly. Furthermore, VMAX have to be the highest nominal value of all velocity values: |VMAX|> max(VSTART;VSTOP;VBREAK) Acceleration Value Units The unsigned values AMAX, DMAX, ASTART, DFINAL, and DSTOP consist of 22 digits and 2 decimal places. AACTUAL shows a 32-bit nondecimal signed value. Acceleration and deceleration units are defined per default as pulses per second² [pps²]. If higher acceleration/deceleration values are required for short and steep ramps, do as follows: Action:  Set direct_acc_val_en =1 (GENERAL_CONF register 0x00). Result: The parameters are defined as velocity value change per clock cycle with 24-bit unsigned decimal places (MSB =2-14). The values are calculated as follows: AMAX [pps2] = AMAX / 237 · fCLK2 DMAX [pps2] = DMAX / 237 · fCLK2 ASTART [pps2] = ASTART / 237 · fCLK2 DFINAL [pps2] = DFINAL / 237 · fCLK2 DSTOP [pps2] = DSTOP / 237 · fCLK2 The maximum acceleration or deceleration values are as follows: max(AMAX;DMAX;ASTART;DFINAL;DSTOP) [pps²] ≤ VMAX · fCLK / 1024 In case direct_acc_val_en = 1, the maximum value is also limited to: max(AMAX;DMAX;ASTART;DFINAL;DSTOP) ≤ 220  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 46/179 Bow values BOW1…BOW4: Bow values are unsigned 24-bit values without decimal places. They are defined per default as pulses per second³ [pps³]. Bow Value Units In case higher bow values are required for short and steep ramps, do as follows: Action:  Set direct_bow_val_en =1 (GENERAL_CONF register 0x00) Result: The parameters are defined as acceleration value change per clock cycle with 24-bit unsigned decimal places with the MSB defined as 2-29. The particular bow values BOW1, BOW2, BOW3, BOW4 are calculated as follows: BOWx [pps3] = BOWx / 253 · fCLK3 The maximum bow values are as follows: max(BOW1…4) [pps³] ≤ max(AMAX;DMAX) [pps²] · fCLK / 1024 In case direct_bow_val_en = 1, the maximum value is also limited to: max(BOW1…4) ≤ 220 Overview of Minimum and Maximum Values: Minimum and Maximum Values (Frequency Mode and in general) Value Classes Affected Registers Minimum Nominal Value Maximum Nominal Value Velocity Acceleration Bow Clock VMAX, VSTART, VSTOP, VBREAK AMAX, DMAX, ASTART, DFINAL BOW1, BOW2, BOW3, BOW4 CLK_FREQ 3.906 mpps 0.25 mpps2 1 mpps3 4.194 MHz 8.388 Mpps 4.194 Mpps2 16.777 Mpps3 32 MHz Velocity mode: ½ pulse · fCLK Maximum Related Positioning mode: VMAX · fCLK / 1024 Value ¼ pulse · fCLK |VMAX| > max(VSTART;VSTOP;VBREAK) (fCLK) max(AMAX;DMAX) · fCLK / 1024 Table 18: Minimum and Maximum Values if Real World Units are selected Minimum and Maximum Values for Steep Slopes (Direct Mode, example with fCLK =16MHz) Value Classes Affected Registers Calculation Minimum Nominal Value Maximum Nominal Value Maximum Related Value Acceleration (direct_acc_val_en =1) Bow (direct_bow_val_en =1) AMAX, DMAX, ASTART, DFINAL, DSTOP BOW1, BOW2, BOW3, BOW4 a[pps²] = (∆v/clk_cycle) / 237 · fCLK2 bow[pps³] = (∆a/clk_cycle) / 253 · fCLK3 ~1.86 kpps² ~454.75 kpps³ ~1.95 Gpps² ~476.837 Gpps3 VMAX · 15625 Hz max(AMAX;DMAX) · 15625 Hz Table 19: Minimum and Maximum Values for Steep Slopes for fCLK =16MHz © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 7. 47/179 External Step Control and Electronic Gearing Steps can also be generated by external steps that are manipulated internally by an electronic gearing process. In the following chapter, steps generation by external control and electronic gearing is presented. Pins for External Step Control Pin Names Type Remarks STPIN Input Step input signal. DIRIN Input Direction input signal. Table 20: Pins used for External Step Control Registers used for external Step Control Register Name Register Address Remarks GENERAL_CONF 0x00 RW Bits 9:6, 26. GEAR_RATIO 0x12 RW Electronic gearing factor; signed; 32 bits=8+24 (8-bit digits, 24-bit decimal places). Table 21: Registers used for External Step Control Enabling External Step Control In order to synchronize with other motion controllers, TMC4331A offers a step direction input interface at the STPIN and DIRIN input pins. i Three options are available. In case one of these options is selected, the internal step generator is disabled. OPTION 1: HIGH ACTIVE EXTERNAL STEPS Action:  Set sdin_mode = b’01 (GENERAL_CONF register 0x00). Result: As soon as the STPIN input signal switches to high state the control unit recognizes an external step. OPTION 2: LOW ACTIVE EXTERNAL STEPS Action:  Set sdin_mode = b’10 (GENERAL_CONF register 0x00). Result: As soon as the STPIN input signal switches to low state the control unit recognizes an external step. OPTION 3: TOGGLING EXTERNAL STEPS Action:  Set sdin_mode = b’11 (GENERAL_CONF register 0x00). Result: As soon as the STPIN input signal switches to low or high state the control unit recognizes an external step.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Selecting the Input Direction Polarity 48/179 DIRIN polarity can be assigned. Per default, the negative direction is indicated by DIRIN = 0. In order to change this polarity: Action:  Set pol_dir_in = 1 (GENERAL_CONF register 0x00). Result: A negative input direction is assigned by DIRIN = 1. Description of Electronic Gearing If an external step is not congruent with an internal step, the GEAR_RATIO register 0x12 must be set accordingly. This signed parameter consists of eight bit digits and 24 bits decimal places. With every external step the assigned GEAR_RATIO value is added to an internal accumulation register. As soon as an overflow occurs, an internal step is generated and the remainder will be kept for the next external step. Any absolute gearing value between 2-24 and 127 is possible. NOTE:  Gearing ratios beyond 1 are more reasonable for the SPI output. The internal SinLUTable is used that generates multiple steps one after another without interpolation, if the accumulation register value is above 1. In contrast to a burst of steps at the STPOUT pin, the SPI output will only forward the new position in the inner SinLUT where only some values have been skipped if |GEAR_RATIO|>1.  A negative gearing factor GEAR_RATIO < 0 inverts the interpretation of the input direction which is determined by DIRIN and pol_dir_in. Indirect External Control It is possible to use the internal ramp generator in combination with the external S/D interface. In this case, the external step impulses transferred via STPIN and DIRIN cannot influence the internal XACTUAL counter directly. Instead, the XTARGET register is altered by 1 or -1 with every GEAR_RATIO accumulation register overflow. NOTE:  Whether XTARGET is increased or decreased is determined similarly to the direct electronic gearing control. The accumulation register overflow direction indicates the target alteration. Respectively, the accumulation direction is determined by the GEAR_RATIO sign, by pol_dir_in, and by DIRIN.  Consecutive input steps must occur with a distance of minimum 64 clock cycles. i This feature allows a synchronized motion of different positioning ramps for different TMC4331A chips with differently configured ramps. In order to select indirect external control, do as follows: Action:  Set sdin_mode ≠ b’00 according to the required external control option.  Set sd_indirect_control = 1 (GENERAL_CONF register 0x00). Result: As soon as an external step is generated, XTARGET is increased or decreased, according to the accumulation direction. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Switching from External to Internal Control 49/179 In some cases, it is useful to switch from external to internal ramp generation during motion. TMC4331A supports a smooth transfer from direct external control to an internal ramp. The only parameter you need to know and apply is the current velocity when the switching occurs. In more detail, this means that when the external control is switched off, VSTART takes over the definition of the actual velocity value. The ramp direction is then selected automatically. The time step of the last internal step is also taken into account in order to provide a smooth transition from external to internal ramp control. In order to select automatic switching from external to internal control, do as follows: PRECONDITION (EXTERNAL DIRECT CONTROL IS ACTIVE): Action:  Set sdin_mode ≠ b’00 (GENERAL_CONF register 0x00).  Set sd_indirect_control = 0 (GENERAL_CONF register 0x00).  Set ASTART = 0 (register 0x2A). PROCEED WITH: Action:  Set automatic_direct_sdin_switch_off = 1 (GENERAL_CONF register 0x00) once before switching to internal control.  Continually adapt VSTART register 0x25 according to the actual velocity of the TMC4331A that must be calculated in the µC.  If switching must be prompted, set sdin_mode = b’00. Result: The internal ramp velocity is started with the value of VSTART, and the direction is set automatically on the basis of the external steps that have occurred before. Smooth Switching for S-shaped Ramps In order to also support a smooth S-shaped ramp transition - when the external step control is switched off - the starting acceleration value can also be set separately at ASTART register 0x2A. i In contrast to the automatic direction assignment, the sign of ASTART must be set manually. In order to select automatic switching from external to internal control with a starting acceleration value, do as follows: PRECONDITION (EXTERNAL DIRECT CONTROL IS ACTIVE): Action:  Set sdin_mode ≠ b’00 (GENERAL_CONF register 0x00).  Set sd_indirect_control = 0 (GENERAL_CONF register 0x00). PROCEED WITH: Action:  Set automatic_direct_sdin_switch_off = 1 once before switching to internal control.  Continually adapt VSTART register 0x25 according to the actual velocity of the TMC4331A — that must be calculated in the µC.  Continually adapt ASTART according to the actual acceleration (unsigned value) of the TMC4331A — that must be calculated in the µC.  Continually set ASTART(31) = 0 or 1 according to the acceleration direction.  If switching must be prompted, set sdin_mode = b’00. Result: The internal ramp velocity is started with the value of VSTART, and the direction is set automatically on the basis of the external steps that have occurred before. The internal acceleration value is set to: +ASTART if ASTART(31) = 0 or –ASTART if ASTART(31) = 1. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 8. 50/179 Reference Switches The reference input signals of the TMC4331A function partly as safety features. The TMC4331A provides a range of reference switch settings that can be configured for many different applications. The TMC4331A offers two hardware switches (STOPL, STOPR) and two additional virtual stop switches (VIRT_STOP_LEFT, VIRT_STOP_RIGHT). A home reference switch HOME_REF is also available. Pins used for Reference Switches Pin Names Type Remarks STOPL Input Left reference switch. STOPR Input Right reference switch. HOME_REF Input Home switch. TARGET_REACHED Output Reference switch to indicate XACTUAL=XTARGET. Table 22: Pins used for Reference Switches Dedicated Registers for Reference Switches Register Name Register Address Remarks REFERENCE_CONF 0x01 RW Configuration of interaction with reference pins. HOME_SAFETY_MARGIN 0x1E RW Region of uncertainty around X_HOME. DSTOP 0x2C RW Deceleration value if stop switches STOPL / STOPR or virtual stops are used with soft stop ramps. The deceleration value allows for an automatic linear stop ramp. POS_COMP 0x32 RW Free configurable compare position; signed; 32 bits. VIRT_STOP_LEFT 0x33 RW VIRT_STOP_RIGHT 0x34 RW X_HOME 0x35 RW Home reference position; signed; 32 bits. X_LATCH 0x36 RW Stores XACTUAL at different conditions; signed; 32 bits. Virtual left stop that triggers a stop event at XACTUAL ≤ VIRT_STOP_LEFT; signed; 32 bits. Virtual left stop that triggers a stop event at XACTUAL ≥ VIRT_STOP_RIGHT; signed; 32 bits. Table 23: Dedicated Registers for Reference Switches © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 51/179 Hardware Switch Support The TMC4331A offers two hardware switches that can be configured according to your design. STOPL and STOPR The hardware provides a left and a right stop in order to stop the drive immediately in case one of them is triggered. Therefore, pin 12 and pin 14 of the motion controller must be used. NOTE:  Both switches must be enabled before motion occurs. In order to enable STOPL correctly, do as follows: Action:  Determine the active polarity voltage of STOPL and set (REFERENCE_CONF register 0x01) accordingly.  Set stop_left_en =1 (REFERENCE_CONF register 0x01). pol_stop_left Result: The current velocity ramp stops in case the STOPL voltage level matches pol_stop_left and VACTUAL < 0. In order to enable STOPR correctly, do as follows: Action:  Determine the active polarity voltage of STOPR and set pol_stop_right (REFERENCE_CONF register 0x01) accordingly.  Set stop_right_en =1 (REFERENCE_CONF register 0x01). Result: The current velocity ramp stops in case STOPR voltage level matches pol_stop_right and VACTUAL > 0. Stop Slope Configuration for Hard or Linear Stop Slopes The stop slope can be configured for hard or linear stop slopes. Per default, hard stops are selected. If hard stops are required, do as follows: OPTION 1: HARD STOP SLOPES Action:  Set soft_stop_en =0 (REFERENCE_CONF register 0x01). Result: If one of the stop switches is active and enabled, the velocity ramp is set immediately to VACTUAL = 0. OPTION 2: LINEAR STOP SLOPES If linear stop ramps are required: Action:  Set proper DSTOP > max(DMAX; DFINAL) (register 0x2C).  Set soft_stop_en =1 (REFERENCE_CONF register 0x01). Result: If one of the stop switches is active and enabled, the velocity ramp is stopped with a linear deceleration slope until VACTUAL = 0 is reached. In this case the deceleration factor is determined by DSTOP. VSTOP is not considered during the stop deceleration slope. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 How Active Stops are indicated and reset to Free Motion 52/179 When a enabled stop switch becomes active the related status flag is set in the STATUS flags register 0x0F. The flag remains active as long as the stop switch remains active. The particular event is also released in the EVENTS register 0x0E, which remains active until the event bit is reset manually. When VACTUAL = 0 is reached after the stop event no motion toward this particular direction is possible. In order to move into the locked direction, the following is required: PRECONDITION 1: The particular stop switch is NOT active anymore. AND/OR PRECONDITION 2: The stop switch is disabled (stop_left/right_en = 0). Action:  Set back the active event by reading out or writing to the EVENTS register 0x0E. i See further information about clearing events provided in section 5.1. , Page 21. Result: The active stop event is reset to free motion into the locked direction. How to latch Internal Position on Switch Events It is possible to select four different events to store the current internal position XACTUAL in the register X_LATCH. The table below show which transition of the reference signal leads to the X_LATCH transfer. For each transition process the specified reference configurations in the REFERENCE_CONF register 0x01 must be set accordingly. Reference Configuration pol_stop_left=0 pol_stop_left=1 pol_stop_right=0 pol_stop_right=1 latch_x_on_inactive_l=1 STOPL=0  1 STOPL=1  0 --- --- latch_x_on_active_l=1 STOPL=1  0 STOPL=0  1 --- --- latch_x_on_inactive_r=1 --- --- STOPR=0  1 STOPR = 10 latch_x_on_active_r=1 --- --- STOPR=1  0 STOPR = 01 Table 24: Reference Configuration and Corresponding Transition of particular Reference Switch Interchange the Reference Switches without Physical Reconnection If you need to change the directions of the reference switches, do as follows: Action:  Set invert_stop_direction = 1 (REFERENCE_CONF register 0x01). Result: STOPL is now the right reference switch and STOPR is now the left reference switch. Consequently, all configuration parameters for STOPL become valid for STOPR and vice versa. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 53/179 Virtual Stop Switches TMC4331A provides additional virtual limits; which trigger stop slopes in case the specific virtual stop switch microstep position is reached. Virtual stop positions are assigned using the VIRTUAL_STOP_LEFT register 0x33 and VIRTUAL_STOP_RIGHT register 0x34. In this section, configuration details for virtual stop switches are provided for various design-in purposes. NOTE:  Virtual stop switches must be enabled in the same manner as nonvirtual reference switches. Hitting a virtual limit switch - by receiving the assigned position - triggers the same process as hitting STOPL or STOPR. Enabling Virtual Stop Switches In order to enable left virtual stop correctly, do as follows: Action:  Set VIRTUAL_STOP_LEFT register 0x33 according to left stop position.  Set virtual_left_limit_en =1 (REFERENCE_CONF register 0x01). Result: The actual velocity ramp stops in case XACTUAL ≤ VIRT_STOP_LEFT. The ramp is stopped according to the selected ramp type. In order to enable right virtual stop correctly, do as follows: Action:  Set VIRTUAL_STOP_RIGHT register 0x34 according to right stop position.  Set virtual_right_limit_en =1 (REFERENCE_CONF register 0x01). Result: The actual velocity ramp stops in case XACTUAL ≥ VIRT_STOP_RIGHT. The ramp is stopped according to the selected ramp type. The virtual stop slope can also be configured for hard or linear stop slopes. Virtual Stop Slope Configuration If virtual hard stops are required, do as follows: Action:  Set virt_stop_mode = b’01 (REFERENCE_CONF register 0x01). Result: If one of the virtual stop switches is active and enabled, the velocity ramp will be set immediately to VACTUAL = 0. If virtual linear stop ramps are required, do as follows: Action:  Set proper DSTOP > max(DMAX; DFINAL) (register 0x2C).  Set virt_stop_mode = b’10 (REFERENCE_CONF register 0x01). Result: If one of the virtual stop switches is active and enabled, the velocity ramp is stopped with a linear deceleration slope until VACTUAL = 0 is reached. In this case the deceleration factor is determined by DSTOP. VSTOP is not considered during the stop deceleration slope.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 How Active Virtual Stops are indicated and reset to Free Motion 54/179 At the same time when an enabled virtual stop switch becomes active the related status flag is activated in the STATUS flags register 0x0F. The flag remains active as long as the stop switch remains active. The particular event is also released in the EVENTS register 0x0E, which remains active until the event is reset manually. When VACTUAL = 0 is reached after the stop event no motion in the particular direction is possible. In order to move into the locked direction, the following is required: PRECONDITION 1: The particular stop switch is NOT active anymore because the actual position does not exceed the specified limit. AND/OR PRECONDITION 2: Virtual stop switch is disabled (virtual_left/right_limit_en = 0). Action:  Set back active event by reading out or writing to the EVENTS register 0x0E. i See further information about clearing events provided in section 5.1. , Page 21. Result: The active virtual stop event bit is reset to free motion into the direction that was locked beforehand. i invert_stop_direction has VIRTUAL_STOP_RIGHT. no influence on VIRTUAL_STOP_LEFT © 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 173.  MAIN MANUAL  and TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 55/179 Home Reference Configuration In this section home reference switch handling is explained with information about home tracking modes, possible home event configurations and home event monitoring. Switch Reference Input HOME_REF For monitoring, the switch reference input HOME_REF is provided. Perform the following to initiate the homing process: Action:  Assign a ramp according to your needs for the homing process.  Enable the home tracking mode with start_home_tracking = 1 (REFERENCE_CONF register 0x01).  Set the correct home_event (REFERENCE_CONF register 0x01) for the HOME_REF input pin (see table below).  Start the ramp towards the home switch HOME_REF. Result:  When the next home event is recognized by TMC4331A, XACTUAL is latched to X_HOME.  At the same time, the start_home_tracking switch is disabled automatically in case XLATCH_DONE event is cleared.  The XLATCH_DONE event is released in the events register 0x0E. This event can be used for an interrupt routine for the homing process in order to avoid polling. i X_HOME can be overwritten manually. Eight different home events are possible. Home Event Selection i Home events are related to the voltage levels of the HOME_REF input pin: Home Event Selection Table Description X_HOME (direction: negative / positive) b’0011 HOME_REF = 0 indicates negative direction in reference to X_HOME HOME_REF b’1100 HOME_REF = 0 indicates positive direction in reference to X_HOME HOME_REF b’0110 X_HOME in center HOME_REF X_HOME on the left side HOME_REF b’0100 X_HOME on the right side HOME_REF b’1001 X_HOME in center HOME_REF X_HOME on the right side HOME_REF X_HOME on the left side HOME_REF home_event b’0010 b’1011 b’1101 HOME_REF = 1 indicates home position HOME_REF = 0 indicates home position 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Table 25: Overview of different home_event Settings © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 56/179 HOME_REF Monitoring An error flag HOME_ERROR_F is permanently evaluated. This error flag indicates whether the current voltage level of the HOME_REF reference input is valid in regard to X_HOME and the selected home_event. Defining a Home Range around HOME_REF In order to avoid false error flags (HOME_ERROR_F) because of mechanical inaccuracies, it is possible to setup an uncertainty home range around X_HOME. In this range, the error flag is not evaluated. If you want to define an uncertainty area around X_HOME, do as follows: Action:  Set HOME_SAFETY_MARGIN register 0x1E according to the required range [ustep]. Result: The homing uncertainties – related to the special application environment – are considered for the ongoing motion. The error flag is NOT evaluated in the following range: X_HOME − HOME_SAFETY_MARGIN ≤ XACTUAL ≤ X_HOME + HOME_SAFETY_MARGIN NOTE:  It is recommended to assign to a higher range value for HOME_SAFETY_MARGIN in which the HOME_REF level is active for the home_events b’0110, b’0010, b’0100, b’1001, b’1011, and b’1101. It avoids false positive HOME_ERROR_Flags.  The following examples illustrate the points at which the error flag is release – based on the selected home_event – here for home_event = b’0011 (*), b’1100 (**), b’0110 (***), b’0010 (***), b’0100 (***), b’1001 (****), b’1011 (****), and b’1101 (****). HOME_SAFETY_MARGIN HOME_SAFETY_MARGIN X_HOME X_HOME HOME_REF HOME_REF HOME_ERROR_Flag * HOME_ERROR_Flag * HOME_ERROR_Flag ** HOME_ERROR_Flag ** HOME_ERROR_Flag *** HOME_ERROR_Flag *** HOME_ERROR_Flag **** HOME_ERROR_Flag **** Figure 32: HOME_REF Monitoring and HOME_ERROR_FLAG STOPL and STOPR inputs can also be used as HOME_REF inputs. Homing with STOPL or STOPR OPTION 1: STOPL IS THE HOME SWITCH Action:  Set stop_left_is_home = 1 (REFERENCE_CONF register 0x01). Result: The stop event at STOPL only occurs when the home range is crossed after STOPL becomes active. The home range is given by X_HOME and HOME_SAFETY_MARGIN. OPTION 2: STOPR IS HOME SWITCH Action:  Set stop_right_is_home = 1 (REFERENCE_CONF register 0x01). Result: The stop event at STOPR only occurs when the home region is crossed after STOPR becomes active. The home region is given by X_HOME and HOME_SAFETY_MARGIN. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 57/179 Target Reached / Position Comparison In this section, TARGET_REACHED output pin configuration options are explained, as well as different ways how to compare different values internally. Target Reached Output Pin TARGET_REACHED output pin forwards the TARGET_REACHED_Flag. As soon as XACTUAL equals XTARGET, TARGET_REACHED is active. Per default, the TARGET_REACHED pin is high active. To change the TARGET_REACHED output polarity, do the following: Action:  Set invert_pol_target_reached = 1 (bit16 of the GENERAL_CONF register 0x00). Result: TARGET_REACHED pin is low active. Connecting several Target-reached Pins TARGET_REACHED pins can also be configured for a shared signal line in the same way as several INTR pins can configured for one interrupt signal transfer – see section 5.4. (page 23). To use a Wired-Or or Wired-And behavior, the below described order of action must be executed: Action:  Step 1: Set intr_tr_pu_pd_en = 1 (GENERAL_CONF register 0x00). OPTION 1: WIRED-OR Action:  Step 2: Set tr_as_wired_and = 0 (GENERAL_CONF register 0x00). Result: The TARGET_REACHED pin works efficiently as Wired-Or (default configuration). i In case TARGET_REACHED pin is inactive, the pin drive has a weak inactive polarity output. During active state, the output is driven strongly. Consequently, if one of the connected pins is activated, the whole line is set to active polarity. OPTION 2: WIRED-AND Action:  Step 2: Set tr_as_wired_and = 1 (GENERAL_CONF register 0x00). Result: As long as the target position is not reached, the TARGET_REACHED pin has a strong inactive polarity output. During active state, the pin drive has a weak active polarity output. Consequently, the whole signal line is activated if all connected pins are forwarding the active polarity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 58/179 Use of TARGET_REACHED Output Per default, TARGET_REACHED pin forwards the TARGET_REACHED_Flag that signifies XACTUAL = XTARGET. The pin can also be used to forward two other flags: VELOCITY_REACHED_Flag, POS_COMP_REACHED_Flag. NOTE:  Only one option can be selected. Three Options for TARGET_REACHE D The TARGET_REACHED output REFERENCE_CONF register 0x01. pin configuration switch is available at The available optons are as follows: TARGET_REACHED Output Pin Configuration If pos_comp_output equals … Then TARGET_REACHED forwards… b’00 TARGET_REACHED_Flag b’01 VELOCITY_REACHED_Flag b’11 POS_COMP_REACHED_Flag Table 26: TARGET_REACHED Output Pin Configuration Position Comparison of Internal Values TMC4331A provides several ways of comparing internal values. The position comparison process is permanently active and associated with one flag and one event. A positive comparison result can be forwarded through the INTR pin using the POS_COMP_REACHED event as interrupt source or by using the TARGET_REACHED pin as explained before. Basic Comparison Settings How to compare the internal position with an arbitrary value: Action:  Select a comparison value in the POS_COMP register 0x32.  Select pos_comp_source = 0 (REFERENCE_CONF register 0x01). Result: XACTUAL is compared with POS_COMP. When POS_COMP equals XACTUAL the POS_COMP_REACHED_Flag becomes set and the POS_COMP_REACHED event becomes released. In addition to comparing XACTUAL with POS_COMP, it is also possible to conduct a comparison of one of both parameters with X_HOME or X_LATCH. TMC4331A also allows comparison of the revolution counter REV_CNT against POS_COMP. Comparison selection grid SETTINGS ALERT ! Only the selected combination generates the POS_COMP_REACHED_Flag and the corresponding event. Therefore, select modified_pos_compare in the REFERENCE_CONF register 0x01 as outlined in the table below: Comparison Selection Grid modified_pos_compare POS_COMP_REACHED_Flag is based on… ‘00’ XACTUAL vs. POS_COMP ‘01’ XACTUAL vs. X_HOME ‘10’ XACTUAL vs. X_LATCH ‘11’ REV_CNT vs. POS_COMP Table 27: Comparison Selection Grid to generate POS_COMP_REACHED_Flag © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 59/179 Repetitive and Circular Motion TMC4331A also provides options for auto-repetitive or auto-circular motion. In this section configuration options are explained. Repetitive Motion to XTARGET Per default, reaching XTARGET in positioning mode finishes a positioning ramp. In order to continuously repeat the specified ramp, do as follows: PRECONDITION:  Set RAMPMODE(2) = 1 (positioning mode is active).  Configure a velocity ramp according to your requirements. Action:  Set clr_pos_at_target =1 (REFERENCE_CONF register 0x01). Result: After XTARGET is reached (TARGET_REACHED_Flag is active), XACTUAL is set to 0. As long as XTARGET is NOT 0, the ramp restarts in order to reach XTARGET again. This leads to repetitious positioning ramps from 0 towards XTARGET. NOTE:  It is possible to change XTARGET during repetitive motion. The reset of XACTUAL to 0 is always executed when XACTUAL equals XTARGET. Activating Circular Motion If circular motion profiles are necessary for your application, TMC4331A offers a position limitation range of XACTUAL with an automatic overflow processing. As soon as XACTUAL reaches one of the two position range limits (positive / negative), the value of XACTUAL is set automatically to the value of the opposite range limit. In order to activate circular motion, do as follows: PRECONDITION: If you want to activate circular motion, XACTUAL must be located within the defined range. PROCEED WITH: Action:  Set X_RANGE ≠ 0 (register 0x36, only writing access!).  Set circular_motion = 1 (REFERENCE_CONF register 0x01). Result: The positioning range of XACTUAL is limited to: −X_RANGE ≤ XACTUAL < X_RANGE. When XACTUAL reaches the most positive position ( X_RANGE – 1) and the motion proceeds in positive direction; the next XACTUAL value is set to −X_RANGE. The same applies to proceeding in negative direction; where (X_RANGE – 1) is the position after −X_RANGE. i During positioning mode, the motion direction will be dependent on the shortest path to the target position XTARGET. For example, if XACTUAL = 200, X_RANGE = 300 and XTARGET = −200, the positioning ramp will find its way across the overflow position (299  −300) (see Figure A) in Table 28 (page 62). © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Uneven or Noninteger Microsteps per Revolution Due to definition of the limitation range, one revolution only consists of an even number of microsteps. TMC4331A provides an option to overcome this limitation.     Example 1: Uneven Number of Microsteps per Revolution 60/179 Some applications demand different requirements because a revolution consists of an uneven or noninteger number of microsteps. TMC4331A allows a high adjustment range of microsteps by using: CIRCULAR_DEC register 0x7C. This value represents one digit and 31 decimal places as extension for the number of microsteps per one revolution. A revolution is completed at overflow position. With every completed revolution the CIRCULAR_DEC value is added to an internal accumulation register. In case this register has an overflow, XACTUAL remains at its overflow position for one step. On average, this leads to the following microsteps per revolution: Microsteps/rev = (2 · X_RANGE) + CIRCULAR_DEC / 231. One revolution consists of 601 microsteps. A definition of X_RANGE = 300 will only provide: 600 microsteps per revolution (−300 ≤ XACTUAL ≤ 299). Whereas X_RANGE = 301 will result in: 602 microsteps per revolution (−301 ≤ XACTUAL ≤ 300). By setting: CIRCULAR_DEC = 0x80000000 (= 231 / 231 = 1). An overflow is generated at the decimals accumulation register with every revolution. Therefore, XACTUAL prolongs the step at the overflow position for one step every time position overflow is overstepped. This results in a microstep count of 601 per revolution. Example 2: Noninteger Number of Microsteps per Revolution One revolution consists of 600.5 microsteps. Example 3: Noninteger and uneven Number of Microsteps per Revolution One revolution consists of 601.25 microsteps. By setting: CIRCULAR_DEC = 0x40000000 (= 230 / 231 = 0.5). Every second revolution an overflow is produced at the decimals’ accumulation register. This leads to a microstep count of 600 every second revolution and 601 for the other half of the revolutions. On average, this leads to 600.5 microsteps per revolution. By setting: CIRCULAR_DEC = 0xA0000000 (= (231 + 229) / 231 = 1.25). With every revolution an overflow is produced at the decimals’ accumulation register. Furthermore, at every fourth revolution an additional overflow occurs, which leads to another prolonged step. This leads to a microstep count of 601 for three of four revolutions and 602 for every fourth revolution. On average, this results in 601.25 microsteps per revolution. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Release of the Revolution Counter 61/179 By overstepping the position overflow, the internal REV_CNT register is increased by one revolution as soon as XACTUAL oversteps from (X_RANGE – 1) to -X_RANGE or is decreased by one revolution as soon as XACTUAL oversteps in the opposite direction. The information about the number of revolutions can be obtained by reading out register 0x36, which by default is the X_LATCH register (read only). In order to gain information on the number of revolutions: Action:  Set circular_cnt_as_xlatch = 1 (GENERAL_CONF register 0x00). Result: Register 0x36 cease to display the X_LATCH value. Instead, the revolution counter REV_CNT can be read out at this register address. NOTE:  As soon as circular motion is inactive (circular_motion=0), REV_CNT is reset to 0. Blocking Zones Activating Blocking Zones during Circular Motion During circular motion, virtual stops can be used to set blocking zones. Positions inside these blocking zones are NOT dedicated for motion. In order to activate the blocking zone, do as follows: PRECONDITION: Circular motion (X_RANGE ≠ 0). is activated (circular_motion = 0) and properly assigned PROCEED WITH: Action:  Set VIRTUAL_STOP_LEFT register 0x33 as left limit for the blocking zone.  Set VIRTUAL_STOP_RIGHT register 0x34 as right limit for the blocking zone.  Enable both virtual limits as explained in section 8.2.1 (page 53). Result: The blocking zone reaches from VIRTUAL_STOP_LEFT to VIRTUAL_STOP_RIGHT. During positioning, the path from XACTUAL to XTARGET does not lead through the blocking zone; which can result in a longer path compared to the direct path through the blocking zone (see Figure B1 in Table 28 (page 62). However, the selected virtual stop deceleration ramp is initiated as soon as one of the limits is reached. This can result from the velocity mode or if the target XTARGET is located in the blocking zone.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Blocking Zone Definition 62/179 The following positions are located within the blocking zone: XACTUAL ≤ VIRT_STOP_LEFT AND / OR XACTUAL ≥ VIRT_STOP_RIGHT NOTE:  In case VIRTUAL_STOP_LEFT < VIRTUAL_STOP_RIGHT, one of these conditions must be met in order to be located inside the blocking zone.  In case VIRTUAL_STOP_LEFT > VIRTUAL_STOP_RIGHT, both conditions must be met in order to be located inside the blocking zone. Circular Motion with and without Blocking Zone The table below shows circular motion (X_RANGE = 300). The green arrow depicts the path which is chosen for positioning. The shortest path selection is shown in Figure A and the consideration of blocking zones are shown in Figures B1 and B2. Circular Motion with (B1, B2) and Without (A) Blocking Zone A B1 0 0 PL=-2 90 VS TO 20 =2 PR Short path -200 TO VS VSTOPL=140 TO -300 299 Long path (but free) VS 200 Long path (and blocked) PR =7 0 0 Long path -200 B2 -300 299 200 Short path (but blocked) 200 -200 -300 299 Short path Table 28: Circular motion (X_RANGE = 300) Moving out of the Blocking Zone When XACTUAL is located inside the blocking zone, it is possible to move out without redefining the blocking zone. In order to get out of the blocking zone, do the following: Action:  Activate positioning mode: RAMPMODE(2) = 1.  Configure velocity ramp according to your needs.  Clear virtual stop events by reading out EVENTS register 0x0E.  Set regular target position XTARGET outside of the blocking zone. Result: TMC4331A initiates a ramp with the shortest way to the target XTARGET. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 9. 63/179 Ramp Timing and Synchronization TMC4331A provides various options to initiate a new ramp. By default, every external register change is assigned immediately to the internal registers via an SPI input. With a proper start configuration, ramp sequences can be programmed without any intervention in between. Synchronization Opportunities Three levels of ramp start complexity are available. Predefined ramp starts are available, which are independent of SPI data transfer that are explained in the subsequent section 9.1. (page 64). Two optional features can be configured that can either be used individually or combined, which are as follows: Shadow Register Set A complete shadow motion register set can be loaded into the actual motion registers in order to start the next ramp with an altered motion profile. Target Position Pipeline Different target positions can be predefined, which are then activated successively. This pipeline can be configured as cyclic; and/or it can also be utilized to sequence different parameters. Masterless Synchronization Also, another start state “busy” can be assigned in order to synchronize several motion controllers for one single start event without a master. Dedicated Ramp Timing Pins Pin Names Type Remarks START Input and Output External start input to get a start signal or external start output to indicate an internal start event. Table 29: Dedicated Ramp Timing Pins Dedicated Ramp Timing Registers Register Name Register Address Remarks START_CONF 0x02 RW The configuration register of the synchronization unit. START_OUT_ADD 0x11 RW Additional active output length of external start signal. START_DELAY 0x13 RW Delay time between start triggers and start signal. X_PIPE0… 7 0x38…0x3F RW Target positions pipeline and/or parameter pipeline. SH_REG0…12 0x40…0x4C RW Shadow register set Table 30: Dedicated Ramp Timing Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 64/179 Basic Synchronization Settings Usually, a ramp can be initiated internally or externally. Note that a start trigger is not the start signal itself but the transition slope to the active start state. After a defined delay, the internal start signal is generated. Start Signal Trigger Selection For ramp start configuration, consider the following steps: Action:  Choose internal or external start trigger(s).  Set the triggers according to the table below. i All triggers can be used separately or in combination. Start Trigger Configuration Table trigger_events = Result START_CONF(8:5) b’0000 b’xxx0 b’xxx1 No start signal will be generated or processed further. Set trigger_events(0) = 0 for internal start triggers only. The internally generated start signal is forwarded to the START pin that is assigned as output. Set trigger_events(0) = 1 for an external start trigger. The START pin is assigned as input. For START input take filter settings into consideration. See chapter 4, page 17. b’xx1x TARGET_REACHED event is assigned as start signal trigger for the ramp timer. b’x1xx VELOCITY_REACHED event is assigned as start signal trigger for the ramp timer. b’1xxx POSCOMP_REACHED event is assigned as start signal trigger for the ramp timer. Table 31: Start Trigger Configuration User-specified Impact Configuration of Timing Procedure Per default, every SPI datagram is processed immediately. By selecting one of the following enable switches, the assignment of SPI requests to registers XTARGET, VMAX, RAMP_MODE, and GEAR_RATIO is uncoupled from the SPI transfer. The value assignment is only processed after an internally generated start signal. In order to influence the impact of the start signal on internal parameter assignments, do the following: Action:  Choose between the following options as shown in the table below. Start Enable Switch Configuration Table (All switches can be used separately or in combination.) start_en = START_CONF(4:0) Result b’xxxx1 XTARGET is altered only after an internally generated start signal. b’xxx1x VMAX is altered only after an internally generated start signal. b’xx1xx RAMPMODE is altered only after an internally generated start signal. b’x1xxx GEAR_RATIO is altered only after an internally generated start signal. b’1xxxx Shadow register is assigned as active ramp parameters after an internally generated start signal. This is explained in more detail in section 9.2. (page 69). Table 32: Start Enable Switch Configuration © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 65/179 Per default, the trigger is closely followed by the internal start signal. Delay Definition between Trigger and internally generated Start Signal In order to delay the generation of the internal start signal, do the following: Action:  Set START_DELAY register 0x13 according to your specification. Result: When a start trigger is recognized, the internal start signal is generated after START_DELAY clock cycles. Prioritizing External Input Per default, an external trigger is also delayed for the internal start signal generation. In order to immediately prompt an external start, trigger to an internally generated start signal (regardless of a defined delay), do the following: Action:  Set immediate_start_in = 1 (START_CONF register 0x02). Result: When an external start trigger is recognized, the internal start signal is generated immediately, even if the internal start triggers have already initiated a timing process with an active delay. START Pin Polarity The START pin can be used either as input or as output pin. However, the active voltage level polarity of the START pin can be selected with one configuration switch in the START_CONF register 0x02. Per default, the voltage level transition from high to low triggers a start signal (START is an input), or START output indicates an active START event by switching from high to low level. In order to invert active START polarity, do as follows: Action:  Set pol_start_signal = 1 (START_CONF register 0x02). Result: The START pin is high active. The voltage level transition from low to high triggers a start signal (START is an input), or START output indicates an active START event by switching from low to high level. Per default, the active output voltage level of the START pin lasts one clock cycle. Active START Pin Output Configuration In order to extend this time span, do the following: Condition:  START pin is assigned as output: trigger_events(0) = 1. Action:  Set START_OUT_ADD register 0x11 according to your specification. Result: The active voltage level lasts (START_OUT_ADD + 1) clock cycles. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 66/179 The following three examples depict SPI datagrams, internal and external signal levels, corresponding velocity ramps, and additional explanations. SPI data is transferred internally at the end of each datagram. Ramp Timing Examples Ramp Timing Example 1 In this example, the velocity value change is executed immediately. Process Description     The new XTARGET value is assigned after TARGET_REACHED has been set and START_DELAY has elapsed. A new ramp does not start at the end of the second ramp because no new XTARGET value is assigned. START is an output. Internal start signal forwards with a step length of (START_OUT_ADD + 1) clock cycles. This is how external devices can be synchronized: Parameter Settings Timing Example 1 Parameter Setting RAMPMODE b’101 start_en b’00001 trigger_events b’0010 START_DELAY >0 START_OUT_ADD >0 pol_start_signal 1 Table 33: Parameter Settings Timing Example 1 SPI VMAX =2000 XTARGET =2000 v(t) 2000 XACTUAL=2000 XACTUAL=1800 1000 trigger event t trigger event TARGET_REACHED VMAX_REACHED START_DELAY internal start timer START_DELAY internal start signal START START_OUT_ADD START_OUT_ADD Figure 33: Ramp Timing Example 1 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Ramp Timing Example 2 67/179 In this example, the velocity value and the ramp mode value change is executed after the first start signal.   Process Description The new ramp mode becomes positioning mode with S-shaped ramps. The ramp then stops at target position XTARGET because of the ramp mode change. A further XTARGET change starts the ramp again. The ramp is initiated as soon as the start delay is completed, which was triggered by the first TARGET_REACHED event. The active START output signal lasts only one clock cycle.    Parameter Settings Timing Example 2 Parameter Setting RAMPMODE b’001  b’110 start_en b’00111 trigger_events b’0110 START_DELAY >0 START_OUT_ADD 0 pol_start_signal 0 Table 34: Parameter Settings Timing Example 2 SPI XTARGET =2000 VMAX =1000 RAMPMODE =110 VMAX =2250 XTARGET =2000 v(t) 2000 1000 XACTUAL=2000 t trigger event TARGET_REACHED trigger event trigger event VMAX_REACHED internal start timer START_DELAY START_DELAY internal start signal START Figure 34: Ramp Timing Example 2 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Ramp Timing Example 3 68/179 In this example external start signal triggers are prioritized by making use of START_DELAY > 0 and simultaneously setting immediate_start_in to 1.  Process Description  When XACTUAL equals POSCOMP the start timer is activated and the external start signal in between is ignored. The second start event is triggered by an external start signal. The POSCOMP_REACHED event is ignored. The third start timer process is disrupted by the external START signal, which is forced to be executed immediately due to the setting of: immediate_start_in = 1. Parameter Settings Timing Example 3 Parameter Setting RAMPMODE b’000 start_en b’00010 trigger_events b’1001 immediate_start_in 01 START_DELAY >0 pol_start_signal 1 Table 35: Parameter Settings Timing Example 3 SPI VMAX = -1000 VMAX =250 VMAX =1000 immediate_start_in =1 VMAX = -250 START v(t) ignored trigger event due to ongoing start timer trigger event trigger event 1000 t XACTUAL=POSCOMP XACTUAL=POSCOMP -1000 ignored trigger event due to ongoing start timer trigger event POSCOMP_REACHED internal start timer START_DELAY START_DELAY internal start signal Figure 35: Ramp Timing Example 3 © 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 173.  MAIN MANUAL  trigger event TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 69/179 Shadow Register Settings Some applications require a complete new ramp parameter set for a specific ramp situation / point in time. TMC4331A provides up to 14 shadow registers, which are loaded into the corresponding ramp parameter registers after an internal start signal is generated. Enabling Shadow Registers In order to enable shadow registers, do as follows: Action  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02), see section 9.1.2 (page 64). Result: With every successive internal start signal the shadow registers are loaded into the corresponding active ramp register. Enabling Cyclic Shadow Registers It is also possible to write back the current motion profile into the shadow motion registers to swap ramp motion profiles continually. In order to enable cyclic shadow registers, do as follows: Action  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02) , see section 9.1.2 (page 64).  Set cyclic_shadow_regs = 1 (START_CONF register 0x02). Result: With every successive internal start signal the shadow registers are loaded into the corresponding active ramp register, whereas the active motion profile is loaded into the shadow registers.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Shadow Register Configuration Options Option 1: Shadow Default Configuration 70/179 Four different optional shadow register assignments are available to match the shadow register set according to your selected ramp type. The available options are described on the next pages. Please note that the only difference between the configuration of shadow option 3 and 4 is that VSTART is exchanged by VSTOP for the transfer of the shadow registers. i If the whole ramp register is needed to set in a single level stack, do as follows: Action:  Set shadow_option = b’00 (START_CONF register 0x02).  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02) Action:  Default config:  Optional config: Set cyclic_shadow_regs = 0 (START_CONF register 0x02) Set cyclic_shadow_regs = 1 (START_CONF register 0x02) Result: Every relevant motion parameter is altered at the next internal start signal by the corresponding shadow register parameter. In case cyclic shadow registers are used, the shadow register set is altered by the current motion profile set. 20 24 25 26 27 28 29 2A 2B 2D 2E 2F 30 RAMPMODE VMAX VSTART VSTOP VBREAK AMAX DMAX ASTART DFINAL BOW1 BOW2 BOW3 BOW4 4C 40 46 47 45 41 42 43 44 48 49 4A 4B SH_REG12 SH_REG0 SH_REG6 SH_REG7 SH_REG5 SH_REG1 SH_REG2 SH_REG3 SH_REG4 SH_REG8 SH_REG9 SH_REG10 SH_REG11 20 24 25 26 27 28 29 2A 2B 2D 2E 2F 30 RAMPMODE VMAX VSTART VSTOP VBREAK AMAX DMAX ASTART DFINAL BOW1 BOW2 BOW3 BOW4 4C 40 46 47 45 41 42 43 44 48 49 4A 4B SH_REG12 SH_REG0 SH_REG6 SH_REG7 SH_REG5 SH_REG1 SH_REG2 SH_REG3 SH_REG4 SH_REG8 SH_REG9 SH_REG10 SH_REG11 Caption xx XXXX Register address Register name cyclic_shadow_reg=0 cyclic_shadow_reg=1 Figure 36: Single-level Shadow Register Option to replace complete Ramp Motion Profile. i i AREAS OF SPECIAL CONCERN ! Green arrows show default settings Blue arrows show optional settings. In case an S-shaped ramp type is selected and operation mode is switched from velocity to positioning mode (triggered by shadow register transfer), SH_REG10 must not be equal to BOW3; to ensure safe operation mode switching.  On the following pages more options are explained. Pleae turn page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Option 2: Double-stage Shadow Register Set for S-shaped Ramps 71/179 In case S-shaped ramps are configured, a double-stage shadow register set can be used. Seven relevant motion parameters for S-shaped ramps are affected when the shadow registers become active. In order to use a double-stage shadow register pipeline for S-shaped ramps, do as follows: Action:  Set shadow_option = b’01 (START_CONF register 0x02).  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02). Action:  Default configuration: Set cyclic_shadow_regs = 0 (START_CONF register 0x02).  Optional configuration: Set cyclic_shadow_regs =1 (START_CONF register 0x02) Result: Seven motion parameters (VMAX, AMAX, DMAX, BOW1...4) are altered at the next internal start signal by the corresponding shadow register parameters (SH_REG0...6). Simultaneously, these shadow registers are exchanged with the parameters of the second shadow stage (SH_REG7…13). In case cyclic shadow registers are used, the second shadow register set (SH_REG7…13) is altered by the current motion profile set, e.g. 0x28 (AMAX) is written back to 0x48 (SH_REG8). The other ramp registers remain unaltered. 20 24 25 26 27 28 29 2A 2B 2D 2E 2F 30 RAMPMODE VMAX VSTART VSTOP VBREAK AMAX DMAX ASTART DFINAL BOW1 BOW2 BOW3 BOW4 40 SH_REG0 47 SH_REG7 41 SH_REG1 42 SH_REG2 48 SH_REG8 49 SH_REG9 43 44 45 46 4A 4B 4C 4D SH_REG3 SH_REG4 SH_REG5 SH_REG6 SH_REG10 SH_REG11 SH_REG12 SH_REG13 Caption xx XXXX Register address Register name start_en(4)=1 cyclic_shadow_reg=1 Figure 37: Double-stage Shadow Register Option 1, suitable for S-shaped Ramps. i i Green arrows show default settings Blue arrows show optional settings.  Description is continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Option 3: Double-stage Shadow Register Set for Trapezoidal Ramps (VSTART) 72/179 In case trapezoidal ramps are configured, a double-stage shadow register set can be used. Seven relevant motion parameters for trapezoidal ramps are affected when the shadow registers become active. In order to use a double-stage shadow register pipeline for trapezoidal ramps, do as follows: Action:  Set shadow_option = b’10 (START_CONF register 0x02).  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02) Action:  Default configuration: Set cyclic_shadow_regs = 0 (START_CONF register 0x02).  Optional configuration: Set cyclic_shadow_regs = 1 (START_CONF register 0x02). Result: Seven motion parameters (VMAX, AMAX, DMAX, ASTART, DFINAL, VBREAK, and VSTART) are altered at the next internal start signal by the corresponding shadow register parameters (SH_REG0...6). Simultaneously, these shadow registers are exchanged with the parameters of the second shadow stage ( SH_REG7…13). If cyclic shadow registers are used, the second shadow register set ( SH_REG7…13) is altered by the current motion profile set, e.g. 0x27 (VBREAK) is written back to 0x4C (SH_REG12). The other ramp registers remain unaltered. 20 24 25 26 27 28 29 2A 2B 2D 2E 2F 30 RAMPMODE VMAX VSTART VSTOP VBREAK AMAX DMAX ASTART DFINAL BOW1 BOW2 BOW3 BOW4 40 SH_REG0 46 SH_REG6 47 SH_REG7 4D SH_REG13 45 41 42 43 44 4C 48 49 4A 4B SH_REG5 SH_REG1 SH_REG2 SH_REG3 SH_REG4 SH_REG12 SH_REG8 SH_REG9 SH_REG10 SH_REG11 Caption xx XXXX Register address Register name start_en(4)=1 cyclic_shadow_reg=1 Figure 38: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps. i i Green arrows show default settings. Blue arrows show optional settings.  Description is continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Option 4: Double-stage Shadow Register Set for Trapezoidal Ramps (VSTOP) 73/179 In case trapezoidal ramps are configured, a double-stage shadow register set can be used. Seven relevant motion parameters for trapezoidal ramps are affected when the shadow registers become active. In order to use a double-stage shadow register pipeline for trapezoidal ramps, do as follows: Action:  Set shadow_option = b’10 (START_CONF register 0x02).  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02) Action:  Default configuration: Set cyclic_shadow_regs = 0 (START_CONF register 0x02).  Optional configuration: Set cyclic_shadow_regs = 1 (START_CONF register 0x02) Result: Seven motion parameters (VMAX, AMAX, DMAX, ASTART, DFINAL, VBREAK, and VSTOP) are altered at the next internal start signal by the corresponding shadow register parameters (SH_REG0...6). Simultaneously, these shadow registers are exchanged with the parameters of the second shadow stage ( SH_REG7…13). If cyclic shadow registers are used, the second shadow register set ( SH_REG7…13) is altered by the current motion profile set, e.g. 0x26 ( VSTOP) is written back to 0x4D (SH_REG13). The other ramp registers remain unaltered. 20 24 25 26 27 28 29 2A 2B 2D 2E 2F 30 RAMPMODE VMAX VSTART VSTOP VBREAK AMAX DMAX ASTART DFINAL BOW1 BOW2 BOW3 BOW4 40 SH_REG0 47 SH_REG7 46 45 41 42 43 44 4D 4C 48 49 4A 4B SH_REG6 SH_REG5 SH_REG1 SH_REG2 SH_REG3 SH_REG4 SH_REG13 SH_REG12 SH_REG8 SH_REG9 SH_REG10 SH_REG11 Caption xx XXXX Register address Register name start_en(4)=1 cyclic_shadow_reg=1 Figure 39: Double-Stage Shadow Register Option 3, suitable for Trapezoidal Ramps i i Green arrows show default settings. Blue Arrows show optional settings.  Turn page to see Areas of Special Concern pertaining to this section. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 AREAS OF SPECIAL CONCERN ! Delayed Shadow Transfer 74/179 The values of ramp parameters, which are not selected by one of the four shadow options stay as originally configured, until the register is changed through an SPI write request. Also, the last stage of the shadow register pipeline retains the values until they are overwritten by an SPI write request if no cyclic shadow registers are selected. Up to 15 internal start signals can be skipped before the shadow register transfer is executed. In order to skip a defined number of internal start signals for the shadow transfer, do as follows: Action:  Set shadow_option according to your specification.  Set start_en(4) = 1 and select one or more trigger_events (START_CONF register 0x02)  OPTIONAL CONFIGURATION: Set cyclic_shadow_regs = 1.  Set SHADOW_MISS_CNT ≠ 0 (START_CONF register 0x02) according to the number of consecutive internal start signals that you specify to be ignored. Result: The shadow register transfer is not executed with every internal start signal. Instead, the specified number of start signals is ignored until the shadow transfer is executed through the (SHADOW_MISS_CNT+1)th start signal. The following figure shows an example of how to make use of SHADOW_MISS_CNT, in which the shadow register transfer is illustrated by an internal signal sh_reg_transfer. The signal miss counter CURRENT_MISS_CNT can be read out at register address START_CONF (23:20): SPI shadow_miss_cnt =0 shadow_miss_cnt =5 shadow_miss_cnt =2 internal start signal sh_reg_transfer current_miss_cnt 0 1 2 3 4 5 0 1 2 0 1 2 0 1 Figure 40: SHADOW_MISS_CNT Parameter for several internal Start Signals AREAS OF SPECIAL CONCERN ! Internal calculations to transfer the requested shadow BOW values into internal structures require at most (320 / fCLK) [sec]. before any shadow register transfer is prompted, it is necessary to wait for the completion of all internal calculations for the shadow bow parameters. In order to make this better understood the following example is provided for a double-stage shadow pipeline for S-shaped ramps: PRECONDITION: Shadow register transfer is activated (start_en(1) = 1 and one or more trigger_events are selected) for S-shaped ramps (shadow_option = b’01) Action  Set SH_REG0, SH_REG1, SH_REG2 (shadow register for VMAX, AMAX, DMAX).  Set SH_REG3, SH_REG4, SH_REG5, SH_REG6 (shadow register for BOW1…4).  Ensure that no shadow register transfer occurs during the next 320 / fCLK [s]. Result: Shadow register transfer can be initiated after this time span. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 75/179 Pipelining Internal Parameters TMC4331A provides a target pipeline for sequencing subordinate targets in order to easily arrange a complex target structure. Configuration and Activation of Target Pipeline The different target values must be assigned to the X_PIPE0…7 register. If the target pipeline is enabled, a new assignment cycle is initiated as soon as an internal start signal is generated; moving the values, as described, simultaneously: PROCESS DESCRIPTION:  A new XTARGET value is assigned that takes over the value of X_PIPE0.  Every X_PIPEn register takes over the value of its successor: X_PIPEn = X_PIPEn+1 In order to activate the target pipeline, do as follows: Action:  Set pipeline_en = b’0001 (START_CONF register 0x02). Result: The above mentioned process description is executed with every new internal start signal prompting. Configuration of a cyclic Target Pipeline It is also possible to reassign the value of XTARGET to one (or more) of the pipeline registers X_PIPE0…7. Thereby, a cyclic target pipeline is created. In order to enable a cyclic target pipeline, do as follows: Action:  Set pipeline_en = b’0001 (START_CONF register 0x02).  Set XPIPE_REWRITE_REG in relation to the pipeline register where XTARGET have to written back (e.g. XPIPE_REWRITE_REG = b’00010000). Result: The above mentioned process description is executed with every new internal start signal prompting, and XTARGET is written back to the selected X_PIPEx register (e.g. XPIPE_REWRITE_REG = 0x10  XTARGET is written back to X_PIPE4). The processes and actions described on the previous page, are depicted in the following figure. The assignment cycle that is initiated when an internal start signal occurs is depicted. 37 XTARGET XPIPE_REWRITE_REG(0) = '1' 38 X_PIPE0 XPIPE_REWRITE_REG(1) = '1' 39 X_PIPE1 XPIPE_REWRITE_REG(2) = '1' 3A X_PIPE2 XPIPE_REWRITE_REG(3) = '1' 3B X_PIPE3 Caption XPIPE_REWRITE_REG(4) = '1' 3C X_PIPE4 XPIPE_REWRITE_REG(5) = '1' 3D X_PIPE5 XPIPE_REWRITE_REG(6) = '1' 3E X_PIPE6 XPIPE_REWRITE_REG(7) = '1' 3F X_PIPE7 XX XXXX Register Register name address Figure 41: Target Pipeline with Configuration Options © 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 173.  MAIN MANUAL  pipeline_en = b’0001 pipeline_en = b’0001 X_PIPE_REWRITE_REG ≠ 0 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Using the Pipeline for different internal Registers 76/179 The TMC4331A pipeline (registers 0x38…0x3F) can be configured so that it splits up into maximal four segments. These segments can be used to feed the following internal parameters:     XTARGET register 0x37. POS_COMP register 0x32. GEAR_RATIO register 0x12. GENERAL_CONF 0x00. Consequently, these definite parameter value changes can be of importance concerning a continuous ramp motion and/or for reduced overhead synchronizing of several motion controllers. The POS_COMP value can be used to initiate a start signal generation during motion. Therefore, it can be useful to pipeline this parameter in order to avoid dependence on SPI transfer speed. For instance, if the distance between two POS_COMP values is very close and the current velocity is high enough that it misses the second value before the SPI transfer is finished, it is advisable to change POS_COMP immediately after the start signal. The same is true for the GEAR_RATIO parameter, which defines the step response on incoming step impulses. Some applications require very quick gear factor alteration of the slave controller. Note that when the start signal is prompted directly, an immediate change can be very useful instead of altering the parameter by an SPI transfer. Likewise, it can (but must not) be essential to change general configuration parameters at a defined point in time. A suitable application is a clearly defined transfer from a direct external control (sd_in_mode = b’01) to an internal ramp (sd_in_mode = b’00) or vice versa because in this case the master/slave relationship is interchanged. The following pipeline options are available, which can be adjusted accordingly: Pipeline Activation Options pipeline_en(3:0) Description b’xxx1 Pipeline for XTARGET is enabled. b’xx1x Pipeline for POS_COMP is enabled. b’x1xx Pipeline for GEAR_RATIO is enabled. b’1xxx Pipeline for GENERAL_CONF is enabled. Table 36: Pipeline Activation Options © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Pipeline Mapping Overview 77/179 The pipeline_en parameter offers an open configuration for 16 different combinations of the pipeline segregation. As a result, the number of pipelines range from 0 to 4. This also has an impact on the pipeline depth. The possible options are as follows: eight stages, four stages, three stages and two stages. In the “Pipeline Mapping” table below, the allocated according to the pipeline setup. registers are also depicted in order to (X_PIPE0…7) the final target registers GENERAL_CONF) are fed. arrangement and depth of the pipeline is The final register destination of pipeline illustrate from which pipeline registers (XTARGET, POS_COMP, GEAR_RATIO, For example, if POS_COMP and GEAR_RATIO are chosen as parameters that are to be fed by the pipeline, two 4-stage pipelines are created. When an internal start signal is generated, POS_COMP assumes the value of X_PIPE0, whereas X_PIPE4 feeds the GEAR_RATIO register. But if POS_COMP, GEAR_RATIO and XTARGET are selected as parameter destinations, two 3-stage pipelines and one double-stage pipeline are created. When an internal start signal is generated, XTARGET assumes the value of X_PIPE0, POS_COMP assumes the value of X_PIPE3, whereas X_PIPE6 feeds the GEAR_RATIO register. Pipeline Mapping Table More examples are described in detail on the following pages - explaining some of the possible configurations and referencing examples - listed in the Table below. Pipeline Mapping Ex. pipeline_en (3:0) Arrangement No Pipelining Final transfer register for… GENERAL_CONF GEAR_RATIO POS_COMP XTARGET pipeline_en(3) pipeline_en(2) pipeline_en(1) pipeline_en(0) - - - - - - - X_PIPE0 - - X_PIPE0 - - X_PIPE0 - - - b’0000 - b’0001 A b’0010 B b’0100 - b’1000 X_PIPE0 - - - C b’0011 - - X_PIPE4 X_PIPE0 - b’0101 - X_PIPE4 - X_PIPE0 - b’1001 X_PIPE4 - - X_PIPE0 - b’0110 - X_PIPE4 X_PIPE0 - - b’1010 X_PIPE4 - X_PIPE0 - D b’1100 X_PIPE4 X_PIPE0 - - F b’0111 - X_PIPE6 X_PIPE3 X_PIPE0 - b’1011 X_PIPE6 - X_PIPE3 X_PIPE0 E b’1101 X_PIPE6 X_PIPE3 - X_PIPE0 - b’1110 X_PIPE6 X_PIPE3 X_PIPE0 - G/H b’1111 X_PIPE6 X_PIPE4 X_PIPE2 X_PIPE0 One 8-stage pipeline Two 4-stage pipelines Two 3-stage pipelines and one double-stage pipeline Four doublestage pipelines Table 37: Pipeline Mapping for different Pipeline Configurations © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Cyclic Pipelining 78/179 For all of the above shown configuration examples, it is possible to write back the current values of the selected registers (XTARGET, POS_COMP, GEAR_RATIO and/or GENERAL_CONF) to any of the pipeline registers of their assigned pipeline in order to generate cyclic pipelines. By selecting proper XPIPE_REWRITE_REG, the value that is written back to the pipeline register is selected automatically to fit the selected pipeline mapping. Below, several pipeline mapping examples with the corresponding configuration are shown. Pipeline Examples Example A: Cyclic pipeline for POS_COMP, which has eight pipeline stages. Examples A+B: Using one Pipeline Example B: Cyclic pipeline for GEAR_RATIO, which has six pipeline stages. A B 12 GEAR_RATIO 32 POS_COMP 38 X_PIPE0 x_pipe_rewrite_reg(7) = b’00100000 38 X_PIPE0 39 X_PIPE1 3A X_PIPE2 3B X_PIPE3 3C X_PIPE4 39 X_PIPE1 3A X_PIPE2 3B X_PIPE3 3C X_PIPE4 3D X_PIPE5 3D X_PIPE5 3E X_PIPE6 3E X_PIPE6 3F X_PIPE7 3F X_PIPE7 pipline_en=b’0010 XPIPE_REWRITE_REG=b’10000000 pipline_en=b’0100 XPIPE_REWRITE_REG=b’00100000 Figure 42: Pipeline Example A Examples C+D: Using two Pipelines Figure 43: Pipeline Example B Example C: Cyclic pipelines for XTARGET and POS_COMP, which have four pipeline stages each. Example D: Cyclic pipelines for GEAR_RATIO, which has three pipeline stages and GENERAL_CONF, which has two pipeline stages. C D 37 XTARGET 12 GEAR_RATIO 38 X_PIPE0 38 X_PIPE0 39 X_PIPE1 39 X_PIPE1 3A X_PIPE2 3A X_PIPE2 3B X_PIPE3 3B X_PIPE3 32 POS_COMP 10 GENERAL_CONF 3C X_PIPE4 3C X_PIPE4 3D X_PIPE5 3D X_PIPE5 3E X_PIPE6 3E X_PIPE6 3F X_PIPE7 3F X_PIPE7 pipline_en=b’1100 XPIPE_REWRITE_REG=b’00100100 pipline_en=b’0011 XPIPE_REWRITE_REG=b’10001000 Figure 44: Pipeline Example C Figure 45: Pipeline Example D  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 79/179 Example E: Cyclic pipelines for XTARGET and GEAR_RATIO, which have three pipeline stages each and GENERAL_CONF, which has two pipeline stages. Examples E+F: Using three Pipelines Example F: Two cyclic pipelines for XTARGET and GEAR_RATIO, which have two pipeline stages each and a noncyclic pipeline for GEAR_RATIO, which has three pipeline stages. E F 37 XTARGET 37 XTARGET 38 X_PIPE0 38 X_PIPE0 39 X_PIPE1 39 X_PIPE1 3A X_PIPE2 3A X_PIPE2 32 POS_COMP 12 GEAR_RATIO 3B X_PIPE3 3B X_PIPE3 3C X_PIPE4 3C X_PIPE4 3D X_PIPE5 3D X_PIPE5 12 GEAR_RATIO 10 GENERAL_CONF 3E X_PIPE6 3E X_PIPE6 3F X_PIPE7 3F X_PIPE7 pipline_en=b’1101 XPIPE_REWRITE_REG=b’10100100 pipline_en=b’0111 XPIPE_REWRITE_REG=b’10000010 Figure 46: Pipeline Example E Examples G+H: Using four Pipelines Figure 47: Pipeline Example F Example G: Cyclic pipelines for XTARGET, POS_COMP, GEAR_RATIO and GENERAL_CONF, which have two pipeline stages each. Example H: Four noncyclic pipelines for XTARGET, POS_COMP, GEAR_RATIO and GENERAL_CONF, which have two pipeline stages each. G H 37 XTARGET 37 XTARGET 38 X_PIPE0 38 X_PIPE0 39 X_PIPE1 39 X_PIPE1 32 POS_COMP 32 POS_COMP 3A X_PIPE2 3A X_PIPE2 3B X_PIPE3 3B X_PIPE3 12 GEAR_RATIO 12 GEAR_RATIO 3C X_PIPE4 3C X_PIPE4 3D X_PIPE5 3D X_PIPE5 10 GENERAL_CONF 10 GENERAL_CONF 3E X_PIPE6 3E X_PIPE6 3F X_PIPE7 3F X_PIPE7 pipline_en=b’1111 XPIPE_REWRITE_REG=b’10101010 pipline_en=b’1111 XPIPE_REWRITE_REG=b’00000000 Figure 48: Pipeline Example G Figure 49: Pipeline Example H © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 80/179 Masterless Synchronization of Several Motion Controllers via START Pin START pin can also be assigned as tristate input in order to synchronize several microcontroller masterless. Activation of the Tristate START Pin In this case START is assigned as tristate. A busy state is enabled. During this busy state, START is set as output with a strongly driven inactive polarity. If the internal start signal is generated – after the internal start timer is expired –START pin is assigned as input. Additionally, a weak output signal is forwarded at START. During this phase, the active start polarity is emitted. In case the signal at START input is set to active polarity, because all members of the signal line are ready, START output remains active (strong driving strength) for START_OUT_ADD clock cycles. Then, busy state is active again until the next start signal occurs. In order to activate tristate START pin, do as follows: Action:  Set busy_en = 1 (START_CONF register 0x02). Result: The above mentioned process description is executed. START Pin Connection In case START pin is connected with START pins of other TMC4331A devices, it is recommend that a series resistor (e.g. 220 Ω) is connected between the devices to limit the short circuit current flowing that can flow during the configuration phase when different voltage levels at the START pins of the different devices can occur. NOTE:  Avoid that short circuits last too long. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 81/179 10. Serial Data Output TMC4331A provides an SPI interface for initialization and configuration of the motor driver (in addition to the Step/Dir output) before and during motor motion. It is possible to control TMC stepper drivers during SPI motor drive. SPI Interface Configuration The SPI interface is used for the following tasks:    TMC4331A integrates an adjustable cover register for configuration purposes in order to adjust TMC motor driver chips and third parties chips easily. The integrated microstep Sine Wave Lookup Table (MSLUT) generates two current values that represent sine and cosine values. These two current values can be transferred to a TMC motor driver chip at a time, in order to energize the motor coils. This occurs within each SPI datagram. A series of current values is transferred to move the motor. Values of the MSLUT are adjusted using velocity ramp dependent scale values that align the maximum amplitude current values to the requirements of certain velocity slopes. Pin Names for SPI Motor Drive Pin Names Type Remarks NSCSDRV Output Chip select output to motor driver, low active. SCKDRV Output Serial clock output to motor driver. SDODRV InOut as Output Serial data output to motor driver. SDIDRV Input Serial data input from motor driver. STDBY_CLK Output Clock output, standby output, or ChopSync clock output. Table 38: Pin Names for SPI Motor Drive Register Names for SPI Output Registers Register Name Register Address Remarks GENERAL_CONF 0x00 RW Affect switches: Bit14:13, bit19, bit20, bit28. REFERENCE_CONF 0x01 RW Affect switches: Bit26, bit27, bit30. SPIOUT_CONF 0x04 RW Configuration register for SPI output communication. STEP_CONF 0x0A RW 0x1D RW DAC_ADDR SPI_SWITCH_VEL Microsteps per fullstep, fullsteps per revolution, and motor status bit event selection. SPI addresses/commands which are put in front of the DAC values: CoilA: DAC_ADDR(15:0), CoilB: DAC_ADDR(31:16) Velocity at which automatic cover datagram are sent. CHOPSYNC_DIV 0x1F RW FS_VEL 0x60 W Velocity at which fullstep drive are enabled. COVER_LOW 0x6C W Lower 32 bits of the cover register (µC to motor driver). COVER_HIGH 0x6D W Upper 32 bits of the cover register (µC to motor driver). COVER_DRV_LOW 0x6E R COVER_DRV_HIGH 0x6F R CURRENT_CONF 0x05 RW Current scaling configuration. SCALE_VALUES 0x06 RW Current scaling values. STDBY_DELAY 0x15 RW Delay time after standby mode is valid. Chopper clock divider (bit 11:0). Lower 32 bits of the cover response register (motor driver to µC). Upper 32 bits of the cover response register (motor driver to µC). © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 82/179 Register Names for SPI Output Registers Register Name Register Address Remarks FREEWHEEL_DELAY 0x16 RW Delay time after freewheeling is valid. VDRV_SCALE_LIMIT 0x17 RW Velocity setting for changing the drive scale value. UP_SCALE_DELAY 0x18 RW Increment delay to a higher scaling value; 24 bits. HOLD_SCALE_DELAY 0x19 RW Decrement delay to the hold scaling value; 24 bits. DRV_SCALE_DELAY 0x1A RW Decrement delay to the drive scaling value. BOOST_TIME 0x1B RW Delay time after ramp start when boost scaling is valid. SCALE_PARAM CURRENTA CURRENTB CURRENTA_SPI CURRENTB_SPI MSLUT registers 0x7C R 0x7A R 0x7B R 0x70…78 W MSLUT values definitions. 0x79 R Actual microstep position of the MSLUT. 0x7E RW MSCNT START_SIN START_SIN90_120 DAC_OFFSET Actual current scaling parameter; 8 bits. Actual current values of the MSLUT: SIN (coil A) and SIN90_120 (coil B); 9 bit for each. Actual scaled current values of the MSLUT: SIN (coil A) and SIN90_120 (coil B); 9 bits for each. Sine start value of the MSLUT Cosine start value of the MSLUT Offset value for DAC output values (bit7:0). (bit23:16). (bit31:24). Table 39: Dedicated SPI Output Registers Getting Started with TMC Motor Drivers In this chapter information is provided about how to easily start up a connected TMC motor driver. Setting up SPIOUT_CONF correctly In order to start up a connected TMC motor stepper driver, proper setup of SPIOUT_CONF register 0x04 is important. TMC4331A offers presets for current transfer and automatic configuration routines if the correct TMC driver is selected. Status bits of TMC motor drivers are also transmitted to the status register of the motion controller. TMC4331A provides a programmable lookup table for storing the current wave. Per default, the tables are preprogrammed with a sine wave, which is a good starting point for most stepper motors. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 83/179 Sine Wave Lookup Tables TMC4331A provides a programmable lookup table (LUT) for storing the current wave. Reprogramming the table from its predefined values to a motor-specific wave allows improved motor-reliant microstepping, particularly when using low-cost motors. SETTINGS ALERT ! TMC4331A-LA provides a default configuration of the internal microstep table MSLUT. In case internal MSLUT is used, proceed with section 10.3. (page 89) in order to setup a well-defined serial data connection to the stepper motor driver. The following explanations that are provided in this section only address engineers who use their own microstep table definition. Programming Sine Wave Lookup Tables The internal microstep wave table maps the microstep wave from 0° to 90° for 256 microsteps. It becomes automatically and symmetrically extended to 360° that consequently comprises 1024 microsteps. As a result, the microstep counter MSCNT ranges from 0 to 1023. Only a quarter of the wave is stored because this minimizes required memory and the amount of programmable data. Therefore, only 256 bits (ofs00 to ofs255) are required to store the quarter wave. These bits are mapped to eight 32-bit registers MSLUT[0] (register 0x70) to MSLUT[7] (register 0x77). When reading out the table the 10-bit microstep counter MSCNT addresses the fully extended wave table. Sine Wave Table Structure The MSLUT is an incremental table. This means that a certain order and succession is predefined at every next step based on the value before, using up to four flexible programmable segments within the quarter wave. The microstep limits of the four segments are controlled by the position registers X1, X2, and X3. Within these segments the next value of the MSLUT is calculated by adding the base wave inclination Wx-1 (if ofs=0) or its successor Wx (if ofs=1). Because four segments are programmable, four base wave inclinations are available as basic increment value: 0, 1, 2, or 3. Thereby, even a negative wave inclination can be realized. This is shown in the next Figure where the values in last quarter segments are decreased or remain constant with every step towards MSCNT= 255. W3: -1/+0 W2: +0/+1 W1: +1/+2 W0: +2/+3 y 256 248 START_SIN90_120 0 X1 X2 X3 LUT stores entries 0 to 255 255 256 512 768 START_SIN -248 Figure 50: LUT Programming Example © 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 173.  MAIN MANUAL  0 MSCNT TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 84/179 Actual Current Values Output Actual Current Calculations When the microstep sequencer advances within the microstep table (MSLUT), it calculates the actual current values for the motor coils with each microstep, and stores them to the register 0x7A , which comprises the values of both waves CURRENTA and CURRENTB. However, the incremental coding requires an absolute initialization – especially when the microstep table becomes modified. Therefore, CURRENTA and CURRENTB become re-initialized with the start values whenever MSCNT passes zero. Characteristics of a 2-phase Stepper Motor Microstep Table As mentioned above, the MSLUT can be adapted to the motor requirements. In order to understand the nature of incremental coding of the microstep table, the characteristics of the microstep wave must be understood, as described in the list below: Characteristics of a 2-phase motor microstep table:       In principle, it is a reverse characteristic of the motor pole behavior. It is a polished wave to provide a smooth motor behavior. There are no jumps within the wave. The phase shift between both phases is exactly 90°, because this is the optimum angle of the poles inside the motor. The zero transition is at 0°. The curve is symmetrical within each quadrant (like a sine wave). The slope of the wave is normally positive, but due to torque variations it can also be (slightly) negative. But it must not be strictly monotonic as shown in the figure above. Considering these facts, it becomes clear that the wave table can be compressed. The incremental coding applied to the TMC4331A uses a format that reduces the required information - per entry of the 8-bit by a 256-entry wave table - to slightly more than a single bit. How to Program the Internal MSLUT Principle of Incremental Encoding The principle of incremental encoding only stores the difference between the actual and the next table entry. In order to attain an absolute start value, the first entry is directly stored in START_SIN. Also, for ease-of-use, the first entry of the shifted table for the second motor phase is stored in START_SIN_90_120. Based on these start values, every next table entry is calculated by adding an increment INC to the former value. This increment is the base wave inclination value Wx whenever its corresponding ofs bit is 1 or Wx – 1 if ofs = 0: INC = Wx + (ofs – 1). The base wave inclination can be set to four different values (0, 1, 2, 3), because it consists of two bits. Because the wave inclination does not change dramatically, TMC4331A provides four wave inclination segments with the base wave inclinations (W0, W1, W2, and W3) and the segment borders (0, X1, X2, X3, and 255), as shown in the left quarter of the MSLUT diagram in Figure 48, page 83. Wave Inclination Characteristics Wave Inclination Segment 0 1 2 3 Base Wave Inclination W0 W1 W2 W3 Segment Ranges 0 … X1 X1… X2 X2 … X3 X3 … 255 Table 40: Wave Inclination Characteristics of Internal MSLUT © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 85/179 Setup of MSLUT Segments Base Wave Inclination and Border Values All base wave inclination values (each consists of two bits) as well as the border values (each consists of eight bit) between the segments are adjustable. They are assigned by MSLUTSEL register 0x78. In order to change the base wave inclination values and the segment borders, do as follows: Action:  Define the segment borders X1, X2, and X3 and the base wave inclination values W0…W3 according to the requirements  Set register MSLUTSEL(31:24) = X3.  Set register MSLUTSEL(23:16) = X2.  Set register MSLUTSEL(15:8) = X1.  Set register MSLUTSEL(7:6) = W3.  Set register MSLUTSEL(5:4) = W2.  Set register MSLUTSEL(3:2) = W1.  Set register MSLUTSEL(1:0) = W0. Result: The segments and the base wave inclination values of the internal MSLUT are changed. NOTE:  It is not mandatory to define four segments. For instance, if only two segments are required, set X2 and X3 to 255. Then, W0 is valid for segment 0 between MSCNT = 0 and MSCNT = X1, and W1 is valid between MSCNT = X1 and MSCNT = 255 (segment 1). In order to change the ofs bits, do as follows: Action:  Set MSLUT[0]  Set MSLUT[1]  Set MSLUT[2]  Set MSLUT[3]  Set MSLUT[4]  Set MSLUT[5]  Set MSLUT[6]  Set MSLUT[7] register register register register register register register register 0x70 0x71 0x72 0x73 0x74 0x75 0x76 0x77 = = = = = = = = ofs31…ofs00. ofs63…ofs32. ofs95…ofs64. ofs127…ofs96. ofs159…ofs128. ofs191…ofs160. ofs223…ofs192. ofs255…ofs224. Result: The ofs bits of the internal MSLUT are changed. AREAS OF SPECIAL CONCERN Zero Crossing ! When modifying the wave: Special care has to be applied in order to ensure a smooth and symmetrical zero transition whenever the quarter wave becomes expanded to a full wave. When adjusting the range: The maximum resulting swing of the wave should be adjusted to a range of −248 to 248, in order to achieve the best possible resolution while at the same time leaving headroom for a hysteresis based chopper to add an offset. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 86/179 Current Waves Start Values Starting Current Values of MSLUT Configuration As both waves are shifted by 90° for two-phase stepper motors, the sine wave starts at 0° when MSCNT = 0. By comparison, the cosine wave begins at 90° when MSCNT = 256. At this starting points the current values are CURRENTA = 0 for the sine wave and CURRENTB = 247 for the cosine wave. In contrast to the starting microstep positions that are fixed, these starting current values can be redefined if the default start values do not fit for the actual MSLUT. In order to change the starting current values of the MSLUT, do as follows: Action:  Define the start values START_SIN and START_SIN90_120 according to the requirements.  Set register 0x7E (7:0) = START_SIN  Set register 0x7E (23:16) = START_SIN90_120 Result: The starting values for both waves are adapted to MSLUT. Default MSLUT Base Wave Inclinations The default sine wave table in TMC drivers uses one segment with a base inclination of 2 and one segment with a base inclination of 1 (see default value of the MSLUTSEL register 0x78 = 0xFFFF8056). The segment border X1 is located at MSCNT = 128. The base wave inclinations are W0 = b’10 (=2) and W1 = b’01 (=1). As a result, between MSCNT = 0 and 128, the increment value INC is either 1 (if ofs = 0) or 2 (if ofs = 1). And between MSCNT = 128 and 255, the increment value INC is either 0 (if ofs = 0) or 1 (if ofs = 1). This reflects the stronger rise in the first segment of the MSLUT in contrast to the second segment. The maximum value is START_SIN90_120 = 247. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 87/179 Explanatory Notes for Base Wave Inclinations Definition of Segments 0,1,2,3 In the following example four segments are defined. Each segment has a different base wave inclination to illustrate each possible entry: Segment Segment Segment Segment 0: 1: 2: 3: W0 W0 W0 W0 = = = = 3 2 1 0 which which which which means means means means that that that that the the the the increment value increment value increment value increment value is is is is +2 or +3. +1 or +2. 0 or +1. −1 or 0. i In addition to the MSLUT curve (black line), which is defined by the given ofs bits, all four segments show upper limits (red line); in case all ofs bits in the particular segments are set to 1. i The green line shows the lower limit in case all ofs bits in the particular segments are set to 0. y 256 Segment upper limits Segment lower limits 0 X1 X2 X3 255 -1/+0 +0/+1 +1/+2 +2/+3 Segment inclination W 0 Figure 51: MSLUT Curve with all possible Base Wave Inclinations (highest Inclination first) Standard Sine Wave Setup Considerations prior to SETUP of MSLUT In order to set up a standard sine wave table for the MSLUT, the following considerations have to be taken into account: PRECONSIDERATIONS:      The microstep table for the standard sine wave begins with eight entries (0 to 7) {0, 1, 3, 4, 6, 7, 9, 10 …} etc. The maximum difference between two values in this section is +2, whereas the minimum difference is +1. While advancing according to the table, the very first time the difference between two MSLUT values is lower than +1 is between position 153 and position 154. Both entries are identical. The start value is 0 for the sine wave. The calculated value for position 256 (i.e. start of cosine wave) is 247.  Description is continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Standard Sine Wave Setup 88/179 In order to set up the standard sine wave table, proceed as follows: Action:  Set a starting value START_SIN = 0 matching sine wave entry 0.  Set a base wave inclination range of W0 = b’10 = 2 to skip between +1 / +2, valid from 0 to X1.  Calculate the differences between every entry: {+1, +2, +1, +2, +1, +2, +1,…}.  Set the microstep table entries ofsXX to 0 for the lower value (+1); 1 for the higher value (+2). Thus, the first seven microstep table entries ofs00 to ofs06 are: {0, 1, 0, 1, 0, 1, 0 …}  The base wave inclination must be lowered at position 153, at very latest. Use the next base wave inclination range 1 with W1 = b’01 = 1 to skip between +0 and +1.  Set X1 = 153 in order to switch to the next inclination range. From here on, an offset ofsXX of 0 means add nothing; 1 means add +1.  Set START_SIN90_120 = 247, which is equal to the value at position 256.  Only two of four wave segments with different base wave inclinations are used. The remaining wave inclination ranges W2 and W3 should be set to the same value as W1; and X2 and X3 can be set to 255. Thereby, only two wave inclination segments are effective. Result: A standard sine wave is defined as MSLUT. The following table shows an extract of this curve. Overview of the Microstep Behavior Example Microstep number Desired table entry Difference to next entry Required segment inclination Ofs bit entry 0 1 2 3 4 5 6 7 … 153 154 … 255 0 1 3 4 6 7 9 10 … 200 200 … 247 1 2 1 2 1 2 1 … … 0 … … 0 +2 +2 +2 +2 +2 +2 +2 … … +1 … … +1 0 1 0 1 0 1 0 … … 0 … … 0 Table 41: Overview of the Microstep Behavior Example © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 89/179 SPI Output Interface Configuration Parameters TMC4331A provides an SPI output interface. In the next section, the configuration of the interface parameters is explained in detail. The table below lists the pins that are dedicated to SPI output communication: Pins dedicated to SPI Output Communication SPI Output Communication Pins Pin Description NSCSDRV Low active chip select signal. SCKDRV SPI output clock. MOSI – Output pin to transfer the datagram to the motor driver. MISO – Input pin which receives the response from the motor driver. The response is sampled during the data transfer to the motor driver. SDODRV SDIDRV Table 42: SPI Output Communication Pins Setup of SPI Output Timing Configuration Because TMC4331A represents the master of SPI communication to the motor driver – which is the slave – it is mandatory to set up the timing configuration for the SPI output. TMC4331A provides an SPI clock, which is generated at the SCKDRV output pin. In order to configure the timing of the SPI clock, set up SPIOUT_CONF register 0x04 as follows: Action:  Set the number of internal clock cycles the serial clock should stay low at SPI_OUT_LOW_TIME = SPIOUT_CONF (23:20).  Set the number of internal clock cycles the serial clock should stay high at SPI_OUT_HIGH_TIME = SPIOUT_CONF (27:24).  Also, an SPI_OUT_BLOCK_TIME = SPIOUT_CONF(31:28) can be set for a minimum time period during which no new datagram is sent after the last SPI output datagram. Result: SPI output communication scheme is set. During the inactive phase between to SPI datagrams - which is at least SPI_OUT_BLOCK_TIME clock cycles long - the SCKDRV and NSCSDRV pins remain at high output voltage level. The timing of the SPI output communication is illustrated in the following figure. spi_out_block_time / fCLK spi_out_high_time / fCLK spi_out_low_time / fCLK NSCSDRV_SCLK SCKDRV_NSDO SDODRV_SCLK bitCDL-1 SDIDRV_NSCLK bit39 bitCDL-2 bit38 bit0 bit0 sample points Figure 52: SPI Output Datagram Timing © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Minimum and Maximum Time Period 90/179 The minimum time period for all three parameters is 2/fCLK. If an SPI output parameter is set to 0, it is altered to 2 clock cycles internally. A maximum time period of 15/fCLK can be set for all three parameters. Thus, SPI clock frequency fSPI_CLK covers the following range: fCLK / 30 ≤ fSPI_CLK ≤ fCLK / 2. Current Diagrams Process Description Basically, SPI output communication serves as automatic current datagram transfer to the connected motor driver. TMC4331A uses the internal microstep lookup table (MSLUT) in order to provide actual current motor driver data.      Change of Microstep Resolution Cover Datagrams Communication between µC and Driver With every step that is initialized by the ramp generator the MSCNT value is increased or decreased, dependent on ramp direction. The MSCNT register 0x79 (readable value) contains the current microstep position of the sine value. Accordingly, the current values CURRENTA (0x7A) and CURRENTB (0x7B) are altered. In case the output configuration of TMC4331A allows for automatic current transfer an updated current value leads to a new datagram transfer. Thereby, the motor driver always receives the latest data. The length for current datagrams can be set automatically and TMC4331A converts new values into the selected datagram format, usually divided in amplitude and polarity bit for TMC motor drivers. By altering the microstep resolution from 256 (MSTEP_PER_FS = b’0000) to a lower value, an internal step results in more than one MSLUT step. For instance, if the microstep resolution is set to 64 ( MSTEP_PER_FS = b‘0010), MSCNT is either increased or decreased by 4 per each internal step. Accordingly, the passage through the MSLUT skips three current values per each internal step to match the new microstep resolution. In addition to automatic current datagram transfer, the microcontroller can communicate directly with the motor driver through TMC4331A by using cover datagrams. This communication channel can be useful for configuration purposes because no additional SPI communication channel between microcontroller and motor driver is necessary. Up to 64 bits can be assigned for one cover datagram. This 64-bit SPI cover register is separated into two 32-bit registers - COVER_HIGH register 0x6D and COVER_LOW register 0x6C. The COVER_HIGH register is only required if more than 32 bits must be sent once. How to Define Cover Datagram Length How many bits are sent within one cover datagram is defined by the cover datagram length COVER_DATA_LENGTH . In order to define the cover datagram length, do as follows: Action:  Set the number of cover datagram bits at COVER_DATA_LENGTH = SPIOUT_CONF (19:13). Result: The cover datagram length is set to COVER_DATA_LENGTH bits. If this parameter is set higher than 64, the cover register data length is still maximum 64 bits. i For TMC motor drivers it is possible to set COVER_DATA_LENGTH = 0. In this case, the cover data length is selected automatically, dependent on the chosen motor driver. More details are provided on the subsequent pages. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Sending Cover Datagrams 91/179 The LSB (last significant bit) of the whole cover datagram register is located at COVER_LOW(0). As long as COVER_DATA_LENGTH < 33, only COVER_LOW or parts of this register are required for cover data transfer. If more than 32 bits are necessary, the complete COVER_LOW and (parts of) the COVER_HIGH register are required for SPI cover data transfer. NOTE:  Every SPI communication starts with the most significant bit (MSB). OPTION 1: COVER_DATA_LENGTH < 33 BITS In order to send a cover datagram - that is smaller than 33 bits - do as follows: Action:  Set COVER_LOW (COVER_DATA_LENGTH-1:0) register 0x6C = cover_data. Result: After a register request to COVER_LOW, COVER_DATA_LENGTH bits of COVER_LOW register. Cover Datagrams with 33 Bits and more valid SPI output is sent out OPTION 2: COVER_DATA_LENGTH > 32 BITS In order to send a cover datagram - that consists of more than 32 bits - do as follows: Action:  Split cover data into two segments:  cover_data_low = cover_data(31:0).  cover_data_high = cover_data >> 32.  cover_data_high = cover_data(31:0).  Set COVER_HIGH(COVER_DATA_LENGTH−32:0) register 0x6D=cover_data_high.  Set COVER_LOW register 0x6C = cover_data_low. Result: After a valid register request to COVER_LOW, SPI output is sent out COVER_DATA_LENGTH bits that comprises register values of COVER_HIGH and COVER_LOW. The cover register and the datagram structure are illustrated in the figure below: Cover register bit63 bit62 ... bit33 bit32 COVER_HIGH bit31 bit30 ... bit1 bit0 COVER_LOW bit31 bit30 ... bit1 bit0 bit31 bit30 ... bit1 bit0 MSB if CDL=63 MSB if CDL=30 (COVER_HIGH not required) Figure 53: Cover Data Register Composition (CDL – COVER_DATA_LENGTH)  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 92/179 Receiving Responses to Cover Datagrams Because the transfer of a cover datagram is usually accompanied by a data transfer from the motor driver, the response is stored in registers; and is thus available for the microcontroller. COVER_DRV_HIGH register 0x6F and COVER_DRV_LOW register 0x6E form this cover response register that can also comprise up to 64 bits. Similar to COVER_LOW and COVER_HIGH, the motor driver response is divided in the registers COVER_DRV_LOW and COVER_DRV_HIGH. The composition of the response cover register and also the positioning of the MSB follow the same structure. COVER_DONE Event At the end of a successful data transmission, the event COVER_DONE becomes set. This indicates that the cover register data is sent to the motor driver and that the received response is stored in the COVER_DRV_HIGH register 0x6F and COVER_DRV_LOW register 0x6E. Configuring Automatic Generation of Cover Datagrams In certain setups, it can be useful to automatically send ramp velocity-dependent cover datagrams, e.g. to change chopper settings during motion. NOTE:  This feature is only available if the cover datagram length does not exceed 32 bits. In order to activate ramp velocity-dependent automatic cover data transfer, do as follows: Action:  Define the trigger velocity whenever an automatic cover datagram transfer is initiated.  Set SPI_SWITCH_VEL register 0x1D to this absolute velocity [pps].  Set COVER_LOW register 0x6C to the cover_data, which is valid for lower velocity values.  Set COVER_HIGH register 0x6D to the cover_data, which is valid for higher velocity values.  Set automatic_cover = 1 (REFERENCE_CONF register 0x01). Result: Whenever the absolute internal ramp velocity |VACTUAL| passes the SPI_SWITCH_VEL value, the particular cover data is sent to the motor driver, COVER_LOW is sent in case |VACTUAL| < SPI_SWITCH_VEL, COVER_HIGH is sent in case |VACTUAL| ≥ SPI_SWITCH_VEL. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 93/179 Overview: TMC Motor Driver Connections As mentioned before, TMC4331A is able to set the cover register length automatically in case a TMC motor driver is connected. Also, several additional automatic features for the SPI communication are available by selecting TMC motor drivers. TMC Stepper Motor Driver Settings Available SPI and Step/Dir™ Communication Schemes for TMC Motors The SPI and Step/Dir communication schemes are available for the following product lines that are explained in greater detail further below: How to enable SPI Output Settings for TMC Stepper Motor Drivers In order to enable an operating SPI output setting for a connected TMC stepper motor driver, proceed as follows:      TMC236, TMC239 TMC246, TMC248, TMC249 TMC260, TMC261, TMC262, TMC2660 TMC389 TMC2130 Action:  Set SPI_OUT_LOW_TIME, SPI_OUT_HIGH_TIME, and SPI_OUT_BLOCK_TIME according to the TMC motor driver specification, as explained before.  Set COVER_DATA_LENGTH = 0 (bit19:13 of SPIOUT_CONF register 0x04).  Set spi_output_format = SPI_OUT_CONF (3:0) according to the connected SPI motor driver as seen below in the table below. Result: The communication scheme is now prepared for the connected TMC motor driver with all available features. TMC Stepper Motor Driver Options COVER_DATA_LENTGH=0 Automatic Current Datagram Transfer Cover Register Datagram Transfer b’0000 0 -- -- TMC23x b’1000 12   TMC24x b’1001 12   b’1010 b’1011 b’1101 b’1100 20 20 40 40  S/D output  S/D output TMC Motor Driver spi_output_format SPI output off TMC26x/389 TMC2130 =SPI_OUT_CONF (3:0) Cover Register Datagram Length Table 43: TMC Stepper Motor Driver Options © 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 173.  MAIN MANUAL    TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC Motor Driver Response Datagram and Status Bits 94/179 When a TMC motor driver receives a current datagram or a cover datagram that is transmitted via SPI output of TMC4331A, status data is sent back to the TMC4331A controller immediately. The response is stored in the COVER_DRV_LOW 0x6E and COVER_DRV_HIGH 0x6F registers, just like all other cover requests. The type and sequence of the status bits that are sent back are dependent on the selected motor driver. A detailed list for every motor driver is presented in the next sections, in which the motor driver communication specifics for every driver family are explained separately. The mapping of the available status bits to the TMC4331A STATUS register is similar for each and every TMC stepper motor driver. The last eight bits – STATUS (31:24) – are equal to the transferred motor status bits. A detailed overview is given in the register chapter 15.12. (page 152). Events and Interrupts based on Motor Driver Status Bits TMC4331A also provides one event at EVENTS (30) that is connected with the motor driver status bits. Here, any of the motor driver status bits can function as the base for this event. In order to activate a motor driver status bit for the motor event EVENTS (30), do as follows: Action:  Selected one or more of the motor driver status for the motor event by assigning MSTATUS_SELECTION = STEP_CONF (23:16) register 0x0A accordingly. Result: In case one of the selected motor status bits is activated (Wired-Or), the motor event switch EVENTS (30) generates an event. In order to generate an interrupt for this motor event, configure the INTR output accordingly, as explained in section 5.3. (page 22). © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 95/179 Stall Detection and Stop-on-Stall stallGuard and stallGuard2 Functionality TMC stepper motor driver chips with stallGuard and stallGuard2 can detect stall and overload conditions based on the motor’s back-EMF without the need of a position sensor. The stall detection status is returned via SPI. For more information, refer to the AppNote “Parameterization of stallGuard2 & coolStep” that is available online at www.trinamic.com . Representation of the Motor Stall Status Except for TMC23x and TMC24x, which forward three load detection bits, the motor stall status is represented by one status bit. TMC4331A is able to stop the internal ramp as soon as a stall is recognized. Because stall bit activation can occur unwanted during motion with a low velocity, it is also possible to set up a velocity threshold for the Stop-on-Stall behavior. Internal Velocity Ramp Stop-on-Stall Activation In order to activate a Stop-on-Stall for the internal velocity ramp, do as follows: Action:  Set VSTALL_LIMIT register 0x67 [pps] according to minimum absolute velocity value for a correct stall recognition.  Set stop_on_stall = 1 (bit26 of REFERENCE_CONF register 0x01).  Set drive_after_stall = 0 (bit27 of REFERENCE_CONF register 0x01). Result: The internal ramp velocity is set immediately to 0 whenever a stall is detected and the following is true: |VACTUAL| > VSTALL_LIMIT. Then, the STOP_ON_STALL event is also generated. Internal Velocity Ramp Activation after Stop-onStall i The status bit stallGuard that is directly mapped from the motor stepper driver, which is listed in STATUS (24). This flag is always activated as soon as the motor driver generates the stall guard status bit. i The ACTIVE_STALL status bit = STATUS (11) is activated as soon as a stall is detected and |VACTUAL| > VSTALL_LIMIT. In order to activate the internal velocity ramp AFTER a Stop-on-Stall, do as follows: Action:  Read out the EVENTS register 0x0E to unlock the event STOP_ON_STALL.  Set drive_after_stall = 1 (bit27 of REFERENCE_CONF register 0x01). Result: The internal ramp velocity is no longer blocked by the Stop-on-Stall event. i In order to activate the Stop-on-Stall behavior again, reset drive_after_stall again manually to 0. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 96/179 TMC23x, TMC24x Stepper Motor Driver In this chapter specific information pertaining to the setup of TMC23x and TMC24x is provided. TMC23x/24x Support TMC4331A provides the following features in order to support the TMC23x motor stepper driver family well:     Automatic Mixed Decay chopper mode ChopSync Automatic switchover between microstep and fullstep operation Controlled PWM signal generation and automatic switchover between SPI and PWM mode; see section 12.2. (page 124). In the following section, the features are explained in greater detail. i TMC23x Setup For further information, please refer to the manual of the particular stepper driver motor. In order to activate the SPI data transfer and SPI feature set for a connected TMC23x stepper motor driver, do as follows: Action:  Set spi_output_format = b’1000 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04). Result: TMC23x is selected as connected stepper motor driver. TMC24x Setup In order to activate the SPI data transfer and feature set for a connected TMC24x stepper motor driver, do as follows: Action:  Set spi_output_format = b’1001 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04). Result: TMC24x is selected as connected stepper motor driver. i In addition to the TMC23x features mentioned above, the TMC24x stepper driver family provides three stallGuard bits as load measurement indicator. Therefore, the TMC24x stepper family is supported by the TMC4331A for the following:   Stall detection and Stop-on-Stall behavior  Turn to next page for more information. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC23x/24x Status Bits TMC23x/24x Microsteps 97/179 TMC4331A maps the following status bits of TMC23x/24x stepper drivers – which are transferred with each SPI datagram – to the STATUS register 0x0F: Status Register Mapping for TMC23x/24x STATUS bit Status flag Description @TMC4331A @TMC23x/24x STATUS (24) UV Undervoltage flag. STATUS (25) OT Over temperature flag. STATUS (26) OTPW Temperature prewarning flag. STATUS (27) OCA Overcurrent flag for bridge A. STATUS (28) OCB Overcurrent flag for bridge B. STATUS (29) OLA Open load flag for bridge A. STATUS (30) OLB Open load flag for bridge B. STATUS (31) OCHS Overcurrent high side flag. Table 44: Mapping of TMC23x/24x Status Flags TMC4331A only forward new current data (CURRENTA_SPI and CURRENTB_SPI at register 0x7B) for TMC23x/TMC24x in case the upper five bits of one of the two 9-bit current values changes; because TMC23x and TMC24x current data consist of four bit current values and one polarity bit for each coil. Consequently, alterations of the internal microstep resolution only apply in case the new microstep resolution is lower than 16 bits. Automatic Fullstep Switchover for TMC23x/24x Because SPI current data is transmitted, automatic switchover from microsteps to fullsteps and vice versa is only dependent on the internal ramp velocity. In order to activate automatic switchover between microstep and fullstep operation, do as follows: Action:  Set FS_VEL register 0x60 according to the velocity [pps] at which the switchover must happen.  Set fs_en = 1 (bit19 of GENERAL_CONF register 0x00). Result: Now, current values are switched to fullstep values in case |VACTUAL| ≥ FS_VEL. A switchback from fullsteps to µsteps is executed in case |VACTUAL| < FS_VEL. The status bit FS_ACTIVE is set active as long as fullstep mode is enabled and activated.  Turn to next page for more information. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Mixed Decay Configuration for TMC23x/24x 98/179 TMC4331A supports the mixed decay feature for the TMC23x/24x chopper in SPI_OUT_CONF register 0x04. In order to configure mixed decay bits for TMC23x/24x, do as follows: Action:  Set mixed_decay = b’00 if mixed decay must always be deactivated.  Set mixed_decay = b’01 if mixed decay must be activated for each coil during the falling ramp of the sine curve until reaching value 0.  Set mixed_decay = b’10 if mixed decay must always be activated, except during standstill.  Set mixed_decay = b’11 if mixed decay must always be activated. Result: The mixed decay bits for TMC23x/24x stepper motor drivers are set according to the configuration and the internal MSLUT values. i ChopSync Configuration for TMC23x/24x Stepper Drivers Please refer to the TMC23x/TMC24x datasheets to get more information about the configuration of mixed decay bits. TMC4331A forwards the internal clock at the output pin STDBY_CLK. This pin can also be used to provide an external clock for the TMC23x/24x stepper motor driver. This external clock generator automatically generates clock cycles that are modified by the chopSync feature if TMC23x/24x is configured as connected motor driver. Using chopSync enhances the motor drive for fast and smooth operation. In order to enable the chopSync clock via the STDBY_CLK pin, do as follows: Action:  Set CHOPSYNC_DIV register 0x1F to generate an external clock frequency fOSC according to the following equation: fOSC = fCLK / CHOP_SYNC_DIV.  Set stdby_clk_pin_assignment = b’10 (GENERAL_CONF register 0x00). Result: STDBY_CLK generates an external clock with the selected frequency fOSC that automatically provides the chopSync feature. i Doubling ChopSync Frequency during Standstill Recommended minimum external frequency fOSC: two times higher than audible range. Because chopper noise is of more concern during standstill than during motion, TMC4331A provides an option to automatically double the ChopSync frequency during standby. If seleceted, a ChopSync frequency within the audible range can be selected. If doubled, ChopSync frequency operates outside audible range. In order to enable automatic chopSync frequency doubling, do as follows: Action:  Activate any of the above mentioned mixed_decay options.  Set double_freq_at_stdby = 1 (SPI_OUT_CONF register 0x04). Result: ChopSync frequency is doubled during standby because CHOPSYNC_DIV is halfed. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Using TMC24x stallGuard Characteristics 99/179 TMC24x forwards stallGuard values ={LD2&LD1&LD0} instead of one stallGuard2 status bit. These bits represent an unsigned value between 0 and 7. The lower the value is the higher the mechanical load is. TMC4331A can generate a one-bit internal stall signal by analyzing the stallGuard values. In order to set up the stall load limit for automatic stall recognition, do as follows: Action:  Set proper STALL_LOAD_LIMIT (bit10:8 of SPIOUT_CONF register 0x04). Result: Whenever {LD2&LD1&LD0} ≤ STALL_LOAD_LIMIT a stall is indicated. This feature also allows use of the Stop-on-Stall feature – already explained in section 10.4.4, page 95 – because this also applies to other TMC motor stepper drivers. Additionally, a standby datagram can be sent automatically when a Stop-on-Stall is executed. In order to activate this behavior, do as follows: Action:  Set VSTALL_LIMIT register 0x67 [pps] according to minimum absolute velocity value for a correct stall recognition.  Set stop_on_stall = 1 (bit26 of REFERENCE_CONF register 0x01).  Set drive_after_stall = 0 (bit27 of REFERENCE_CONF register 0x01).  Set stdby_on_stall_for_24x = 1 (bit6 of SPIOUT_CONF register 0x04). Result: Whenever a stall is calculated by comparing STALL_LOAD_LIMIT to the response of TMC24x, while at the same time the absolute value of VACTUAL exceeds VSTALL_LIMIT, the internal ramp velocity is stopped immediately. Additionally, both current values are then set to 0 whereupon a standby mode for the TMC24x stepper motor driver is generated that switches off all power driver outputs and clears the error flags. i To return from Stop-on-Stall, drive_after_stall must be set manually, as stated further in section 10.4.4 (page 95). In order to exchange the UV status bit in the STATUS register 0x0F with the calculated stallGuard bit, do as follows: Action:  Set stall_flag_instead_of_uv_en = 1(bit10:8 of SPIOUT_CONF register 0x04). Result: STATUS (24) shows the calculated stallGuard bit by comparing STALL_LOAD_LIMIT with the received response datagram of TMC24x. Connection of STDBY_CLK output pin of TMC4331A and OSC input pin of TMC23x/24x1 NOTICE Risk of Burns! Avoid overheating and damage of the TMC23x/24x stepper driver and damage of the connected motor!   You MUST use a low pass filter between STDBY_CLK output of TMC4331A and the OSC input pin of TMC23x/24x. You MUST keep the external clock frequency of the TMC23x/24x stepper motor driver below 50 kHz (to prevent overheating). This will ensure smooth and safe operation. 1 Per default (i.e. after power on and reset), STDBY_CLK forwards the internal clock that is too high for the TMC23x/24x. See Figure 10, (page 12) that provides a properly connected sample hardware setup. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 100/179 TMC26x Stepper Motor Driver TMC26x Stepper Motor Driver Support TMC4331A provides the following features in order to support the TMC26x motor stepper driver family well:       SPI mode that sets up current values directly. S/D mode in which the TMC26x processes S/D outputs of TMC4331A. Automatic switchover between microstep and fullstep operation for both modes. Stall detection and Stop-on-Stall behavior for both modes. S/D mode only: Transfer of automatic scaling values from TMC4331A to TMC26x. S/D mode only: Transfer of auto-generated polling datagrams sent by TMC4331A for reception of status data and microstep position from TMC26x. In the following section, the features are explained in greater detail. i TMC26x Setup (SPI mode) For more information, please refer to the manual of the connected stepper driver motor. In order to activate the SPI data transfer mode and feature set for a connected TMC26x stepper motor driver, do as follows: Action:  Set spi_output_format = b’1010 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04). Result: TMC26x in SPI mode is selected as connected stepper motor driver. Cover datagrams and current datagrams are sent via SPI output pins. TMC26x Setup (S/D mode) In order to activate the S/D mode and feature set for a connected TMC26x stepper motor driver, do as follows: Action:  Connect SPI output pins and S/D outputs to the TMC26x stepper motor driver.  Set spi_output_format = b’1011 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04).  Set DIR_SETUP_TIME and STP_LENGTH_ADD (register 0x10) according to the hardware setup.  Set proper POLL_BLOCK_EXP (bit11:8 of SPIOUT_CONF register 0x04). Result: TMC26x in S/D mode is selected as connected stepper motor driver. SPI output pins transfer only cover datagram and automatic configuration datagrams because motion is generated by processing the STPOUT/DIROUT output signals of TMC4331A. The next polling datagram is sent 2^POLL_BLOCK_EXP · SPI_BLOCK_TIME clock cycles after the last polling datagram. i A high microstep frequency requires a short SPI datagram polling time.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Sending Cover Datagrams to TMC26x 101/179 Based on the TMC26x settings - that were explained above - TMC4331A now sends 20-bit datagrams automatically. In order to send cover datagrams to TMC26x motor stepper drivers, do as follows: Action:  Set COVER_LOW (19:0) to the register values that need to be transferred. Result: A cover datagram is sent to the connected driver. COVER_DONE is set after data transfer. The response of TMC26x is stored in COVER_DRV_LOW (19:0). In case the TMC26x driver operates in SPI mode, COVER_DONE is also set when a current datagram is transferred. In order to enable COVER_DONE only for cover datagrams, do as follows: Action:  Set cover_done_only_for_covers = 1 (bit12 of SPI_OUT_CONF register 0x04). Result: COVER_DONE event is only set if a cover datagram is sent, not for current datagrams. Automatic Continuous Streaming of Cover Datagrams for TMC26x It is a common approach that the microcontroller continuously rewrites register values for TMC26x to respond to possible voltage drops at the VS pin of TMC26x, which – if they occur – prompt an internal register reset, by design. TMC4331A provides an option to continuously rewrite the five configuration registers of TMC26x, which take off workload from the microcontroller. In order to activate automatic continuous streaming of TMC26x cover datagrams, do as follows: Action:  Set autorepeat_cover_en = 1 (bit7 of SPI_OUT_CONF register 0x04). Result: In case cover datagrams are sent to TMC26x while autorepeat_cover_en = 1, TMC4331A transfers a cover datagram every 2 20 clock cycle. Every time another register is addressed, the cover datagrams are retransferred one after the other in consecutive order; i.e. round-robin style. i However, the transfer rate remains at one datagram per 2 20 clock cycles. NOTE:  When TMC26x is operating in SPI mode, current datagrams are also repeated, if the value does not change; within one transfer interval cycle.  In case a TMC26x register is rewritten manually by cover datagrams, this last register value is, by definition, repeated.  Automatic register changes executed by TMC4331A – e.g. automatic scaling value transfers – are considered as well for repeated cover datagrams. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC26x SPI Mode: Automatic Fullstep Switchover 102/179 Because SPI current data is transmitted, automatic switchover from microsteps to fullsteps and vice versa entirely depends on internal ramp velocity. In order to activate automatic switchover between microstep and fullstep operation, do as follows: Action:  Set FS_VEL register 0x60 according to the absolute velocity [pps] at which the switchover should happen.  Set fs_en = 1 (bit19 of GENERAL_CONF register 0x00). Result: Now, current values are switched to fullstep values, in case |VACTUAL| ≥ FS_VEL. A switchback from fullsteps to µsteps is executed, in case |VACTUAL| < FS_VEL. The status bit FS_ACTIVE is set active as long as fullstep mode is enabled and activated. TMC26x S/D Mode: Automatic Fullstep Switchover In S/D mode, switchover from microsteps to fullsteps and vice versa is not only dependent on internal ramp velocity but also on the microstep position of the TMC26x MSLUT; because switching to a lower resolution must be executed carefully to catch the correct microstep position. Proper setting of read selection bits for TMC26x stepper drivers TMC4331A is required to execute switchover automatically. In order to activate automatic switchover between microstep and fullstep operation in TMC26x S/D mode, do as follows: PRECONDITION: Mandatory TMC26x configuration MUST be executed via cover datagrams:  Set RDSEL1 = 0 and RDSEL0 = 0 @TMC26x. Action:  Set disable_polling = 0 (bit6 of SPI_OUT_CONF register 0x04).  Set FS_VEL register 0x60 according to the absolute switching velocity [pps].  Set fs_en = 1 (bit19 of GENERAL_CONF register 0x00).  Set fs_sdout = 0 (bit20 of GENERAL_CONF register 0x00). Result: The µstep resolution of TMC26x is set to fullsteps, in case |VACTUAL| ≥ FS_VEL. A switchback from fullsteps to µsteps is executed in case |VACTUAL| < FS_VEL. FS_ACTIVE is set active as long as fullstep mode is enabled and activated. Presettings of the TMC26x DRVCTRL register – that is executed beforehand via cover datagrams – are considered whenever the particular register is overwritten with a newly assigned microstep resolution.  Turn page for information on changing current scaling parameters for TMC26x in S/D mode. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC 26x S/D Mode: Change of Current Scaling Parameter 103/179 SPI mode-supported TMC26x drivers are automatically scaled by means of current datagrams. In order to automatically scale the current of a connected TMC26x motor stepper driver in S/D mode, TMC4331A sends auto-generated cover datagrams by altering directly the CS value of the TMC26x SGCSCONF register. TMC4331A provides features that change the current scaling automatically, which are explained in chapter 11, page 113. In order to activate automatic current scaling for a connected TMC26x in S/D mode, do as follows: Action:  Set scale_val_transfer_en = 1 (bit5 of SPI_OUT_CONF register 0x04).  Set the scale value register 0x06 and scale configuration register 0x05 according to your requirements (see chapter 11, page 113). Result: If the current scaling is adapted internally, TMC4331A automatically sends cover datagrams to TMC26x that change the CS bit directly. Presettings of the TMC26x SGCSCONF register – that are executed beforehand via cover datagrams – become considered whenever the particular register is overwritten with a newly assigned current scaling value. NOTE:  Please consider that the CS value consists of 5 bits only. Therefore, the scaling values in register 0x06 must be adapted to 5-bit values as well. TMC26x Status Bits TMC4331A maps the following status bits of TMC26x stepper drivers – which are transferred within each SPI response – to the STATUS register 0x0F: Status Register Mapping for TMC26x STATUS Bit @TMC4331A Status Flag @TMC26x Description STATUS(24) SG stallGuard2™ status flag STATUS(25) OT Over temperature flag STATUS(26) OTPW STATUS(27) S2GA STATUS(28) S2GB STATUS(29) OLA Open load flag for bridge A STATUS(30) OLB Open load flag for bridge B STATUS(31) STST Standstill flag Temperature prewarning flag Short-to-ground detection flag for high side MOSFET of coil A Short-to-ground detection flag for high side MOSFET of coil B Table 45: Mapping of TMC26x Status Flags i TMC26x Status Response If polling is not disabled, status data from TMC26x is also available in S/D mode. The DRV_STATUS register of TMC26x is always sent in response to any transferred datagram of TMC4331A. In order to store the DRV_STATUS response of TMC26x, do as follows: Action:  Set disbale_polling = 0 (bit5 of SPI_OUT_CONF register 0x04). Result: TMC4331A stores the value of this response in POLLING_STATUS register 0x6C which then can be read out. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 104/179 TMC389 Stepper Motor Driver Configuration for the TMC389 3--Phase Stepper Driver If a TMC389 is connected to the SPI output and a microstep resolution of 256 is set, a 3-phase stepper output for coil B can be generated. All features of TMC26x stepper motor drivers in SPI mode are also available for TMC389. In order to activate the SPI data transfer mode and feature set - for a connected TMC389 3-phase stepper motor driver - do as follows: Action:  Set spi_output_format = b’1010 (SPI_OUT_CONF register 0x04).  Set three_phase_stepper_en = 1 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04). Result: Now, the CURRENTB and CURRENTB_SPI values are shifted by 120° towards CURRENTA and CURRENTA_SPI – in contrast to the 90° shift of the 2-phase stepper motors. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 105/179 TMC2130 Stepper Motor Driver TMC2130 Support TMC4331A provides the following features in order to support the TMC2130 motor stepper driver well:       SPI mode that sets up current values directly. S/D mode in which the TMC2130 processes S/D outputs of TMC4331A. Automatic switchover between microstep and fullstep operation for both modes. Stall detection and Stop-on-Stall behavior for both modes. S/D mode only: Transfer of automatic scaling datagrams from TMC4331A to TMC2130. S/D mode only: Transfer of auto-generated polling datagrams sent by TMC4331A for reception of status data and microstep position from TMC2130. In the following section, the features are explained in greater detail. i Set-up TMC2130 Support (SPI Mode) For more information, please refer to the manual of the TMC2130 stepper driver motor. In order to activate the SPI data transfer mode and feature set - for a connected TMC2130 stepper motor driver - do as follows: Action:  Set spi_output_format = b’1101 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04). Result: TMC2130 in SPI mode is selected as connected stepper motor driver. Cover datagrams and current datagrams are sent via SPI output pins. Set-up TMC2130 Support (S/D Mode) In order to activate the S/D mode and feature set - for a connected TMC2130 stepper motor driver - do as follows: Action:  Connect SPI output pins and S/D outputs to the TMC2130 stepper motor driver.  Set spi_output_format = b’1100 (SPI_OUT_CONF register 0x04).  Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04).  Set DIR_SETUP_TIME and STP_LENGTH_ADD (register 0x10) according to the hardware setup.  Set proper POLL_BLOCK_EXP (bit11:8 of SPIOUT_CONF register 0x04). Result: TMC2130 in S/D mode is selected as connected stepper motor driver. SPI output pins transfer only cover datagrams and automatic configuration datagrams because motion is generated by processing the STPOUT/DIROUT output signals of TMC4331A. The next polling datagram is sent 2^POLL_BLOCK_EXP · SPI_BLOCK_TIME clock cycles after the last polling datagram. i A high microstep frequency requires a short SPI datagram polling time. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Sending Cover Datagrams to TMC2130 106/179 Based upon the TMC2130-supported settings explained above, the TMC4331A now sends 40 bit datagrams automatically. In order to send cover datagrams to TMC2130 stepper drivers, do as follows: Action:  Set COVER_HIGH (7:0) register 0x6D to address value that needs to be sent.  Set COVER_LOW (31:0) register 0x6C to data values that needs to be sent. Result: A cover datagram is sent to the connected driver. COVER_DONE is set after data transfer. The response of TMC2130 is stored in COVER_DRV_HIGH (7:0) and COVER_DRV_LOW (31:0). In case the TMC2130 driver operates in SPI mode, COVER_DONE is also set when a current datagram is transferred. This also applies to polling datagrams, explained in section 10.8.8, page 108. In order to enable COVER_DONE only for cover datagrams, do as follows: Action:  Set cover_done_only_for_covers = 1 (bit12 of SPI_OUT_CONF register 0x04). Result: COVER_DONE event is only set if a cover datagram is sent, not for current datagrams. Automatic Continuous Streaming of Cover Datagrams for TMC2130 It is a common approach that the microcontroller continuously rewrites register values for TMC2130 to respond to possible voltage drops at the VS pin of TMC2130, which – if they occur – prompt an internal register reset, by design. TMC4331A provides an option to continuously rewrite five configuration registers of TMC2130, which take off workload from the microcontroller. These registers are: GCONF 0x00, IHOLD_IRUN 0x10, CHOPCONF 0x6C, COOLCONF 0x6D, and DCCTRL 0x6E. In order to activate automatic continuous streaming of TMC2130 cover datagrams, do as follows: Action:  Set autorepeat_cover_en = 1 (bit7 of SPI_OUT_CONF register 0x04). Result: In case cover datagrams are sent to TMC2130 register – that are mentioned above – while autorepeat_cover_en = 1, TMC4331A transfers a cover datagram every 220 clock cycle. Everytime another register is addressed, the cover datagrams are retransferred one after the other in consecutive order; i.e. round-robin style. i However, the transfer rate remains at one datagram per 2 20 clock cycles. NOTE:  When TMC2130 is operating in SPI mode, current datagrams are also repeated, if the value does not change; within one transfer interval cycle.  In case one of the five above mentioned TMC2130 register is rewritten manually by cover datagrams, this last register value is, by definition, repeated.  Automatic register changes executed by TMC4331A – e.g. automatic scaling value transfers – are considered as well for repeated cover datagrams. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC2130 SPI Mode: Automatic Fullstep Switchover 107/179 Because SPI current data is transmitted, the automatic switchover from microsteps to fullsteps and vice versa entirely depends on the internal ramp velocity. In order to activate automatic switchover between microstep and fullstep operation, do as follows: Action:  Set FS_VEL register 0x60 according to absolute velocity [pps] at which the switchover should happen.  Set fs_en = 1 (bit19 of GENERAL_CONF register 0x00). Result: Now, current values are switched to fullstep values, in case |VACTUAL| ≥ FS_VEL. A switchback from fullsteps to µsteps is executed in case |VACTUAL| < FS_VEL. The status bit FS_ACTIVE is set active as long as fullstep mode is enabled and activated. TMC2130 S/D Mode: Automatic Fullstep Switchover TMC 2130 S/D Mode: Changing current Scaling Parameter During S/D mode, switchover from microsteps to fullsteps and vice versa is only executed directly by TMC2130. Therefore, a fullstep velocity must only be defined in TMC2130. TMC4331A transfers microsteps whether TMC2130 is operating in fullstep or microstep mode. TMC4331A provides features that change the current scaling automatically, which is explained in chapter 11, page 113. Stepper motor drivers that are supported by SPI current datagrams are automatically scaled via current datagrams. To automatically scale the current of a connected TMC2130 motor stepper driver in S/D mode, TM4331A sends auto-generated cover datagrams by altering the CS value of the TMC2130 IHOLD_IRUN register. In order to activate automatic current scaling for TMC2130 in S/D mode: Action:  Set scale_val_transfer_en = 1 (bit5 of SPI_OUT_CONF register 0x04).  Set scale value register 0x06 and scale configuration register 0x05 according to your requirements (see chapter 11, page 113). Result: When current scaling is adapted internally, TMC4331A sends cover datagrams to TMC2130 automatically, which changes the CS bit directly. Presettings of the IHOLD_IRUN register of the TMC2130 – executed before via cover datagrams – are considered whenever the particular register is overwritten with a newly assigned current scaling value. i Please consider that the IRUN and IHOLD values consist of 5 bits only. Therefore, scaling values in register 0x06 must also be adapted to 5-bit values. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 TMC2130 Status Bits 108/179 TMC4331A maps the following status bits of TMC2130 stepper drivers – which are transferred within each SPI response – to the STATUS register 0x0F: Status Register Mapping for TMC2130 STATUS Bit @TMC4331A Status Flag @TMC2130 Description STATUS (24) SG stallGuard2™ status flag. STATUS (25) OT Over temperature flag. STATUS (26) OTPW STATUS (27) S2GA STATUS (28) S2GB STATUS (29) OLA Open load flag for bridge A. STATUS (30) OLB Open load flag for bridge B. STATUS (31) STST Standstill flag. Temperature prewarning flag. Short-to-ground detection flag for high side MOSFET of coil A. Short-to-ground detection flag for high side MOSFET of coil B. Table 46: Mapping of TMC2130 Status Flags i TMC2130 Status Response If polling is not disabled (disable_polling = 0), status data from TMC2130 is also available in S/D mode. TMC4331A continuously polls five status registers of TMC2130, if not disabled. These register are GSTAT 0x01, PWM_SCALE 0x71, LOST_STEPS 0x73 and DRV_STATUS 0x6F. In order to store the polled register values of TMC2130, do as follows: Action:  Set disbale_polling = 0 (bit5 of SPI_OUT_CONF register 0x04). Result: TMC4331A stores the value of DRV_STATUS in POLLING_STATUS register 0x6C, which then can be read out. The response for polling of GSTAT, PWM_SCALE and LOST_STEPS are merged in the POLLING_REG register 0x6D, which then can also be read out. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 109/179 Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface TMC4331A also provides configuration data for driver chips of other companies via the cover registers. The following output format settings can be selected: Non-TMC Data Transfer Options Output Formats spi_output_format Comment SPI output off b’0000 SPI output driver pins are switched off. Cover output only b’1111 Only cover datagrams are sent via the SPI output pins. Unsigned scaling factor b’0100 Signed current data b’0101 DAC scaling factor b’0110 DAC absolute values b’0011 DAC absolute values b’0010 DAC adapted values b’0001 The actual unsigned current scaling value is provided at the SPI output pins. Both actual signed current values are provided in one datagram at the SPI output pins. The actual unsigned current scaling value is provided at the SPI output pins for a defined DAC address. Both actual signed current values are provided in two datagrams at the SPI output pins for defined DAC addresses, which are absolute values. Phase bits are generated at the STPOUT/DIROUT interface. Phase bit = 0 signifies positive values. Both actual signed current values are provided in two datagrams at the SPI output pins for defined DAC addresses, which are absolute values. Phase bits are generated at the STPOUT/DIROUT interface. Phase bit = 1 signifies positive values. Both actual signed current values are provided in two datagrams at the SPI output pins for defined DAC addresses. These values are mapped to positive values: Current value equals minimum value (-255) =0 Current value equals 0 = 128 Current value equals maximum value (+255) = 255 Table 47: Non-TMC Data Transfer Options NOTE:  Please note that the COVER_DATA_LENGTH must be set according to the predefined driver chip datagram length. Cover Output only ! In order to send cover datagrams only, use this option to avoid datagrams that send scaling or current values whenever these internal values are changed. Please keep in mind that only the SPI protocol is available that is used for TMC motor stepper drivers. Sending unsigned Scaling Factor Setting spi_output_format = b’0100 leads to a transfer of the 8-bit scaling factor if this value is altered internally: Output data(7:0) = SCALE_PARAM (7:0). The MSB 7 is sent first. If more than 8 bits are configured as COVER_DATA_LENGTH, leading zeros are inserted before the MSB. Sending signed Current Values Setting spi_output_format = b’0101 leads to a transfer of both signed current values that consists of 18 bits and are sent one after the other in one datagram: Output data(17:0) = CURRENTA_SPI (8:0) & CURRENTB_SPI (8:0). The MSB (bit17) is sent first. If more than 18 bits are configured as COVER_DATA_LENGTH, leading zeros are inserted before the MSB. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 110/179 Connecting a SPI-DAC DAC Output Values Connecting a compatible SPI-DAC to SPI output pins, several possibilities are available for output configuration:    DAC Data Transfer Changing SPI Output Protocol for SPI-DAC Output of the internal SPI current values. Output of the internal current scaling value. Several SPI protocols are available. SPI-DACs can convert more than one digital value, but every value is transmitted in one datagram. Because TMC4331A provides two current values, a datagram transfer from TMC4331A to a connected SPI-DAC is split into two datagrams, one for each current value: CURRENTA_SPI and CURRENTB_SPI. The transmission is initiated as soon as one of both values is changed internally. The data transfer of the second current value CURRENTB_SPI is executed automatically whenever the transmission of CURRENTA_SPI is completed. If only the scaling factor SCALE_PARAM needs to be transferred, only one datagram is sent out. Per default, the SPI protocol follows the TMC style: To initiate a data transfer, the negated chip select signal NSCSDRV switches from high to low level. After a while, the serial clock SCKDRV switches from high to low level. When the transmission is finished, the serial clock switches to high level. Afterwards, the negated chip select signal switches to high level to finish the data transfer. Adaptations to suit other SPI protocols are also available: In order to set serial clock to low level - before the negated chip select switches to low level - do as follows: Action:  Set sck_low_before_csn = 1 (bit4 of SPIOUT_CONF register 0x04). Result: SCKDRV is tied low before NSCSDRV switches to low level to initiate data transfer. Per default, TMC drivers sample master data with the rising edge of the serial master clock. Thus, TMC4331A shifts output data at SDODRV with the falling edge of SCKDRV. If the data must be sampled with the falling edge of the master clock at the driver’s side, do as follows: Action:  Set new_out_bit_at_rise = 1 (bit5 of SPIOUT_CONF register 0x04). Result: The output data at SDODRV is changed with the rising edge of SCKDRV. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 DAC Address Values 111/179 SPI transmission to a DAC transfers an address or a command prior to the value that must be defined. The length of the prefixed command/address can be assigned by setting DAC_CMD_LENGTH according to specification of the SPI-DAC. In order to set up the DAC communication scheme, do as follows: Action:  Set DAC_CMD_LENGTH (bit11:7 of SPI_OUT_CONF register 0x04) according to the length of the address / command, which is placed in front of the values.  Set DAC_ADDR register 0x1D according to your requirements: Address/command of the 1st value: Set DAC_ADDR(15:0) = DAC_ADDR_A. Address/command of the 2nd value: Set DAC_ADDR(31:16)= DAC_ADDR_B. Result: DAC_ADDR_A is placed in front of the first transferred value that can be the current value of coilA (=CURRENTA_SPI) or the scaling factor (=SCALE_PARAM), whereas DAC_ADDR_B is placed before the second current value CURRENTB_SPI. i COVER_DATA_LENGTH comprises the whole datagram length, which is the sum of the address/length DAC_CMD_LENGTH and the 8-bit data length. i If the cover register length comprises more bits than the combination of address/command and value, trailing zeros are added at the end. i The command bits consist of the least significant bits of DAC_ADDR_x if the command length is less than 16 bits long. Several opportunities are available for the DAC data style: DAC Data Values   Current values are converted to absolute values. The phases of the values are generated at the STPOUT (coilA) and DIROUT (coilB) pins. The base line (value equals 0) is located at 0 (see Table 48, Figures B and C). The current values – which range between -255 and 255 – are mapped to values between 0 and +255: the minimum value of -255 is an output value of 0, whereas the baseline is set to +128. The maximum value remains at +255. In detail, the value is divided by two and 128 is added to the quotient (Table 48, page 112, Fig. A). TMC4381 provides an offset to compensate for a shifted DAC baseline. In order to shift the DAC baseline, do as follows: Action:  Set DAC_OFFSET (bit31:24 of register 0x7E) according to your requirements. Result: The digital values are shifted accordingly. Table 48, page 112, Figure D shows absolute DAC values. The DAC baseline is shifted by 32 steps, whereas Table 48, page 112, Figure E shows mapped DAC values, which are shifted by 64 steps. i For the three available absolute values options – including the unsigned scale parameter transfer – the offset represents an unsigned number. i For the mapped values option the offset represents a signed number. To avoid a carry over at the value limits +255 and -256 when using an DAC offset, the MSLUT values must be scaled down for the SPI output values (see Table 48, page 112, figures D and E). This can be done by using the current scale feature, as explained in chapter 11, page 113.  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 112/179 Available DAC Options for the SPI Output Interface A Original SPI Output Curves: Mapped DAC values: Mapped DAC values Original SPI output values 256 256 128 192 0 128 -128 64 0 -256 CURRENTA_SPI B DAC value A CURRENTB_SPI C Absolute DAC values (positive phase = 0) DAC value B Absolute DAC values (positive phase = 1) DAC values DAC values 256 256 192 192 128 128 64 64 0 0 DAC value A DAC value A DAC value B DAC value B Phase value coil A Phase value coil A 1 1 0 0 STPOUT STPOUT Phase value coil B Phase value coil B 1 1 0 0 DIROUT D DIROUT E Absolute DAC values, original MSLUT values are scaled to ½, DAC value offset=32 Mapped DAC values, original MSLUT values are scaled to ½, DAC value offset = 64 DAC values Mapped DAC values 256 256 192 192 128 128 64 64 0 0 DAC value A DAC value A DAC value B DAC value B Table 48: Available SPI-DAC Options © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 113/179 11. Current Scaling The current values of register 0x7A – CURRENTA and CURRENTB – of the microstep lookup table (MSLUT) represent the maximum 9-bit signed values, which can be sent via the SPIOUT output interface. In most sections of the velocity ramp it is not required to drive the motor with the full current amplitude. Various possibilities are implemented that allow adaptation of actual current values of the MSLUT to the present ramp status. Scale parameters are available for boost current, hold current, and drive current. These parameters can be assigned independently in the SCALE_VALUES register 0x06, and are used automatically for different states of the velocity ramp; if enabled, as described below. Prior to describing the various feasible scaling situations, a brief explanation of the scaling calculation is provided. Calculation of the Current Output Values When scaling is enabled for the present ramp state, the actual current values of the MSLUT are multiplied with the MULT_SCALE parameter that is deduced from one of the four SCALE_VALUES: MULT_SCALE = (actual_SCALE_VAL + 1) / 256 Description of Scaling Calculation with actual_SCALE_VAL = {HOLD, BOOST, DRV1, DRV2}. Consequently, this MULT_SCALE ranges from 0 to 1: 0 < MULT_SCALE ≤ 1. MULT_SCALE is then multiplied with the actual current values CURRENTA and CURRENTB, which are generated by the MSLUT: CURRENTA_SPI = CURRENTA · MULT_SCALE (bit8:0 of 0x7B) CURRENTB_SPI = CURRENTB · MULT_SCALE (bit24:16 of 0x7B) These values are transferred via SPI output interface. If no current scaling is enabled, the output values CURRENTA_SPI and CURRENTB_SPI are equal to the MSLUT values CURRENTA and CURRENTB because the scaling values are equal to the maximum 255, per default. Thus, scaling will only decrease the original MSLUT values. Also, the actual scale parameter can assume intermediate values because TMC4331A offers possibilities to convert smoothly from one scale value to another. The actual scale parameter SCALE_PARAM can be read out at register 0x7C. It has the same range as the four SCALE_VALUES. AREAS OF SPECIAL CONCERN ! Use of TMC26x and TMC2130 stepper motor drivers in S/D mode: If TMC motor stepper drivers are used in S/D mode, scaling values comprise only 5 bits because the CS value of TMC26x, and the IHOLD, IRUN values of TMC2130 motor stepper drivers are adapted directly. Therefore, MULT_SCALE is calculated slightly differently: MULT_SCALE = (actual_SCALE_VAL + 1) / 32 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Hold Current Scaling 114/179 During standstill, the current can be scaled down considerably in most applications because the energy demand is lower than during motion. In addition to the scaling value, the standby delay must be configured. The delay defines the time between ramp stop and startup of hold scaling. Whenever the delay is set to 0, hold scaling is immediately enabled at the end of the velocity ramp. Because most applications require waiting for system oscillations after ramp stop, this delay must be set up in most cases. In order to set up and enable hold current scaling, do as follows: Action:  Set the time frame for STDBY_DEALY register 0x15 after ramp stop, and before standby phase starts.  Set HOLD_SCALE_VAL = SCALE_VALUES (31:24) according to the maximum current during motor standstill.  Set hold_current_scale_en = 1 (CURRENT_CONF register 0x05). Result: The standby timer is started as soon as VACTUAL reaches 0. After STDBY_DELAY clock cycles the standby timer expires that activates the hold scaling phase. Standby Status The standby status can be forwarded via STDBY_CLK output pin. In order to generate an output standby signal, do as follows: Action:  Set stdby_clk_pin_assignment (1) = 0 (Bit14 of GENERAL_CONF register 0x00).  Set stdby_clk_pin_assignment (0) (Bit13 of GENERAL_CONF register 0x00) according to the active voltage level of the output pin. Result: STDBY_CLK output pin forwards the internally generated standby status. The active output level equals stdby_clk_pin_assignment (0). Freewheeling Some applications require a freewheeling behavior after ramp stop. This means that the current values are set to 0. A delay timer can be configured to define the time between standby start and the beginning of freewheeling. In order to set up and enable freewheeling, do as follows: Action:  Set FREEWHEEL_DELAY register 0x16 according to the duration of the time after standby start, so that freewheeling is activated accordingly.  Set freewheeling_en = 1 (CURRENT_CONF register 0x05). Result: The freewheeling timer is started as soon as the standby mode is activated. After completion of FREEWHEEL_DELAY clock cycles, the freewheeling timer expires that activates the freewheeling phase. i Just before the velocity ramps starts internal scaling is set to the standby scaling value. This avoids starting the ramp at current values that are equal to 0. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 115/179 Current Scaling during Motion If the current values need to be scaled during motion, several options are available. Up to three scaling values can be selected: Two drive scaling values and one boost scale value. Different scale values can be automatically assigned to the various sections of the velocity ramp. Drive Scaling Drive scaling is the preferred direct and mostly unconditional scaling option. If no boost scaling is enabled, the current values are scaled according to the given scale value, independent of the present ramp status. In order to set up and enable only drive current scaling, do as follows: Action:  Set DRV1_SCALE_VAL = SCALE_VALUES (15:8) according to the maximum current during motion.  Set drive_current_scale_en = 1 (CURRENT_CONF register 0x05). Result: As long as no other motion scale options are activated the current values of the MSLUT are scaled according to DRV1_SCALE_VAL during motion (VACTUAL 0). Alternative Drive Scaling A second drive scale parameter can be assigned in order to differentiate the motion scaling according to the internal ramp velocity. In order to set up and enable drive current scaling with two different scaling values, do as follows: Action:  Set VDRV_SCALE_LIMIT register 0x17 [pps] according to switching velocity at which drive scaling will change.  Set DRV1_SCALE_VAL = SCALE_VALUES(15:8) according to maximum current during motion below VDRV_SCALE_LIMIT.  Set DRV2_SCALE_VAL = SCALE_VALUES(23:16) according to maximum current during motion beyond VDRV_SCALE_LIMIT.  Set drive_current_scale_en = 1 (CURRENT_CONF register 0x05).  Set sec_drive_current_scale_en = 1 (CURRENT_CONF register 0x05). Result: As long as no boost scaling is activated, the current values of the MSLUT are scaled according to DRV1_SCALE_VAL as long as VACTUAL ≤ VDRV_SCALE_LIMIT. Whenever VACTUAL > VDRV_SCALE_LIMIT the current values are scaled according to DRV2_SCALE_VAL. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Boost Current 116/179 In certain sections of the velocity ramp it can be useful to boost the current. Boost current can be assigned temporarily either after ramp start or during the whole ac-/deceleration phase. All options can be selected separately, or in combination. i All three options use the same scaling value BOOST_SCALE_VAL. OPTION 1: BOOST SCALING AT RAMP START In order to set up and enable boost current scaling within a defined time frame directly after the velocity ramp start-up, do as follows: Action:  Set BOOST_TIME register 0x18 according to the delay period at which boost current scaling is activated after a velocity ramp start.  Set BOOST_SCALE_VAL = SCALE_VALUES (7:0) according to the maximum current during the boost phase.  Set boost_current_after_start_en = 1 (CURRENT_CONF register 0x05). Result: After the velocity ramp start (VACTUAL = 0 before), boost scaling is activated according to BOOST_SCALE_VAL. The boost timer expires after BOOST_TIME clock cycles. Afterwards, any other selected scaling value is used, if active and selected. OPTION 2: BOOST SCALING ON ACCELERATION SLOPES In order to set up and enable boost current scaling for the acceleration phase of the velocity ramp, do as follows: Action:  Set BOOST_SCALE_VAL = SCALE_VALUES (7:0) according to the maximum current during the boost phase.  Set boost_current_on_acc_en = 1 (CURRENT_CONF register 0x05). Result: As long as the absolute internal velocity |VACTUAL| increases, the boost scaling function is activated according to BOOST_SCALE_VAL. The present ramp state can be read out by the RAMP_STATE flag. Acceleration slopes are indicated by RAMP_STATE = b’01. OPTION 3: BOOST SCALING ON DECELERATION SLOPES In order to set up and enable boost current scaling for the deceleration phase of the velocity ramp, do as follows: Action:  Set BOOST_SCALE_VAL = SCALE_VALUES(7:0) according to maximum current during the boost phase.  Set boost_current_on_dec_en = 1 (CURRENT_CONF register 0x05). Result: As long as the absolute internal velocity |VACTUAL| decreases, boost scaling is activated according to BOOST_SCALE_VAL. The present ramp state can be read out at the RAMP_STATE flag. Deceleration slopes are indicated by RAMP_STATE = b’10. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 117/179 Scale Mode Transition Process Control Transition from one scale value to the next active value can be configured as slight conversion. It is advisable to avoid abrupt scaling alterations, which can cause unwanted oscillations and/or motor stall. Three different parameters can be set to convert to higher or lower current scale values. Transition to Hold Current Scaling ! It is often required to peter out the motion (by smoothening the transition process from motion scaling to hold scaling) in order to avoid system standstill oscillations. In order to configure a smooth transition from motion current scaling to hold current scaling, do as follows: Action:  Set HOLD_SCALE_DELAY register 0x19 according to the delay period after which the actual scale parameter is decreased by one step towards hold current scale value. Result: Immediately after the hold scaling current is activated, the actual scale parameter is decreased by one step per HOLD_SCALE_DELAY clock cycles until SCALE_PARAM = HOLD_SCALE_VAL. i Transition to higher Motion Current Scaling ! If HOLD_SCALE_DELAY = 0, the hold current scaling value HOLD_SCALE_VAL is assigned immediately whenever the hold current scaling is activated. To avoid step loss – in case a higher scale value is assigned during motion – the transition from low to high current scale values can also be adapted. In order to configure a smooth transition from a lower motion current scaling value to a higher motion current scaling value, do as follows: Action:  Set UP_SCALE_DELAY register 0x18 according to the delay period after which the actual scale parameter is increased by one step towards the higher current scale value. Result: Whenever a higher current scale value is assigned internally, the actual scale parameter is increased by one step per UP_SCALE_DELAY clock cycles until the assigned scale parameter is reached. i If UP_SCALE_DELAY = 0, the higher current scaling value is assigned immediately whenever the corresponding current scaling phase is activated.  Description continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Transition to lower Motion Current Scaling ! 118/179 To avoid step loss or unwanted oscillations – in case a lower scale value is assigned during motion – the transition from high to low current scale values can be adapted also. In order to configure a smooth transition from a higher motion current scaling value to a lower motion current scaling value, do as follows: Action:  Set DRIVE_SCALE_DELAY register 0x1A according to the delay period after which the actual scale parameter is decreased by one step towards the lower current scale value. Result: Whenever a lower current scale value is assigned internally, the actual scale parameter is decreased by one step per DRIVE_SCALE_DELAY clock cycles until the assigned scale parameter is reached. i If DRIVE_SCALE_DELAY = 0, the lower current scaling value is assigned immediately whenever the corresponding current scaling phase is activated. Two examples are provided on the following pages that illustrate how scaling modes can be used. The scale parameter SCALE_PARAM is shown in combination with its related scale timers in clock cycles and in combination with the underlying velocity ramp. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 119/179 Current Scaling Examples Scaling Mode Example 1 In this example, the following scale options are enabled:      Standby scaling Freewheeling Boost scaling at start Boost scaling on deceleration ramps Drive scaling The different scaling stages of the trapezoidal velocity ramp are shown in different colors in the Figure A below. Figure B shows the internal scale parameter SCALE_PARAM as function of time. The scale parameter is not switched immediately whenever the scaling situations alters; because delay timers are used. A transition time between the assigned values is generated. Four transition phases are shown that are calculated as follows: tSTART_SCALE = (BOOST_SCALE_VAL – HOLD_SCALE_VAL) · UP_SCALE_DELAY · fCLK tDN_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · DRV_SCALE_DELAY · fCLK tUP_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · UP_SCALE_DELAY · fCLK tHOLD_SCALE = (DRV1_SCALE_VAL – HOLD_SCALE_VAL) · HOLD_SCALE_DELAY · fCLK Figure C shows the different timers that are used:    To finish boost scaling after start. To start standby scaling. To start freewheeling. i These three delay values are directly determined by their respective register values 0x1B, 0x15, and 0x16. A) v(t) Boost scaling Drv1 scaling StdBy scaling Freewheeling t B) SCALE_PARAM tSTART_SCALE tDN_SCALE tUP_SCALE tDN_SCALE BOOST_SCALE_VAL tHOLD_SCALE DRV1_SCALE_VAL HOLD_SCALE_VAL t C) scale timer [clk cycles] STDBY_DELAY FREEWHEEL_DELAY BOOST_TIME t Figure 54: Scaling Example 1 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Scaling Mode Example 2 120/179 In this example, the following scale options are enabled:   Boost scaling on acceleration ramps Drive scaling 1 and 2 As long as |VACTUAL| < VDRV_SCALE_LIMIT, Drv1 scaling is active. Both drive scaling modes are used for the deceleration ramp because boost current is not enabled during deceleration slopes (boost_current_on_dec = 0). Whenever VACTUAL traverses 0 the RAMP_STATUS switches to acceleration ramp, and boost scaling becomes enabled again. This is shown in the figure A below. Figure B depicts the actual scale parameter, which is altered with the formerly specified delays. In contrast to example 1, tSTART_SCALE is changed to the following calculation: tDN_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · DRV_SCALE_DELAY · fCLK Whereas the other transition phases depend on whether DRV1_SCALE_VAL or DRV2_SCALE_VAL is used either; before or after the transition process. v(t) Boost scaling Drv1 scaling VDRV_SCALE_LIMIT Drv2 scaling t -VDRV_SCALE_LIMIT SCALE_PARAM BOOST_SCALE_VAL DRV2_SCALE_VAL DRV1_SCALE_VAL t Figure 55: Scaling Example 2 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 121/179 12. Controlled PWM Output TMC4331A offers controlled PWM (Pulse Width Modulation) signals at STPOUT and DIROUT output pins. These PWM signals can be scaled, depending on the internal velocity. If a TMC23x/24x stepper motor driver is connected and configured properly, the PWM signals are redirected to two SPI output interface pins. This avoids rerouting of signal lines at board level if SPI mode is switched to PWM mode, or vice versa. In this chapter information is provided on the basic setup of the PWM output configuration; and also on TMC23x/24x control PWM input support. Dedicated PWM Output Pins Pin Names Type Remarks STPOUT_PWMA Output PWM output for coil A. DIROUT_PWMB Output PWM output for coil B. Connected and selected TMC23x/24x stepper motor drivers only: SDODRV Output PWM output for coil A. NSCSDRV Output PWM output for coil B. Table 49: Dedicated PWM Output Pins Dedicated PWM Output Registers Register Name GENERAL_CONF Register Address 0x00 RW Remarks Bit 21: pwm_out_en. pwm_scale_en = CURRENT_CONF (8): PWM scale CURENT_CONF 0x05 RW PWM_VMAX 0x17 RW PWM_FREQ 0x1F RW enable switch PWM_AMPL = CURRENT_CONF (31:16): PWM amplitude at VACTUAL = 0. Second assignment to VDRV_SCALE_LIMIT: velocity at which the PWM scale parameter reaches 1 (maximum). Number of clock cycles that forms one PWM period. Table 50: Dedicated PWM Output Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 122/179 PWM Output Generation and Scaling Possibilities Enable PWM Output Generation The STPOUT and DIROUT output pins generally forward internal generated microsteps and motion direction. In contrast to that, it is possible to forward the internal MSLUT value as PWM output signals, which is dependent on the PWM frequency. In order to generate PWM output, do as follows: Action:  Set PWM_FREQ register 0x1F to the number of clock cycles for one PWM cycle.  Set pwm_out_en = 1 (GENERAL_CONF register 0x00). Result: Step/Dir output is disabled and PWM signals are forwarded via STPOUT_PWMA and DIROUT_PWMB. PWM frequency fPWM is calculated by: fPWM = fCLK / PWM_FREQ If PWM Voltage mode is selected: NOTICE Avoid unintended overheating to prevent motor damage during PWM mode!  At lower velocity values PWM voltage scaling MUST be enabled. This will ensure smooth operation during controlled PWM mode. PWM Duty Cycle Scaling The duty cycle of both signals represent the sine (STPOUT) and cosine (DIROUT) values of the MSLUT. PWM voltage scaling does not work the same way as presented for the SPI current output interface (see chapter 11, page 113). PWM scaling is adapted linearly, which depends on the internal ramp velocity. During Voltage PWM mode the scaling value at VACTUAL = 0 must be assigned, and also the velocity at which full scaling is reached. In order to generate a scaled PWM output, do as follows: Action:  Set PWM_AMPL (bit31:16 of register 0x05) as start PWM scaling value.  Set PWM_VMAX register 0x17 to the internal ramp velocity [pps] at which full PWM scaling is reached.  Set pwm_scale = 1 (bit8 of CURRENT_CONF register 0x05). Result:  PWM_SCALE is the actual scaling value.  In case VACTUAL = 0, PWM_SCALE = (PWM_AMPL + 1) / 217. i Whenever the absolute velocity value increases, the scale parameter also increases linearly until it reaches the maximum of PWM_SCALE = 0.5 at VACTUAL = PWM_VMAX. i i i The minimum duty cycle is calculated by DUTY_MIN = (0.5 – PWM_SCALE). The maximum duty cycle is calculated by DUTY_MAX = (0.5 + PWM_SCALE). These values set the PWM duty cycle limits of any internal ramp velocity. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 PWM Scale Example 123/179 In the figure below, the calculation of minimum/maximum PWM duty cycles with PWM_AMPL = 32767 is shown on the left side. Resulting duty cycles for different positions in the sine voltage curve are depicted on the right side. Calculated delays of minimum/maximum duty cycles are also shown. PWM_SCALE voltage(V) 0.5 I II (PWM_AMPL+1) 2^17 t I tDUTY_CYCLE PWM_VMAX III VACTUAL t PWM_FREQ fCLK tDUTY_MAX=(0.5+PWM_SCALE)•PWM_FREQ/fCLK II t 0.5•PWM_FREQ fCLK tDUTY_MIN=(0.5–PWM_SCALE)•PWM_FREQ/fCLK PWM_VMAX III VACTUAL t Figure 56: Calculation of PWM Duty Cycles (PWM_AMPL) NOTE:  If hold current scaling is enabled, see section 11.1. , page 114, HOLD_SCALE_VAL is used for PWM scaling during standstill. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 124/179 PWM Output Generation for TMC23x/24x Controlled PWM Signals for TMC23x/24x PWM output signals can be used for TMC23x/24x stepper motor drivers Voltage PWM mode. TMC4331A forwards the internal PWM output signals at the corresponding SPI output interface pins because the drivers share input and output pins for the SPI mode and the Voltage PWM mode. This feature enables variable operation of the TMC23x/24x in the one or the other mode without rerouting the particular signal lines at board level. In order to generate a PWM output for TMC23x/24x stepper motor drivers, do as follows: Action:  Set PWM_FREQ register 0x1F to the number of clock cycles for one PWM cycle.  Set spi_output_format = b’1000 (TMC23x) or spi_output_format = b’1001 (TMC24x).  Set pwm_out_en = 1 (GENERAL_CONF register 0x00).  Set SPI_SWITCH_VEL register 0x1D to 0. Result:  SPI output interface is disabled, controlled PWM output for TMC23x/24x is enabled.  SDODRV output pin forwards PWM PHA signal.  NSCSDRV output pin forwards PWM PHB signal.  MP2 is set to low voltage level that disables TMC23x/24x SPI mode.  SDODRV analyses the error flags that are forward via SDO output pin of TMC23x/24x. These error flags indicate overcurrent on any bridge or the overtemperature flag. Therefore, these three status bits of TMC4331A are altered according to the ERR flag.  SCKDRV is set to high voltage level to set MDBN of TMC23x/24x to high voltage level. NOTE:  Only the five pins mentioned above are set accordingly by TMC4331A.  Please be aware that all other pins of TMC23x/24x must be set according to your requirements, especially ANN/MDAN = high voltage level, and INA resp. INB according to the current limit. i For correct hardware setup information refer to TMC23x/24x manuals. TMC4331A with TMC23x/24x Stepper Driver µC SS NSCSI N MOSI SDIIN SCK SCKIN MISO SDOIN NSCSDRV SCKDRV TMC4331 VCCIO SDODRV SDI/ PHA SDIDRV SDO/ ERR MP2 SPE SCK/ MDBN TMC23x /24x CSN/ PHB ANN/ MDAN OSC STDBY_CLK Output for chopSync CLK CLK_EXT 15K 680pF M Figure 57: TMC4331A connected with TMC23x/24x operating in SPI Mode or PWM Mode © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Switching between SPI and Voltage PWM Modes 125/179 The hardware setup scenario, as shown on the previous page, also allows switching between SPI and Voltage PWM mode. It is advisable to enable or disable the Voltage PWM mode during standstill of the internal ramp. In order to disable Voltage PWM mode for TMC23x/24x, do as follows: Action:  Set pwm_out_en = 0 (GENERAL_CONF register 0x00). Result: SPI output interface is enabled and controlled PWM output for TMC23x/24x is disabled. MP2 – that must be connected with SPE@TMC23x/24x – is set to high voltage level, which enables TMC23x/24x SPI mode. However, it is also possible to switch between both modes during motion. Because the internal MSLUT is used either as voltage specification or as current specification, microstep loss can occur whenever the mode is switched in case the switching velocity is passed by. i In order to overcome this, issue a microstep offset during PWM mode can be assigned. In order to set up a TMC23x/24x configuration that switches between SPI and PWM voltage mode, do as follows: Action:  Set PWM_FREQ register 0x1F to the number of clock cycles for one PWM cycle.  Set pwm_out_en = 1 (GENERAL_CONF register 0x00).  Set spi_output_format = b’1000 (TMC23x) or spi_output_format = b’1001 (TMC24x).  Set SPI_SWITCH_VEL register 0x1D to a value [pps] at which the mode change should happen.  Set MS_OFFSET register 0x79 (only write access) to a value between 0 and 255. Result: Whenever the internal velocity |VACTUAL|< SPI_SWITCH_VEL, Voltage PWM mode is activated automatically. Whenever |VACTUAL| ≥ SPI_SWITCH_VEL, SPI mode is activated automatically. During PWM mode the internal MSLUT value is modified by MS_OFFSET; in order to shift the resulting voltage curve of the motor coils. Determining MS_OFFSET Observing the motor coil currents with current probes is the best method for determining the required MS_OFFSET:   Triggering the SPE signal will gain the switching point. At this point the current curves show a crack if no offset is assigned. This could lead to step loss. i The offset can attenuate this crack to overcome this step loss. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 126/179 13. dcStep Support for TMC26x or TMC2130 dcStep is an automatic commutation mode for stepper motor drivers. It allows to run the stepper with its nominal velocity, which is generated by the internal ramp generator for as long as it can cope with the motor load. In case the motor becomes overloaded, it slows down to a lower velocity at which the motor can still drive the load. This avoids that the stepper motor stalls, and enables the stepper motor to drive heavy loads as fast as possible. Its higher torque - available at lower velocity – in combination with dynamic torque (from its flywheel mass) compensates mechanical torque peaks without feedback. Dedicated dcStep Pins Pin Name Pin Type Remarks MP1 Input MP2 Inout as Output dcStep input signal. dcStep output signal. Table 51: Dedicated dcStep Pins Dedicated dcStep Registers Register Name Register Address Remarks GENERAL_CONF 0x00 RW DC_VEL 0x60 W Velocity at which dcStep starts (fullstep); 24 bit. DC_TIME 0x61(7:0) W Upper PWM on time limit for internal dcStep calculation. DC_SG 0x61(15:8) W Maximum PWM on time for step loss detection (multiplied by 16!). DC_BLKTIME 0x61(31:16) W dcStep blank time after fullstep release. 0x62 W dcStep low speed timer; 32 bit. DC_LSPTM Bit22:21: dc_step_mode. Table 52: Dedicated dcStep Registers Turn page for more information on how dcStep increases the usable motor torque. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 dcStep increases usable Motor Torque torque MMAX 127/179 In a classical application, the operation area is limited by the maximum torque required at maximum application velocity. A safety margin of up to 50% torque is required, in order to compensate unforeseen load peaks, torque loss due to resonance, and aging of mechanical components. dcStep makes it possible to use the available motor torque to its fullest. Even higher short-time dynamic loads can be overcome by using motor and application flywheel mass without the danger of causing a motor stall. With dcStep, the nominal application load can be extended to a higher torque, which is only limited by the safety margin near the holding torque area (which is the highest torque the motor can provide). Additionally, maximum application velocity can be increased up to conditional maximum motor velocity. microstep operation dcStep operation - no step loss can occur additional flywheel mass torque reserve max . mo tor safety margin torq MNOM2 dcStep extended ue application area MNOM1 VMAX DC_VEL 0 Classic operation area with safety margin velocity [RPM] MNOM: Nominal torque required by application MMAX: Motor pull-out torque at v=0 Safety margin: Classical application operation area is limited by a certain percentage of motor pull-out torque Figure 58: dcStep extended Application Operation Area  Turn page for more information about enabling dcStep forTMC26x stepper motor drivers. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Enabling dcStep for TMC26x Stepper Motor Drivers 128/179 If connected to TMC26x drivers, TMC4331A must generate the dcStep signal internally; despite particular motor settings dcStep requires only very few settings, which could be tunneled via SPI through TMC4331A. dcStep directly feeds motor motion back to the ramp generator so that it becomes seamlessly integrated into the motion ramp; even if the motor becomes overloaded with respect to the target velocity. In order to set up the hardware correctly the SG_TST output pin of TMC26x must be connected to the MP1 input pin of TMC4331A; and the TST_MODE pin of TMC26x must be connected to VCCIO. i Please also refer to the corresponding TMC26x manuals for the correct motor driver settings. In order to set up a TMC26x dcStep configuration, do as follows: PRECONDITION: TMC26X MOTOR DRIVER SETUP:     Set Set Set Set CHM = 1 (constant tOFF-Chopper). HSTRT = 0 (slow decay only). SGTO = 1 and SGT1 = 1 (on_state_xy as test signal output). TST = 1 (Test mode on). Action:  Set spi_output_format = b’1011 or b’1010 (automatic TMC26x setting)  Set the upper PWM time DC_TIME slightly higher than the driver effective blank time TBL (register 0x61).  Set DC_BLKTIME [clock cycles] when no comparison should happen after a fullstep release (register 0x61).  Set DC_SG [clock cycles · 16] as PWM on-time for step loss detection (0x61).  Set dcstep_mode = b’01 (GENERAL_CONF register 0x00). Result: The internal dcStep at MP1 input signal approves further step generation in case the input step signals are smaller than the DC_TIME step length in clock cycles. NOTE:  Even though dcStep is able to decelerate the motor during overload, stalls can occur due to certain negative influences, such as: The motor may stall and lose steps, e.g. because deceleration drops below obligational minimum velocity. In order to safely detect a step loss and avoid restarting of the motor, the stop on stall can be enabled (see section 10.4.4, page 95). Concerning dcStep operation with TMC26x: the stall bit from the driver status is substituted by the dcStep stall detection bit. Therefore, the first step at MP1 input directly after a step release is checked against the DC_SG value, which is the maximum PWM on-time. In case the signal step length is smaller than DC_SG, a stall has occurred. DC_BLKTIME specifies the number of clock cycles after a fullstep release in case nothing must be compared; because fragmented steps could occur at MP1. The first step after release that is checked is the first step after blank time. The switch to fullstep drive is performed automatically, as explained in section 10.6.5 and 10.6.6, page 102). © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Setup: Minimum dcStep Velocity 129/179 dcStep requires a minimum operation velocity DC_VEL [pps]. DC_VEL must be set to the lowest operating velocity at which dcStep provides a reliable detection of motor operation. In case an overload appears, an internal dcStep signal is generated that pauses internal step generation. Because dcStep operates the motor in fullstep mode, a minimum fullstep frequency fFS can be assigned. Therefore, a dcStep low speed timer must be assigned to achieve the following minimum fullstep frequency: fFS = fCLK / DC_LSPTM. In order to set up a minimum dcStep velocity, do as follows: Action:  Set the low speed timer DC_LSPTM register 0x62, as explained above.  Set DC_VEL register 0x60 as threshold velocity value [pps] at which dcStep is activated. Result: Whenever the if enabled. v(t) internal velocity |VACTUAL| > DC_VEL, dcStep is activated, dcStep active VMAX AX AM overload DM AX L INA DF DC_VEL AST ART VBREAK 0 t Nominal ramp profile Ramp profile with torque overload and same target position Figure 59: Velocity Profile with Impact through Overload Situation Turn Page for important information about the chopper settings for microstep and fullstep/dcStep mode. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 AREAS OF SPECIAL CONCERN ! 130/179 Different chopper settings for microstep and fullstep/dcStep mode of TMC26x stepper driver can be transferred automatically during motion. Switching between dcStep mode and microstep mode often requires different chopper settings for TMC26x stepper motor drivers. It is possible to automatically transfer cover datagrams to TMC26x (see Section 10.3.7, page 92). Thereby, it is possible to switch the chopper settings of TMC26x rapidly, shortly before reaching the dcStep velocity. NOTE:  It is recommended to use this feature because dcStep requires constant off-time chopper settings; whereas driving with µSteps and a spreadCycle chopper provides better driving characteristics. In order to set up a TMC26x dcStep configuration, do as follows: Action:  Set the SPI_SWITCH_VEL register 0x1D value a little bit smaller than the DC_VEL register 0x60 value.  Fill in the COVER_LOW 0x6C register the chopper settings for spreadCycle chopper below the DC_VEL.  Fill in the COVER_HIGH 0x6D register the chopper settings for a constant off-time chopper during dcStep operation (fullstep mode).  Set automatic_cover = 1 (REFERENCE_CONF register 0x01). Result: In case dcStep mode is not activated – because |VACTUAL| < DC_VEL – the spreadCycle chopper mode is activated, which is best suited for microstep operation. In case dcStep is activated, the more suited constant off-time chopper mode for fullstep operation is activated.  Turn Page for more information on enabling dcStep for TMC2130 stepper motor driver. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Enabling dcStep for TMC2130 Stepper Motor Drivers 131/179 dcStep operation with TMC2130 is similar to a handshake procedure: The MP1 input must be connected to the DCO output pin of TMC2130, whereas MP2 must be connected to the DCEN input pin of TMC2130. In order to set up a TMC2130 dcStep configuration, do as follows: The mandatory TMC2130 configuration MUST be executed with cover datagrams, as follows: i Please refer to the TMC2130 manual for correct settings pertaining to the TMC2130 CHOPCONF and DCCTRL registers. Action:  Set spi_output_format = b’1101 or b’1100 (automatic TMC2130 setting)  Set dcstep_mode = b’01 (GENERAL_CONF register 0x00). Result: In case VACTUAL ≥ DC_VEL, MP2 output is set to high voltage level to indicate that dcStep can be activated. TMC2130 will wait for the next fullstep position to switch to dcStep operation. The dcStep signal is provided by the TMC2130 at DCO output pin. TMC4331A is continually providing microsteps even though dcStep is enabled and activated. TMC2130 auto-generates the dcStep behavior internally. Set up minimum dcStep/Fullstep Frequency Because dcStep operates the motor in fullstep mode, a minimum fullstep frequency fFS can be assigned. Therefore, a dcStep low speed timer must be assigned to achieve the following minimum fullstep frequency: fFS = fCLK / DC_LSPTM. In order to set up a minimum dcStep fullstep frequency, do as follows: Action:  Set DC_LSPTM register 0x62. Result: After DC_LSPTM clock cycles expires – without lifting the internal dcStep signal – a step is enforced when dcStep is enabled. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 132/179 14. Reset and Clock Gating In addition to the automatic Power-on-Reset procedure, TMC4331A provides a software reset option. If not in operation, clock gating can be used to reduce power consumption. Reset and Clock Pins Pin Names Types Remarks STPIN Input High active wake-up signal. CLK_EXT Input Connected external clock signal. Table 53: Dedicated Reset and Clock Pins Reset and Clock Gating Registers Register Name Register address Remarks GENERAL_CONF 0x00 RW Bit18:17 CLK_GATING_DELAY 0x14 RW Dela time before clock gating is enabled. CLK_GATING_REG 0x4F (2:0) RW Trigger for clock gating. RESET_REG 0x4F (31:8) RW Trigger for SW-Reset. Table 54: Dedicated Reset and Clock Gating Registers Power-On-Reset Manual Software Reset A hardware reset is only provided during the power-up cycle, no dedicated hardware pin is available for the reset procedure. Power-on-Reset is executed automatically. All registers of TMC4331A are reset to default values. In order to reset TMC4331A without switching the power supply, do as follows: Action:  Set RESET_REG = 0x525354 (Bits31:8 of register 0x4F). Result: TMC4331A registers are reset to default values. Reset Indication RST_EV = EVENTS(31) is set as indicator signifying that one of the possible reset conditions was triggered. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Activating Clock Gating manually 133/179 Clock gating must be enabled before activation. In addition, the delay between activation and the active clock gating phase can be configured. In order to activate clock gating manually, do as follows: PRECONDITION: VEL_STATE_F = “00” INDICATING THAT VACTUAL = 0. Action:  Set clk_gating_en = 1 (bit17 of GENERAL_CONF register 0x00).  Set proper CLK_GATING_DELAY register 0x14.  Set CLK_GATING_REG = 0x7 (bit2:0 of register 0x4F). Result: When writing to CLK_GATING_REG, this activates the CLK_GATING_DELAY counter, which specifies the delay between clock gating trigger and activation in [number of cycles]. When the counter reaches 0, clock gating is activated. See figure below. NOTE :  In case CLK_GATING_REG = 0, clock gating is executed immediately after activating the CLK_GATING_REG register. See figure below. In order to conduct clock gating wake-up, do as follows: Clock Gating Wake-up Action:  Set STPIN input pin to high voltage level. Result: Clock-gating is terminated. See figure below. If SPI datagram transfers from microcontroller to TMC4331A prompt wakeup, do as follows: Action:  Set CLK_GATING_DELAY = 0xFFFFFFFF (register 0x14).  Set CLK_GATING_REG = 0x0 (bit2:0 of register 0x4F).  Set CLK_GATING_REG = 0x7 (bit2:0 of register 0x4F).  Set clk_gating_en = 0 (bit17 of GENERAL_CONF register 0x00). Result: Clock-gating is terminated. External clk signal SPI Inputs CLK_GATING_REG =111 CLK_GATING_DELAY =5 CLK_GATING_REG =111 Clock gating delay timer STPIN input signal Internal clk signal Figure 60: Manual Clock Gating Activation and Wake-Up © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 134/179 It is possible to use TMC4331A standby phase to automatically activate clock gating. Automatic Clock Gating Procedure i For further information about stdby timer, see section 11.1. , page 114. In order to activate automatic clock gating, do as follows: Action:  Set the time frame for STDBY_DEALY register 0x15 after ramp stop, and before standby phase starts.  Set hold_current_scale_en = 1 (CURRENT_CONF register 0x05).  Set clk_gating_en = 1 (bit17 of GENERAL_CONF register 0x00).  Set proper CLK_GATING_DELAY register 0x14.  Set clk_gating_stdby_en = 1 (bit17 of GENERAL_CONF register 0x00). Result: After standby phase activation, activation of clock gating counter follows. When the counter reaches 0, clock gating is activated. In addition, the start signal generation, presented in chapter 9, page 63, can be used for an automated wake-up. An example is given in the figure below. The chart below shows the TARGET_REACHED (=TR) signal, which signifies ramp stop at which VACTUAL reaches 0. When VACTUAL = 0, the following process occurs: 1. The start delay timer signifies the time frame between ramp stop and next ramp start. 2. When the standby delay timer expires, the standby phase is activated. 3. When the standby phase is activated, the clock gating delay timer is started. 4. After the clock gating delay timer expires, clock gating is activated. 5. Shortly before the start delay timer expires, clock gating is disabled, which occurs so that the next ramp is started with proper assigned registers. External clk signal TR START_DELAY START delay timer Stdby delay timer Clock gating delay timer STDBY_DELAY CLK_GATING_DELAY Internal clk signal Figure 61: Automatic Clock Gating Activation and Wake-Up © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 135/179 T E C H NI C A L S P E C I F I C AT I O NS 15. Complete Register and Switches List General Configuration Register GENERAL_CONF 0x00 GENERAL_CONF 0x00 (Default value: 0x00006020) R/W Bit Val Remarks use_astart_and_vstart 0 (only valid for S-shaped ramps) 0 Sets AACTUAL = AMAX or –AMAX at ramp start and in the case of VSTART ≠ 0. 1 Sets AACTUAL = ASTART or –ASTART at ramp start and in the case of VSTART ≠ 0. direct_acc_val_en 1 0 Acceleration values are divided by CLK_FREQ. 1 Acceleration values are set directly as steps per clock cycle. direct_bow_val_en 2 0 Bow values are calculated due to division by CLK_FREQ. 1 Bow values are set directly as steps per clock cycle. step_inactive_pol 3 0 STPOUT = 1 indicates an active step. 1 STPOUT = 0 indicates an active step. toggle_step 4 0 Only STPOUT transitions from inactive to active polarity indicate steps. 1 Every level change of STPOUT indicates a step. pol_dir_out RW 5 0 DIROUT = 0 indicates negative direction. 1 DIROUT = 1 indicates negative direction. sdin_mode 7:6 0 Internal step control (internal ramp generator will be used) 1 External step control via STPIN / DIRIN interface with high active steps at STPIN 2 External step control via STPIN / DIRIN interface with low active steps at STPIN 3 External step control via STPIN / DIRIN interface with toggling steps at STPIN pol_dir_in 8 0 DIRIN = 0 indicates negative direction. 1 DIRIN = 1 indicates negative direction. sd_indirect_control 9 12:10 0 STPIN/DIRIN input signals will manipulate internal steps at XACTUAL directly. 1 STPIN/DIRIN input signals will manipulate XTARGET register value, the internal ramp generator is used. Reserved. Set to 0x0. Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 136/179 GENERAL_CONF 0x00 (Default value: 0x00006020) R/W Bit Val Remarks stdby_clk_pin_assignment 14:13 0 Standby signal becomes forwarded with an active low level at STDBY_CLK output. 1 Standby signal becomes forwarded with an active high level at STDBY_CLK output. 2 STDBY_CLK passes ChopSync clock (TMC23x, TMC24x stepper motor drivers only). 3 Internal clock is forwarded to STDBY_CLK output pin. intr_pol 15 0 INTR=0 indicates an active interrupt. 1 INTR=1 indicates an active interrupt. invert_pol_target_reached 16 0 TARGET_REACHED signal is set to 1 to indicate a target reached event. 1 TARGET_REACHED signal is set to 0 to indicate a target reached event. clk_gating_en 17 0 Clock gating is disabled. 1 Internal clock gating is enabled. clk_gating_stdby_en 18 0 No clock gating during standby phase. 1 Intenal clock gating during standby phase is enabled. fs_en RW 19 0 Fullstep switchover is disabled. 1 SPI output forwards fullsteps, if |VACTUAL| > FS_VEL. fs_sdout 20 0 No fullstep switchover for Step/Dir output is enabled. 1 Fullsteps are forwarded via Step/Dir output also if fullstep operation is active. dcstep_mode 22:21 0 dcStep is disabled. 1 dcStep signal generation will be selected automatically 2 dcStep with external STEP_READY signal generation (TMC2130). 3 dcStep with internal STEP_READY signal generation (TMC26x). i TMC26x config: use const_toff-Chopper (CHM = 1); slow decay only (HSTRRT = 0); TST = 1 and SGT0=SGT1=1 (on_state_xy). pwm_out_en 23 25:24 0 PWM output is disabled. Step/Dir output is enabled at STPOUT/DIROUT. 1 STPOUT/DIROUT output pins are used as PWM output (PWMA/PWMB). Reserved. Set to 0x0. Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 137/179 GENERAL_CONF 0x00 (Default value: 0x00006020) R/W Bit Val Remarks automatic_direct_sdin_switch_off 26 0 1 VACTUAL=0 & AACTUAL=0 after switching off direct external step control. VACTUAL = VSTART and AACTUAL = ASTART after switching off direct external step control. circular_cnt_as_xlatch 27 0 The register value of X_LATCH is forwarded at register 0x36. 1 The register value of REV_CNT (#internal revolutions) is forwarded at register 0x36. reverse_motor_dir 28 RW 0 The direction of the internal SinLUT is regularly used. 1 The direction of internal SinLUT is reversed intr_tr_pu_pd_en 29 0 INTR and TARGET_REACHED are outputs with strongly driven output values.. 1 INTR and TARGET_REACHED are used as outputs with gated pull-up and/or pull-down functionality. intr_as_wired_and 30 0 INTR output function is used as Wired-Or in the case of intr_tr_pu_pd_en = 1. 1 INTR output function is used as Wired-And. in the case of intr_tr_pu_pd_en = 1. tr_as_wired_and 31 0 1 TARGET_REACHED output function is used as Wired-Or in the case of intr_tr_pu_pd_en = 1. TARGET_REACHED output function is used as Wired-And in the case of intr_tr_pu_pd_en = 1. Table 55: General Configuration 0x00 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 138/179 Reference Switch Configuration Register REFERENCE_CONF 0x01 REFERENCE_CONF 0x01 (Default value: 0x00000000) R/W Bit Val Remarks stop_left_en 0 0 STOPL signal processing disabled. 1 STOPL signal processing enabled. stop_right_en 1 0 STOPR signal processing disabled. 1 STOPR signal processing enabled. pol_stop_left 2 0 STOPL input signal is low active. 1 STOPL input signal is high active. pol_stop_right 3 0 STOPR input signal is low active. 1 STOPR input signal is high active. invert_stop_direction 4 0 STOPL/STOPR stops motor in negative/positive direction. 1 STOPL/STOPR stops motor in positive/negative direction. soft_stop_en 5 RW 0 Hard stop enabled. VACTUAL is immediately set to 0 on any external stop event. 1 Soft stop enabled. A linear velocity ramp is used for decreasing VACTUAL to v = 0. virtual_left_limit_en 6 0 Position limit VIRT_STOP_LEFT disabled. 1 Position limit VIRT_STOP_LEFT enabled. virtual_right_limit_en 7 0 Position limit VIRT_STOP_RIGHT disabled. 1 Position limit VIRT_STOP_RIGHT enabled. virt_stop_mode 9:8 0 Reserved. 1 Hard stop: VACTUAL is set to 0 on a virtual stop event. 2 Soft stop is enabled with linear velocity ramp (from VACTUAL to v = 0). 3 Reserved. latch_x_on_inactive_l 10 0 No latch of XACTUAL if STOPL becomes inactive. 1 X_LATCH = XACTUAL is stored in the case STOPL becomes inactive. latch_x_on_active_l 11 0 No latch of XACTUAL if STOPL becomes active. 1 X_LATCH = XACTUAL is stored in the case STOPL becomes active. Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 139/179 REFERENCE_CONF 0x01 (Default value: 0x00000000) R/W Bit Val Remarks latch_x_on_inactive_r 12 0 No latch of XACTUAL if STOPR becomes inactive. 1 X_LATCH = XACTUAL is stored in the case STOPL becomes inactive. latch_x_on_active_r 13 0 No latch of XACTUAL if STOPR becomes active. 1 X_LATCH = XACTUAL is stored in the case STOPL becomes active. stop_left_is_home 14 0 STOPL input signal is not also the HOME position. 1 STOPL input signal is also the HOME position. stop_right_is_home 15 0 STOPR input signal is not lso the HOME position. 1 STOPR input signal is also the HOME position. home_event 2 HOME_REF = 1 indicates an active home event X_HOME is located at the rising edge of the active range. 3 HOME_REF = 0 indicates negative region/position from the home position. 4 19:16 RW 6 9 11 HOME_REF = 1 indicates an active home event X_HOME is located at the falling edge of the active range. HOME_REF = 1 indicates an active home event X_HOME is located in the middle of the active range. HOME_REF = 0 indicates an active home event X_HOME is located in the middle of the active range. HOME_REF = 0 indicates an active home event X_HOME is located at the rising edge of the active range. 12 HOME_REF = 1 indicates negative region/position from the home position. 13 HOME_REF = 0 indicates an active home event X_HOME is located at the falling edge of the active range. start_home_tracking 20 0 No storage to X_HOME by passing home position. 1 Storage of XACTUAL as X_HOME at next regular home event. An XLATCH_DONE event is released. In case the event is cleared, start_home_tracking is reset automatically. clr_pos_at_target 21 0 Ramp stops at XTARGET if positioning mode is active. 1 Set XACTUAL = 0 after XTARGET has been reached. The next ramp starts immediately. circular_movement_en 22 0 Range of XACTUAL is not limited: -231 ≤ XACTUAL ≤ 231-1 1 Range of XACTUAL is limited by X_RANGE: -X_RANGE ≤ XACTUAL ≤ X_RANGE - 1 Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 140/179 REFERENCE_CONF 0x01 (Default value: 0x00000000) R/W Bit Val Remarks pos_comp_output 24:23 25 0 TARGET_REACHED is set active on TARGET_REACHED_Flag. 1 TARGET_REACHED is set active on VELOCITY_REACHED_Flag. 3 TARGET_REACHED triggers on POSCOMP_REACHED_Flag. Reserved. Set to 0. stop_on_stall 26 0 SPI and S/D output interface remain active in case of an stall event. 1 SPI and S/D output interface stops motion in case of an stall event (hard stop). drv_after_stall 27 RW 29:28 0 No further motion in case of an active stop-on-stall event. 1 Motion is possible in case of an active stop-on-stall event and after the stop-on-stall event is reset. modified_pos_compare: POS_COMP_REACHED_F / event is based on comparison between XACTUAL and 0 POS_COMP 1 X_HOME 2 X_LATCH 3 REV_CNT automatic_cover 30 31 0 SPI output interface will not transfer automatically any cover datagram. 1 SPI output interface sends automatically cover datagrams when VACTUAL crosses SPI_SWITCH_VEL. Reserved. Set to 0. Table 56: Reference Switch Configuration 0x01 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 141/179 Start Switch Configuration Register START_CONF 0x02 START_CONF 0x02 (Default value: 0x00000000) R/W Bit Val Remarks start_en xxxx1 Alteration of XTARGET value requires distinct start signal. 4:0 xxx1x Alteration of VMAX value requires distinct start signal. xx1xx Alteration of RAMPMODE value requires distinct start signal. x1xxx Alteration of GEAR_RATIO value requires distinct start signal. 1xxxx Shadow Register Feature Set is enabled. trigger_events 8:5 0000 Timing feature set is disabled because start signal generation is disabled. xxx0 START pin is assigned as output. xxx1 External start signal is enabled as timer trigger. START pin is assigned as input. xx1x TARGET_REACHED event is assigned as start signal trigger. x1xx VELOCITY_REACHED event is assigned as start signal trigger. 1xxx POSCOMP_REACHED event is assigned as start signal trigger. pol_start_signal 9 0 START pin is low active (input resp. output). 1 START pin is high active (input resp. output). immediate_start_in 10 RW 0 Active START input signal starts internal start timer. 1 Active START input signal is executed immediately. busy_state_en 11 0 START pin is only assigned as input or output. 1 Busy start state is enabled. START pin is assigned as input with a weakly driven active start polarity or as output with a strongly driven inactive start polarity. pipeline_en 15:12 0000 No pipelining is active. xxx1 X_TARGET is considered for pipelining. xx1x POS_COMP is considered for pipelining. x1xx GEAR_RATIO is considered for pipelining. 1xxx GENERAL_CONF is considered for pipelining. shadow_option 17:16 0 Single-level shadow registers for 13 relevant ramp parameters. 1 Double-stage shadow registers for S-shaped ramps. 2 Double-stage shadow registers for trapezoidal ramps (excl. VSTOP). 3 Double-stage shadow registers for trapezoidal ramps (excl. VSTART). Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 142/179 START_CONF 0x02 (Default value: 0x00000000) R/W Bit Val Remarks cyclic_shadow_regs 18 19 0 Current ramp parameters are not written back to the shadow register. 1 Current ramp parameters are written back to the appropriate shadow register. Reserved. Set to 0. SHADOW_MISS_CNT 23:20 U Number of unused start internal start signals between two consecutive shadow register transfers. XPIPE_REWRITE_REG RW 31:24 Current assigned pipeline registers – START_CONF(15:12) – are written back to X_PIPEx in the case of an internal start signal generation and if assigned in this register with a ‘1’: XPIPE_REWRITE_REG(0)  X_PIPE0 XPIPE_REWRITE_REG(1)  X_PIPE1 XPIPE_REWRITE_REG(2)  X_PIPE2 XPIPE_REWRITE_REG(3)  X_PIPE3 XPIPE_REWRITE_REG(4)  X_PIPE4 XPIPE_REWRITE_REG(5)  X_PIPE5 XPIPE_REWRITE_REG(6)  X_PIPE6 XPIPE_REWRITE_REG(7)  X_PIPE7 Ex.: START_CONF(15:12) = b’0011. START_CONF(31:24) = b’01000010. If an internal start signal is generated, the value of X_TARGET is written back to X_PIPE1, whereas the value of POS_COMP is written back to X_PIPE6. Table 57: Start Switch Configuration START_CONF 0x02 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 143/179 Input Filter Configuration Register INPUT_FILT_CONF 0x03 INPUT_FILT_CONF 0x03 (Default value: 0x00000000) R/W Bit 2:0 3 Val Remarks SR_SD_IN U Input sample rate = fclk / 2SR_SD_IN for the following pins: STPIN, DIRIN Reserved. Set to 0. FILT_L_SD_IN 6:4 3 10:8 11 RW U Filter length for these pins: STPIN, DIRIN. Number of sample input bits that must have equal voltage levels to provide a valid input bit. Reserved. Set to 0. SR_REF U Input sample rate = fclk / 2REF for the following pins: STOPL, HOME_REF, STOPL Reserved. Set to 0. FILT_L_REF 14:12 15 18:16 19 U Filter length for the following pins: STOPL, HOME_REF, STOPL. Number of sample input bits that must have equal voltage levels to provide a valid input bit. Reserved. Set to 0. SR_S U Input sample rate = fclk / 2S for the START pin. Reserved. Set to 0. FILT_L_S 22:20 U Filter length for the START pin. Number of sample input bits that must have equal voltage levels to provide a valid input bit. 31:23 Reserved. Set to 0x00. Table 58: Input Filter Configuration Register INPUT_FILT_CONF 0x03 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 144/179 SPI Output Configuration Register SPI_OUT_CONF 0x04 SPI_OUT_CONF 0x04 (Default value: 0x00000000) R/W Bit Val Remarks spi_output_format 0 1 2 3 4 3:0 5 6 SPI output interface is connected with a SPI-DAC. SPI output values are mapped to full amplitude: Current=0  VCC/2 Current=-max  0 Current=max  VCC SPI output interface is connected with a SPI-DAC. SPI output values are absolute values. Phase of coilA is forwarded via STPOUT, whereas phase of coilB is forwarded via DIROUT. Phase bit = 0:positive value. SPI output interface is connected with a SPI-DAC. SPI output values are absolute values. Phase of coilA is forwarded via STPOUT, whereas phase of coilB is forwarded via DIROUT. Phase bit = 0: negative value. The actual unsigned scaling factor is forwarded via SPI output interface. Both actual signed current values CURRENTA and CURRENTB are forwarded in one datagram via SPI output interface. SPI output interface is connected with a SPI-DAC. The actual unsigned scaling factor is merged with DAC_ADDR_A value to an output datagram. 8 SPI output interface is connected with a TMC23x stepper motor driver. 9 SPI output interface is connected with a TMC24x stepper motor driver. 10 11 RW SPI output interface is off. 12 13 15 SPI output interface is connected with a TMC26x/389 stepper motor driver. Configuration and current data are transferred to the stepper motor driver. SPI output interface is connected with a TMC26x stepper motor driver. Only configuration data is transferred to the stepper motor driver. S/D output interface provides steps. SPI output interface is connected with a TMC2130 stepper motor driver. Only configuration data is transferred to the stepper motor driver. S/D output interface provides steps. SPI output interface is connected with a TMC2130 stepper motor driver. Configuration and current data are transferred to the stepper motor driver. Only cover datagrams are transferred via SPI output interface. COVER_DATA_LENGTH 19:13 23:20 27:24 U Number of bits for the complete datagram length. Maximum value = 64 Set to 0 in case a TMC stepper motor driver is selected. The datagram length is then selected automatically. SPI_OUT_LOW_TIME U Number of clock cycles the SPI output clock remains at low level. SPI_OUT_HIGH_TIME U Number of clock cycles the SPI output clock remains at high level. SPI_OUT_BLOCK_TIME 31:28 U Number of clock cycles the NSCSDRV output remains high (inactive) after a SPI output transmission. Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 145/179 SPI_OUT_CONF 0x04 (Default value: 0x00000000) R/W Bit Val Remarks mixed_decay 5:4 (TMC23x/24x only) 0 Both mixed decay bits are always off. 1 Mixed decay bits are on during falling ramps until reaching a current value of 0. 2 Mixed decay bits are always on, except during standstill. 3 Mixed decay bits are always on. stdby_on_stall_for_24x 6 (TMC24x only) 0 No standby datagram is sent. 1 In case of a Stop-on-Stall event, a standby datagram is sent to the TMC24x. stall_flag_instead_of_uv_en 7 (TMC24x only) 0 Undervoltage flag of TMC24x is mapped at STATUS(24). 1 Calculated stall status of TMC24x is forwarded at STATUS(24). STALL_LOAD_LIMIT 10:8 U (TMC24x only) A stall is detected if the stall limit value STALL_LOAD_LIMIT is higher than the combination of the load bits (LD2&LD1&LD0). pwm_phase_shft_en 11 (TMC24x only) 0 No phase shift during PWM mode. 1 During PWM mode, the internal SinLUT microstep position MSCNT is shifted to MS_OFFSET microsteps. Consequently, the sine/cosine values have a phase shift of (MS_OFFSET / 1024 ∙ 360°) double_freq_at_stdby RW 12 (TMC23x/24x only) 0 ChopSync frequency remains stable during standby. 1 CHOP_SYNC_DIV is halfed during standby. three_phase_stepper_en 4 (TMC389 only) 0 A 2-phase stepper motor driver is connected to the SPI output (TMC26x). 1 A 3-phase stepper motor driver is connected to the SPI output (TMC389). scale_val_transfer_en 5 (TMC26x/2130 in SD mode only) 0 No transfer of scale values. 1 Transmission of current scale values to the appropriate driver registers. disable_polling 6 (TMC26x/2130 in SD mode only) 0 Permanent transfer of polling datagrams to check driver status. 1 No transfer of polling datagrams. autorepeat_cover_en 7 (TMC26x/2130 only) 0 No automatic continuous streaming of cover datagrams. 1 Enabling of automatic continuous streaming of cover datagrams. POLL_BLOCK_EXP 11:8 U (TMC26x in SD mode only, TMC2130 only) Multiplier for calculating the time interval between two consecutive polling datagrams: tPOLL = 2^POLL_BLOCK_EXP ∙ SPI_OUT_BLOCK_TIME / fCLK cover_done_only_for_cover 12 (TMC26x/2130 only) 0 COVER_DONE event is set for every datagram that is sent to the motor driver. 1 COVER_DONE event is only set for cover datagrams sent to the motor driver. Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 146/179 SPI_OUT_CONF 0x04 (Default value: 0x00000000) R/W Bit Val Remarks sck_low_before_csn 4 (No TMC driver) 0 NSCSDRV is tied low before SCKDRV to initiate a new data transfer. 1 SCKDRV is tied low before NSCSDRV to initiate a new data transfer. new_out_bit_at_rise RW 5 11:7 12 (No TMC driver) 0 New value bit at SDODRV is assigned at falling edge of SCKDRV. 1 New value bit at SDODRV is assigned at rising edge of SCKDRV. DAC_CMD_LENGTH U (SPI-DAC only) Number of bits for command address. Reserved. Set to 0. Table 59: SPI Output Configuration Register SPI_OUT_CONF 0x04 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Current Scaling Configuration Register CURRENT_CONF 0x05 CURRENT_CONF 0x05 (Default: 0x00000000) R/W Bit Val Remarks hold_current_scale_en 0 0 No hold current scaling during standstill phase. 1 Hold current scaling during standstill phase. drive_current_scale_en 1 0 No drive current scaling during motion. 1 Drive current scaling during motion. boost_current_on_acc_en 2 0 No boost current scaling for deceleration ramps. 1 Boost current scaling if RAMP_STATE = b’01 (acceleration slopes). boost_current_on_dec_en 3 0 No boost current scaling for deceleration ramps. 1 Boost current scaling if RAMP_STATE = b’10 (deceleration slopes). boost_current_after_start_en 4 RW 0 No boost current at ramp start. 1 Temporary boost current if VACTUAL = 0 and new ramp starts. sec_drive_current_scale_en 5 0 One drive current value for the whole motion ramp. 1 Second drive current scaling for VACTUAL > VDRV_SCALE_LIMIT. freewheeling_en 6 7 0 No freewheeling. 1 Freewheeling after standby phase. Reserved. Set to 0. pwm_scale_en 8 15:9 0 PWM scaling is disabled. 1 PWM scaling is enabled. Reserved. Set to 0x00. PWM_AMPL 31:16 U PWM amplitude during Voltage PWM mode at VACTUAL = 0. i Maximum duty cycle = (0.5 + (PWM_AMPL + 1) / 217) Minimum duty cycle = (0.5 – (PWM_AMPL + 1) / 217) PWM_AMPL = 216 – 1 at VACTUAL = PWM_VMAX. Table 60: Current Scale Configuration (0x05) © 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 173.  MAIN MANUAL  147/179 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 148/179 Current Scale Values Register SCALE_VALUES 0x06 SCALE_VALUES 0x06 (Default: 0xFFFFFFFF) R/W RW Bit Val Scaling Value Name 7:0 U BOOST_SCALE_VAL Open-loop boost scaling value. 15:8 U DRV1_SCALE_VAL Open-loop first drive scaling value. 23:16 U DRV2_SCALE_VAL Open-loop second drive scaling value. 31:24 U HOLD_SCALE_VAL Open-loop standby scaling value. Remarks Table 61: Current Scale Values (0x06) NOTE:  BOOST_SCALE_VAL, DRV1/DRV2_SCALE_VAL, HOLD_SCALE_VAL.  Real scaling value = (x+1) / 32 if spi_output_format = b’1011 or b’1100.  = (x+1) / 256 any other spi_output_format setting. Various Scaling Configuration Registers Various Scaling Configuration Registers R/W Addr Bit 0x15 31:0 Val Description STDBY_DELAY (Default:0x00000000) U Delay time [# clock cycles] between ramp stop and activating standby phase. FREEWHEEL_DELAY (Default:0x00000000) 0x16 31:0 U Delay time [# clock cycles] between initialization of active standby phase and freewheeling initialization. VDRV_SCALE_LIMIT (Default:0x000000) 0x17 23:0 U (Voltage PWM mode is not active) Drive scaling separator: DRV2_SCALE_VAL is active in case VACTUAL > VDRV_SCALE_LIMIT DRV1_SCALE_VAL is active in case VACTUAL ≤ VDRV_SCALE_LIMIT 2nd assignment: Also used as PWM_VMAX if Voltage PWM is enabled (see) RW UP_SCALE_DELAY (Default:0x000000) 0x18 23:0 U Increment delay [# clock cycles]. The value defines the clock cycles, which are used to increase the current scale value for one step towards higher values. HOLD_SCALE_DELAY (Default:0x000000) 0x19 23:0 U (Open-loop operation) (Open-loop operation) Decrement delay [# clock cycles] to decrease the actual scale value by one step towards hold current. DRV_SCALE_DELAY (Default:0x000000) 0x1A 23:0 0x1B 31:0 R W 0x7C 8:0 U Decrement delay [# clock cycles], which signifies current scale value decrease by one step towards lower value. BOOST_TIME (Default:0x00000000) U Time [# clk cycles] after a ramp start when boost scaling is active. SCALE_PARAM (Default:0x000) U nd 31:0 2 Actual used scale parameter. assignment: Also used as CIRCULAR_DEC for write access (see section 15.13. ) Table 62: Various Scaling Configuration Registers (0x15…0x1B) © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 149/179 Motor Driver Settings Register STEP_CONF 0x0A STEP_CONF 0x0A (Default: 0x00FB0C80) R/W Bit Val Remarks MSTEP_PER_FS (Default: 0x0) 3:0 RW 15:4 0 Highest microsteps resolution: 256 microsteps per fullstep. i When using a Step/Dir driver, it must be capable of a 256 resolution via Step/Dir input for best performance (but lower resolution Step/Dir drivers can be used as well). 1 128 microsteps per fullstep. 2 64 microsteps per fullstep. 3 32 microsteps per fullstep. 4 16 microsteps per fullstep. 5 8 microsteps per fullstep. 6 4 microsteps per fullstep. 7 Halfsteps: 2 microsteps per fullstep. 8 Full steps (maximum possible setting) FS_PER_REV (Default: 0x0C8) U Fullsteps per motor axis revolution MSTATUS_SELECTION (Default: 0xFB) 23:16 31:24 Selection of motor driver status bits for SPI response datagrams: ORed with Motor Driver Status Register Set (7:0): if set here and a particular flag is set from the motor stepper driver, an event will be generated at EVENTS(30) Reserved. Set to 0x00. Table 63: Motor Driver Settings (0x0A) © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 150/179 Event Selection Registers 0x0B..0X0D Event Selection Registers R/W Addr Bit Remarks SPI_STATUS_SELECTION (Default: 0x82029805) 0x0B Events selection for SPI datagrams: Event bits of EVENTS register 0x0E that are selected (=1) in this register are 31:0 forwarded to the eight status bits that are transferred with every SPI datagram (first eight bits from LSB are significant!). EVENT_CLEAR_CONF (Default: 0x00000000) RW 0x0C Event protection configuration: 31:0 Event bits of EVENTS register 0x0E that are selected in this register (=1) are not cleared during the readout process of EVENTS register 0x0E. INTR_CONF (Default: 0x00000000) 0x0D Event selection for INTR output: All Event bits of EVENTS register 0x0E that are selected here (=1) are ORed with 31:0 interrupt event register set: if any of the selected events is active, an interrupt at INTR is generated. Table 64: Event Selection Regsiters 0x0B…0x0D © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 151/179 Status Event Register (0x0E) Status Event Register EVENTS 0x0E R/W Bit 0 TARGET_REACHED has been triggered. 1 POS_COMP_REACHED has been triggered. 2 VEL_REACHED has been triggered. 3 VEL_STATE = b’00 has been triggered (VACTUAL = 0). 4 VEL_STATE = b’01 has been triggered (VACTUAL > 0). 5 VEL_STATE = b’10 has been triggered (VACTUAL < 0). 6 RAMP_STATE = b’00 has been triggered (AACTUAL = 0, VACTUAL is constant). 7 RAMP_STATE = b’01 has been triggered (|VACTUAL| increases). 8 RAMP_STATE = b’10 has been triggered (|VACTUAL| increases). 9 MAX_PHASE_TRAP: Trapezoidal ramp has reached its limit speed using maximum values for AMAX or DMAX (|VACTUAL| > VBREAK; VBREAK≠0). 10 Reserved. 11 R+C W Description 12 13 14 STOPL has been triggered. Motion in negative direction is not executed until this event is cleared and (STOPL is not active any more or stop_left_en is set to 0). STOPR has been triggered. Motion in positive direction is not executed until this event is cleared and (STOPR is not active any more or stop_right_en is set to 0). VSTOPL_ACTIVE: VSTOPL has been activated. No further motion in negative direction until this event is cleared and (a new value is chosen for VSTOPL or virtual_left_limit_en is set to 0). VSTOPR_ACTIVE: VSTOPR has been activated. No further motion in positive direction until this event is cleared and (a new value is chosen for VSTOPR or virtual_right_limit_en is set to 0). 15 HOME_ERROR: Unmatched HOME_REF polarity and HOME is outside of safety margin. 16 XLATCH_DONE indicates if X_LATCH was rewritten or homing process has been completed. 17 FS_ACTIVE: Fullstep motion has been activated. 24:18 Reserved. 25 COVER_DONE: SPI datagram was sent to the motor driver. 28:26 Reserved. 29 STOP_ON_STALL: Motor stall detected. Motor ramp has stopped. 30 MOTOR_EV: One of the selected TMC motor driver flags was triggered. 31 RST_EV: Reset was triggered. Table 65: Status Event Register EVENTS (0x0E) © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Status Flag Register (0x0F) Status Flag Register STATUS 0x0F R/W Bit 0 TARGET_REACHED_F is set high if XACTUAL = XTARGET 1 POS_COMP_REACHED_F is set high if XACTUAL = POS_COMP 2 7 VEL_REACHED_F is set high if VACTUAL = |VMAX| VEL_STATE_F: Current velocity state: 0  VACTUAL = 0; 1  VACTUAL > 0; 2  VACTUAL < 0 RAMP_STATE_F: Current ramp state: 0  AACTUAL = 0; 1  AACTUAL increases (acceleration); 2  AACTUAL decreases (deceleration) STOPL_ACTIVE_F: Left stop switch is active. 8 STOPR_ACTIVE_F: Right stop switch is active. 9 VSTOPL_ACTIVE_F: Left virtual stop switch is active. 10 VSTOPR_ACTIVE_F: Right virtual stop switch is active. 11 ACTIVE_STALL_F: Motor stall is detected and VACTUAL > VSTALL_LIMIT. 12 HOME_ERROR_F: HOME_REF input signal level is not equal to expected home level. 13 FS_ACTIVE_F: Fullstep operation is active. 4:3 6:5 R Description 23:14 24 Reserved. TMC26x / TMC2130 only: SG: Optional for TMC24x only: StallGuard2 status Calculated stallGuard status. TMC23x / TMC24x only: UV_SF: Undervoltage flag. 25 All TMC motor drivers: OT: Overtemperature shutdown. 26 All TMC motor drivers: 27 OTPW: TMC26x / TMC2130 only: S2GA: Overtemperature warning. OCA: TMC26x / TMC2130 only: S2GB: Overcurrent bridge A. TMC23x / TMC24x only: 28 Short to ground detection bit for high side MOSFET of coil A. Short to ground detection bit for high side MOSFET of coil B. TMC23x / TMC24x only: OCB: Overcurrent bridge B. 29 All TMC motor drivers: OLA: Open load indicator of coil A. 30 All TMC motor drivers: OLB: Open load indicator of coil B. 31 TMC26x / TMC2130 only: STST: TMC23x / TMC24x only: OCHS: Standstill indicator. Overcurrent high side. Table 66: Status Flag Register STATUS (0x0F) © 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 173.  MAIN MANUAL  152/179 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 153/179 Various Configuration Registers Various Configuration Registers R/W Addr Bit 15:0 0x10 31:16 Val Description STP_LENGTH_ADD (Default: 0x0000) U Additional length [# clock cycles] for active step polarity of a step at STPOUT. DIR_SETUP_TIME (Default: 0x0000) U Delay [# clock cycles] between DIROUT and STPOUT voltage level changes. START_OUT_ADD (Default:0x00000000) 0x11 31:0 U Additional length [# clock cycles] for active start signal. Active start signal length = 1+START_OUT_ADD GEAR_RATIO (Default:0x01000000) 0x12 31:0 0x13 31:0 RW 0x14 31:0 0x1D 23:0 S Constant value that is added to the internal position counter by an active step at STPIN. Value representation: 8 digits and 24 decimal places. START_DELAY (Default:0x00000000) U Delay time [# clock cycles] between start trigger and internal start signal release. CLK_GATING_DELAY (Default:0x00000000) U Delay time [# clock cycles] between clock gating trigger and clock gating start. SPI_SWITCH_VEL U Absolute velocity value [pps] at which automatic cover datagrams are sent 31:0 2nd assignment: Also used as DAC_ADDR_A/B if SPI-DAC mode is enabled (see 15.24. ) HOME_SAFETY_MARGIN (Default: 0x0000) 0x1E 15:0 U HOME_REF polarity can be invalid within X_HOME ± HOME_SAFETY_MARGIN, which is not flagged as error. CHOPSYNC_DIV (Default: 0x0280) 0x1F 11:0 U (ChopSync for TMC23x/24x is enabled) Chopper clock divider that defines the chopper frequency fOSC: fOSC = fCLK/CHOPSYNC_DIV with 96 ≤ CHOPSYNC_DIV ≤ 818 15:0 2nd assignment: Also used as PWM_FREQ if Voltage PWM is enabled (see 15.14. ) FS_VEL(Default:0x000000) 0x60 31:0 U (dcStep operation is disabled) Minimum fullstep velocity [pps]. In case |VACTUAL| > FS_VEL fullstep operation is active, if enabled. 2nd assignment: Also used as DC_VEL if dcStep is enabled (see section 15.21. ) W 0x64 31:0 Reserved. Set to 0x00000000. VSTALL_LIMIT (Default:0x00000000) 0x67 23:0 U Stop on stall velocity limit [pps]: Only above this limit an active stall leads to a stop on stall, if enabled. TZEROWAIT (Default:0x00000000) 0x7B 31:0 R U nd 2 Standstill phase after reaching VACTUAL = 0. assignment: Also used as CURRENTA/B_SPI for read out (see section 15.23. ) CIRCULAR_DEC (Default:0x00000000) W R 0x7C 31:0 8:0 U Decimal places for circular motion if one revolution is not exactly mapped to an even number of µSteps per revolution. 1 digit and 31 decimal places. 2nd assignment: Also used as SCALE_PARAM for read out (see section 15.8. ) Table 67: Various Configuration Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 154/179 PWM Configuration Registers PWM Configuration Registers R/W Addr Bit Val Description PWM_VMAX (Default:0x00000000) 0x17 23:0 U (Voltage PWM is enabled) PWM velocity value at which maximal scale parameter value 1.0 is reached. 2nd assignment: Also used as VDRV_SCALE_LIMIT if Voltage PWM is disabled (15.8. ) RW 0x1F 15:0 PWM_FREQ (Default: 0x0280) U (Voltage PWM is enabled) Number of clock cycles for one PWM period. 11:0 2nd assignment: Also used as CHOPSYNC_DIV if Voltage PWM is disabled (see 15.13. ) MSOFFSET (Default:0x000) W 0x79 9:0 U (TMC23x/24x only) Microstep offset for PWM mode. 2nd assignment: Also used as MSCNT for read out (see section 15.23. ) Table 68: PWM Configuration Registers. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 155/179 Ramp Generator Registers Ramp Generator Registers R/W Addr Bit Val Description RAMPMODE (Default:0x0) Operation Mode: 2 1 Positioning mode: XTARGET is superior target of velocity ramp. 0 Velocitiy mode: VMAX is superior target of velocity ramp. RW Motion Profile: 0x20 0 1:0 1 2 RW 0x21 31:0 R 0x22 31:0 R 0x23 31:0 No ramp: VACTUAL follows only VMAX (rectangle velocity shape). Trapezoidal ramp (incl. sixPoint ramp): Consideration of acceleration and deceleration values for generating VACTUAL without adapting the acceleration values. S-shaped ramp: Consideration of all ramp values (incl. bow values) for generating VACTUAL. XACTUAL (Default: 0x00000000) S Actual internal motor position [pulses]: –231 ≤ XACTUAL ≤ 231 – 1 VACTUAL (Default: 0x00000000) S Actual ramp generator velocity [pulses per second]: 1 pps ≤ |VACTUAL| ≤ CLK_FREQ · ½ pulses (fCLK = 16 MHz  8 Mpps) AACTUAL (Default: 0x00000000) S Actual acceleration/deceleration value [pulses per sec 2]: -231 pps² ≤ AACTUAL ≤ 231 – 1 1 pps² ≤ |AACTUAL| VMAX (Default: 0x00000000) Maximum ramp generator velocity in positioning mode or RW 0x24 31:0 S Target ramp generator velocity in velocity mode and no ramp motion profile. Value representation: 23 digits and 8 decimal places Consider maximum values, represented in section 6.7.5, page 46 VSTART (Default: 0x00000000) RW 0x25 30:0 U Absolute start velocity in positioning mode and velocity mode In case VSTART is used: no first bow phase B1 for S-shaped ramps VSTART in positioning mode: In case VACTUAL = 0 and XTARGET ≠ XACTUAL: no acceleration phase for VACTUAL = 0  VSTART. VSTART in velocity mode: In case VACTUAL = 0 and VACTUAL ≠ VMAX: no acceleration phase for VACTUAL = 0  VSTART. Value representation: 23 digits and 8 decimal places. Consider maximum values, represented in section 6.7.5, page 46  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 156/179 Ramp Generator Registers R/W Addr Bit Val Description VSTOP (Default:0x00000000) 0x26 30:0 U Absolute stop velocity in positioning mode and velocity mode. In case VSTOP is used: no last bow phase B4 for S-shaped ramps. In case VSTOP is very small and positioning mode is used, it is possible that the ramp is finished with a constant VACTUAL = VSTOP until XTARGET is reached. VSTOP in positioning mode: In case VACTUAL≤VSTOP and XTARGET=XACTUAL: VACTUAL is immediately set to 0. VSTOP in velocity mode: In case VACTUAL ≤ VSTOP and VMAX = 0: VACTUAL is immediately set to 0. Value representation: 23 digits and 8 decimal places. Consider maximum values, represented in section 6.7.5, page 46 VBREAK (Default:0x00000000) 0x27 30:0 U Absolute break velocity in positioning mode and in velocity mode, This only applies for trapezoidal ramp motion profiles. In case VBREAK = 0: pure linear ramps are generated with AMAX / DMAX only. In case |VACTUAL| < VBREAK: |AACTUAL| = ASTART or DFINAL In case |VACTUAL| ≥ VBREAK: |AACTUAL| = AMAX or DMAX Always set VBREAK > VSTOP! If VBREAK ≠ 0. Value representation: 23 digits and 8 decimal places. Consider maximum values, represented in section 6.7.5, page 46 RW AMAX (Default: 0x000000) S-shaped ramp motion profile: Maximum acceleration value. 0x28 23:0 U Trapezoidal ramp motion profile: Acceleration value in case |VACTUAL| ≥ VBREAK or in case VBREAK = 0. Value representation: Frequency mode: [pulses per sec2] 22 digits and 2 decimal places: 250 mpps2 ≤ AMAX ≤ 4 Mpps2 Direct mode: [∆v per clk cycle] a[∆v per clk_cycle]= AMAX / 237 AMAX [pps2] = AMAX / 237 • fCLK2 Consider maximum values, represented in section 6.7.5, page 46 DMAX (Default: 0x000000) 0x29 23:0 U S-shaped ramp motion profile: Maximum deceleration value. Trapezoidal ramp motion profile: Deceleration value if |VACTUAL| ≥ VBREAK or if VBREAK = 0. Value representation: Frequency mode: [pulses per sec2] 22 digits and 2 decimal places: 250 mpps2 ≤ DMAX ≤ 4 Mpps2 Direct mode: [∆v per clk cycle] d[∆v per clk_cycle]= DMAX / 237 DMAX [pps2] = DMAX / 237 • fCLK2 Consider maximum values, represented in section 6.7.5, page 46  Continued on next page. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 157/179 Ramp Generator Registers R/W Addr Bit Val Description ASTART (Default: 0x000000) S-shaped ramp motion profile: start acceleration value. Trapezoidal ramp motion profile: Acceleration value in case |VACTUAL| < VBREAK. 0x2A 23:0 Acceleration value after switching from external to internal step control. U Value representation: Frequency mode: [pulses per sec2] 22 digits and 2 decimal places: 250 mpps2 ≤ ASTART ≤ 4 Mpps2 Direct mode: [∆v per clk cycle] a[∆v per clk_cycle]= ASTART / 237 ASTART [pps2] = ASTART / 237 • fCLK2 Consider maximum values, represented in section 6.7.5, page 46 Sign of AACTUAL after switching from external to internal step control. 31 DFINAL (Default: 0x000000) RW 0x2B 23:0 U S-shaped ramp motion profile: Stop deceleration value, which is not used during positioning mode. Trapezoidal ramp motion profile: Deceleration value in case |VACTUAL| < VBREAK. Value representation: Frequency mode: [pulses per sec2] 22 digits and 2 decimal places: 250 mpps2 ≤ DFINAL ≤ 4 Mpps2 Direct mode: [∆v per clk cycle] d[∆v per clk_cycle]= DFINAL / 237 DFINAL [pps2] = DFINAL / 237 • fCLK2 Consider maximum values, represented in section 6.7.5, page 46 DSTOP (Default: 0x000000) 0x2C 23 U Deceleration value for an automatic linear stop ramp to VACTUAL = 0. DSTOP is used with activated external stop switches (STOPL or STOPR) if soft_stop_enable is set to 1; or with activated virtual stop switches and virt_stop_mode is set to 2. Value representation: Frequency mode: [pulses per sec2] 22 digits and 2 decimal places: 250 mpps2 ≤ DSTOP ≤ 4 Mpps2 Direct mode: [∆v per clk cycle] d[∆v per clk_cycle]= DSTOP / 237 DSTOP [pps2] = DSTOP / 237 • fCLK2 Consider maximum values, represented in section 6.7.5, page 46  Continued on next page! © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 158/179 Ramp Generator Registers R/W Addr Bit Val Description BOW1 (Default: 0x000000) Bow value 1 (first bow B1 of the acceleration ramp). 0x2D 23:0 U Value representation: Frequency mode: [pulses per sec3] 24 digits and 0 decimal places: 1 pps3 ≤ BOW1 ≤ 16 Mpps3 Direct mode: [∆a per clk cycle] bow[av per clk_cycle]= BOW1 / 253 BOW1 [pps3] = BOW1 / 253 • fCLK3 Consider maximum values, represented in section 6.7.5, page 46 BOW2 (Default: 0x000000) Bow value 2 (second bow B2 of the acceleration ramp). 0x2E 23:0 U RW Value representation: Frequency mode: [pulses per sec3] 24 digits and 0 decimal places: 1 pps3 ≤ BOW2 ≤ 16 Mpps3 Direct mode: [∆a per clk cycle] bow[av per clk_cycle]= BOW2 / 253 BOW2 [pps3] = BOW2 / 253 • fCLK3 Consider maximum values, represented in section 6.7.5, page 46 BOW3 (Default: 0x000000) Bow value 3 (first bow B3 of the deceleration ramp). 0x2F 23:0 U Value representation: Frequency mode: [pulses per sec3] 24 digits and 0 decimal places: 1 pps3 ≤ BOW3 ≤ 16 Mpps3 Direct mode: [∆a per clk cycle] bow[av per clk_cycle]= BOW3 / 253 BOW3 [pps3] = BOW3 / 253 • fCLK3 Consider maximum values, represented in section 6.7.5, page 46 BOW 4 (Default: 0x000000) Bow value 4 (second bow B4 of the deceleration ramp). 0x30 23:0 U Value representation: Frequency mode: [pulses per sec3] 24 digits and 0 decimal places: 1 pps3 ≤ BOW4 ≤ 16 Mpps3 Direct mode: [∆a per clk cycle] bow[av per clk_cycle]= BOW4 / 253 BOW4 [pps3] = BOW4 / 253 • fCLK3 Consider maximum values, represented in section 6.7.5, page 46 Table 69: Ramp Generator Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 159/179 External Clock Frequency Register External Clock Frequency Register R/W Addr Bit RW 0x31 24:0 Val Description CLK_FREQ (Default: 0x0F42400) U External clock frequency value fCLK [Hz] with 4.2 MHz ≤ fCLK ≤ 32 MHz Table 70: External Clock Frequency Register Target and Compare Registers Target and Compare Registers R/W Addr Bit RW 0x32 31:0 RW 0x33 31:0 RW 0x34 31:0 RW 0x35 31:0 Val Description POS_COMP (Default: 0x00000000) S Compare position. VIRT_STOP_LEFT (Default: 0x00000000) S Virtual left stop position. VIRT_STOP_RIGHT (Default: 0x00000000) S Virtual right stop position. X_HOME (Default: 0x00000000) S Actual home position. X_LATCH (Default: 0x00000000) R 31:0 0x36 S Storage position for certain triggers. REV_CNT (Default: 0x00000000) S (if circular_cnt_as_xlatch = 0) (if circular_cnt_as_xlatch = 1) Number of revolutions during circular motion. X_RANGE (Default: 0x00000000) 30:0 Limitation for X_ACTUAL during circular motion: U -X_RANGE ≤ X_ACTUAL ≤ X_RANGE - 1 X_TARGET (Default: 0x00000000) W RW 0x37 31:0 U Target motor position in positioning mode. Set all other motion profile parameters before! Table 71: Target and Compare Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 160/179 Pipeline Registers Pipeline Register R/W Addr Bit Val 0x38 31:0 S X_PIPE0 (Default: 0x00000000): 1st pipeline register. 0x39 31:0 S X_PIPE1 (Default: 0x00000000): 2nd pipeline register. 0x3A 31:0 S X_PIPE2 (Default: 0x00000000): 3rd pipeline register. 0x3B 31:0 S X_PIPE3 (Default: 0x00000000): 4th pipeline register. 0x3C 31:0 S X_PIPE4 (Default: 0x00000000): 5th pipeline register. 0x3D 31:0 S X_PIPE5 (Default: 0x00000000): 6th pipeline register. 0x3E 31:0 S X_PIPE6 (Default: 0x00000000): 7th pipeline register. 0x3F 31:0 S X_PIPE7 (Default: 0x00000000): 8th pipeline register. RW Description Table 72: Pipeline Registers Shadow Register Shadow Register R/W Addr Bit Val 0x40 31:0 S SH_REG0 (Default: 0x00000000) : 1st shadow register. 0x41 31:0 U SH_REG1 (Default: 0x00000000) : 2nd shadow register. 0x42 31:0 U SH_REG2 (Default: 0x00000000) : 3rd shadow register. 0x43 31:0 U SH_REG3 (Default: 0x00000000) : 4th shadow register. 0x44 31:0 U SH_REG4 (Default: 0x00000000) : 5th shadow register. 0x45 31:0 U SH_REG5 (Default: 0x00000000) : 6th shadow register. 0x46 31:0 U SH_REG6 (Default: 0x00000000) : 7th shadow register. 0x47 31:0 S/U SH_REG7 (Default: 0x00000000) : 8th shadow register. 0x48 31:0 U SH_REG8 (Default: 0x00000000) : 9th shadow register. 0x49 31:0 U SH_REG9 (Default: 0x00000000) : 10th shadow register. 0x4A 31:0 U SH_REG10 (Default: 0x00000000) : 11th shadow register. 0x4B 31:0 U SH_REG11 (Default: 0x00000000) : 12th shadow register. 0x4C 31:0 U SH_REG12 (Default: 0x00000000) : 13th shadow register. 0x4D 31:0 U SH_REG13 (Default: 0x00000000) : 14th shadow register. RW Description Table 73: Shadow Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 161/179 Reset and Clock Gating Register Reset and Clock Gating Register R/W Addr Bit Val Description CLK_GATING_REG (Default: 0x0) 2:0 RW 0x4F 0 Clock gating is not activated. 7 Clock gating is activated. RESET_REG (Default: 0x000000) 31:8 0 No reset is activated. 0x525354 Internal reset is activated. Table 74: Reset and Clock Gating Register dcStep Registers Micellaneous Registers R/W Addr Bit Val Description DC_VEL (Default:0x000000) 0x60 23:0 U (dcStep only) Minimum dcStep velocity [pps]. In case|VACTUAL| > DC_VEL dcStep is active, if enabled. 2nd assignment: Also used as FS_VEL if dcStep is not enabled (see 15.13. ) DC_TIME (Default:0x00) 7:0 U (TMC26x only and dcStep only) Upper PWM on-time limit for commutation. i Set slightly above effective blank time TBL of the driver. DC_SG (Default:0x0000) 0x61 15:8 U (TMC26x and dcStep only) Maximum PWM on-time [# clock cycles ∙ 16] for step loss detection. If a loss is detected (step length of first regular step after blank time of the dcStep input signal is below DC_SG), a stall event will be released. DC_BLKTIME (Default:0x0000) 31:16 0x62 31:0 U (TMC26x and dcStep only) Blank time [# clock cycles] after fullstep release when no signal comparison should happen. DC_LSPTM (Default:0x00FFFFFF) U dcStep low speed timer [# clock cycles] Table 75: dcStep Registers © 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 173.  MAIN MANUAL  (dcStep only) TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 162/179 Transfer Registers Transfer Registers R/W Addr Bit Val Description COVER_LOW (Default:0x00000000) W 0x6C 31:0 - Lower configuration bits of SPI orders that can be sent from TMC4331A to the motor drivers via SPI output. Automatic cover data transfer (automatic_cover = 1): Value in COVER_LOW are sent in case |VACTUAL| crosses SPI_SWITCH_VEL downwards. Set COVER_DATA_LENGTH ≤ 32. In case COVER_DATA_LENGTH = 0, no TMC2130 must be selected. POLLING_STATUS (Default:0x00000000) R - (TMC26x / TMC2130 only) DRV_STATUS response of TMC26x / TMC2130 COVER_HIGH (Default:0x00000000) W 31:0 - 0x6D Upper configuration bits of SPI orders that can be sent from TMC4331A to the motor drivers via SPI output. Automatic cover data transfer (automatic_cover = 1): Value in COVER_LOW are sent if |VACTUAL| crosses SPI_SWITCH_VEL upwards. Set COVER_DATA_LENGTH ≤ 32. In case COVER_DATA_LENGTH = 0, no TMC2130 must be selected. POLLING_REG (Default:0x00000000) R 19:0 - LOST_STEPS response of TMC2130 27:20 - PWM_SCALE response of TMC2130 31:28 - GSTAT response of TMC2130 (TMC2130 only) COVER_DRV_LOW (Default:0x00000000) R 0x6E 31:0 R 0x6F 31:0 - Lower configuration bits of SPI response received from the motor driver connected to the SPI output. COVER_DRV_HIGH (Default:0x00000000) - Upper configuration bits of SPI response received from the motor driver connected to the SPI output. Table 76: Transfer Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 163/179 SinLUT Registers SinLUT Registers R/W Addr Bit 0x70 MSLUT[0] (Default:0xAAAAB554) 0x71 MSLUT[1] (Default:0x4A9554AA) 0x72 MSLUT[2] (Default:0x24492929) MSLUT[3] (Default:0x10104222) MSLUT[4] (Default:0xFBFFFFFF) 0x75 MSLUT[5] (Default:0xB5BB777D) 0x76 MSLUT[6] (Default:0x49295556) 0x 77 MSLUT[7] (Default:0x00404222) 0x73 W Val Description 0x74 31:0 W R 0x78 31:0 Each bit defines the difference between consecutive values in the microstep look-up table MSLUT (in combination with MSLUTSEL). MSLUTSEL - (Default:0xFFFF8056) Definition of the four segments within each quarter MSLUT wave. MSCNT (Default:0x000) 0x79 9:0 U Actual µStep position of the sine value. 2nd assignment: Also used as MS_OFFSET if Voltage PWM is enabled (see 15.14. ) 8:0 R 0x7A 24:16 8:0 R 0x7B 24:16 S S 0x7E 23:16 Actual current value of coilB (sine90_120 values). CURRENTA_SPI (Default:0x000) S Actual scaled current value of coilA (sine values) that are sent to the driver. CURRENTB_SPI (Default:0x0F7) S 31:0 2 7:0 Actual current value of coilA (sine values). CURRENTB (Default:0x0F7) nd W W CURRENTA (Default:0x000) Actual scaled current value of coilB (sine90_120 values); sent to motor driver. assignment: Also used as TZERO_WAIT for write access (see section 15.13. ) START_SIN (Default:0x00) U Start value for sine waveform. START_SIN90_120 (Default:0xF7) U nd 31:24 2 Start value for cosine waveform. assignment: Also used as DAC_OFFSET for write access (see section 15.24. ) Table 77: SinLUT Registers © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 164/179 SPI-DAC Configuration Registers SPI-DAC Configuration Registers R/W Addr Bit Val Description DAC_ADDR_A (Default:0x0000) 15:0 U Fixed command/address, which is sent via SPI output before sending CURRENTA_SPI values. DAC_ADDR_B (Default: 0x0000) RW 0x1D 31:16 U Fixed command/address, which is sent via SPI output before sending current CURRENTB_SPI values. 23:0 2nd assignment: Also used as SPI_SWITCH_VEL if SPI-DAC mode is disabled (15.13. ) DAC_OFFSET (Default:0x00) W 0x7E 31:24 U S Offset (absolute sine and cosine DAC values). Offset (mapped DAC values). 23:0 2nd assignment: Also used as START_SIN/90_120 for read out (see section 15.23. ) Table 78: SPI-DAC Configuration Registers. TMC Version Register Version Register R/W Addr Bit R 0x7F 15:0 Val Description Version No (Default:0x0002) U TMC4331 version number. Table 79: Version Register © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 165/179 16. Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design. Maximum Ratings: 3.3V supply Parameter (VCC = 3.3V nominal  TEST_MODE = 0V) Supply voltage Input voltage IO Symbol Min Max Unit VCC VIN 3.0 −0.3 3.6 3.6 V V Symbol Min Max Unit VCC VIN 4.8 −0.3 5.2 5.2 V V Table 80: Maximum Ratings: 3.3V supply Maximum Ratings: 5.0V supply Parameter (VCC = 5V nominal  TEST_MODE = 0V) Supply voltage Input voltage IO Table 81: Maximum Ratings: 5.0V supply Maximum Ratings: Temperature Parameter Symbol Min Max Unit Temperature T −40 125 °C Table 82: Maximum Ratings: Temperature © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 166/179 17. Electrical Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typical values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. DC Characteristics Parameter Symbol Conditions Min Typ −40°C Max Unit 125 °C Extended temperature range TCOM Nominal core voltage VDD 1.8 V Nominal IO voltage VDD 3.3 / 5.0 V Nominal input voltage VIN Input voltage low level VINL Input voltage high level VINH 0.0 3.3 / 5.0 V VDD = 3.3V / 5V −0.3 0.8 / 1.2 V VDD = 3.3V / 5V 2.3 / 3.5 3.6 / 5.2 V Input with pull-down VIN = VDD 5 30 110 µA Input with pull-up VIN = 0V −110 −30 −5 µA Input low current VIN = 0V −10 10 µA Input high current VIN = VDD −10 10 µA 0.4 V Output voltage low level VOUTL VDD = 3.3V / 5V Output voltage high level VOUTH VDD = 3.3V / 5V IOUT_DRV VDD = 3.3V / 5V Output driver strength 2.64 / 4.0 V 4.0 mA Table 83: DC Characteristics Power Dissipation Power Dissipation Parameter Symbol Static power dissipation PDSTAT Dynamic power dissipation PDDYN Total power dissipation PD Conditions All inputs at VDD or GND VDD = 3.3V / 5V All inputs at VDD or GND fCLK variable VDD = 3.3V / 5V fCLK = 16 MHz VDD = 3.3V / 5V Min Typ Max Unit 1.1 / 1.7 mW 2.7 / 4.0 mW / MHz 44.3 / 65.7 mW Table 84: Power Dissipation © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 167/179 General IO Timing Parameters General IO Timing Parameters Parameter Symbol Conditions Min Typ Max 30 Operation frequency fCLK fCLK = 1 / tCLK 4.21) 16 Clock Period tCLK Rising edge to rising edge 33.5 62.5 Unit MHz ns Clock time low 16.5 ns Clock time high 16.5 ns CLK input signal rise time tRISE_IN 20 % to 80 % 20 ns CLK input signal fall time tFALL_IN 80 % to 20 % 20 ns Output signal rise time tRISE_OUT Output signal fall time tFALL_OUT Setup time for SPI input signals in synchronous design tSU Hold time tHD 20 % to 80 % load 32 pF 80 % to 20 % load 32 pF Relative to rising clk edge Relative to rising clk edge 3.5 ns 3.5 ns 5 ns 5 ns Table 85: General IO Timing Parameters The lower limit for fCLK refers to the limits of the internal unit conversion to physical units. The chip will also operate at lower frequencies. 1) © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Layout Examples Internal Cirucit Diagram for Layout Example Figure 62: Internal Circuit Diagram for Layout Example © 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 173.  MAIN MANUAL  168/179 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Top Layer: Assembly Side Figure 63: Top Layer: Assembly Side Inner Layer (GND) Figure 64: Inner Layer (GND) © 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 173.  MAIN MANUAL  169/179 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Inner Layer (Supply VS) Figure 65: Inner Layer (Supply VS) © 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 173.  MAIN MANUAL  170/179 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 171/179 Package Dimensions Package Dimensions Parameter Ref Min Nom Max Total thickness A 0.8 0.85 0.9 Stand off A1 0 0.035 0.05 Mold thickness A2 - 0.65 0.67 Lead frame thickness A3 Lead width b Body size X D 4 BSC Body size Y E 4 BSC Lead pitch e 0.4 BSC Exposed die pad size X J Exposed die pad size Y Package edge tolerance K L L1 aaa 2.5 2.6 2.7 0.35 0.4 0.45 0.332 0.382 0.432 0.1 Mold flatness bbb 0.1 Coplanarity ccc 0.08 Lead offset ddd 0.1 Exposed pad offset eee 0.1 Lead length 0.203 REF 0.15 0.2 2.5 Table 86: Package Dimensions Figure 66: Package Dimensional Drawings © 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 173.  MAIN MANUAL  2.6 0.25 2.7 TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 172/179 Package Material Information Please refer to the associated document “TMC43xx Package Material Information, V1.00” for information about available package dimensions and the various tray and reel package options. This document informs you about outside dimensions per tray and/reel and the number of ICs per tray/reel. It also provides information about available packaging units and their weight, as well as box dimension and weight details for outer packaging. The document is available for download on the TMC4331A product page at www.trinamic.com. Should you require a custom-made component packaging solution or a different outer packaging solution, or have questions pertaining to the component packaging choice, please contact our customer service. i NOTE: Our trays and reels are JEDEC-compliant.  Marking Details provided on Single Chip The marking on each single chip shows: ❶ Trinamic emblem. ❷ Product code. ❶ ❸ Date code. ❷ ❹ Location of the copyright holder, which is TRINAMIC in Hamburg, Germany. ❸ ❹ ❺ Lot number. Figure 67: Marking Details on Chip1 1 The image provided is not an accurate rendition of the original product but only serves as illustration. © 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 173.  MAIN MANUAL  ❺ TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 173/179 A P P E ND I C E S 18. Supplemental Directives ESD-DEVICE INSTRUCTIONS This product is an ESD-sensitive CMOS device. It is sensitive to electrostatic discharge.    Provide effective grounding to protect personnel and machines. Ensure work is performed in a nonstatic environment. Use personal ESD control footwear and ESD wrist straps, if necessary. Failure to do so can result in defects, damages and decreased reliability. Producer Information The producer of the product TMC4331A is TRINAMIC GmbH & Co. KG in Hamburg, Germany; hereafter referred to as TRINAMIC. TRINAMIC is the supplier; and in this function provides the product and the production documentation to its customers. Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2015 TRINAMIC®. All rights reserved. Electronically published by TRINAMIC®, Germany. All trademarks used are property of their respective owners. Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available product-related documentation. Trademark Designations and Symbols Trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and,'or patent either by TRINAMIC or by ather manufacturers, whose products are used or referred to in combination With TRINAMlC's products and TRINAMlC's product documentation. This documentation is a noncommercial publication that seeks to provide concise scientific and technical user information to the target user. Thus, we only enter trademark designations and symbols in the Short Spec of the documentation that introduces the product at a quick glance. We also enter the trademark designation 'symbol when the product or feature name occurs for the first time in the document. All trademarks used are property of their respective owners. Target User The documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. The Target User knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. Disclaimer: Life Support Systems TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. Information given in this document is believed to be accurate and reliable. However, no responsibility is assumed for the consequences of its use nor for any infringement © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 174/179 of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice. Disclaimer: Intended Use The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose or of any other nature are made hereunder with respect to information/specification or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product. TRINAMIC products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in significant personal injury or death (Safety-Critical Applications) without TRINAMIC’s specific written consent. TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. Product Documentation Details This document Datasheet User Manual contains the User Information for the Target User. Collateral Documents & Tools This product documentation is related and/or associated with additional tool kits, firmware and other items, as provided on the product page at: www.trinamic.com . The Short Spec forms the preface of the document and is aimed at providing a general product overview. The Main Manual contains detailed product information pertaining to functions, and configuration settings. It contains all other pages of this document. © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 175/179 19. Tables Index Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table 1: TMC4331A Order Codes ............................................................................................................. 2 2: Pin Names and Descriptions ...................................................................................................... 10 3: SPI Input Control Interface Pins ................................................................................................ 13 4: Read and Write Access Examples .............................................................................................. 14 5: SPI Interface Timing ................................................................................................................ 16 6: Input Filtering Groups (Assigned Pins) ....................................................................................... 17 7: Input Filtering (Assigned Register) ............................................................................................ 17 8: Sample Rate Configuration ....................................................................................................... 18 9: Configuration of Digital Filter Length ......................................................................................... 18 10: Pins Names: Status Events...................................................................................................... 20 11:Register Names: Status Flags and Events ................................................................................. 20 12: Pin Names: Ramp Generator ................................................................................................... 24 13: Register Names: Ramp Generator ........................................................................................... 24 14: Overview of General and Basic Ramp Configuration Options ..................................................... 27 15: Description of TMC4331A Motion Profiles ................................................................................. 29 16: Trapezoidal Ramps: AACTUAL Assignments during Motion ........................................................ 32 17: Parameter Assignments for S-shaped Ramps ........................................................................... 35 18: Minimum and Maximum Values if Real World Units are selected ................................................ 46 19: Minimum and Maximum Values for Steep Slopes for fCLK =16MHz .............................................. 46 20: Pins used for External Step Control ......................................................................................... 47 21: Registers used for External Step Control .................................................................................. 47 22: Pins used for Reference Switches ............................................................................................ 50 23: Dedicated Registers for Reference Switches ............................................................................. 50 24: Reference Configuration and Corresponding Transition of particular Reference Switch ................ 52 25: Overview of different home_event Settings .............................................................................. 55 26: TARGET_REACHED Output Pin Configuration ........................................................................... 58 27: Comparison Selection Grid to generate POS_COMP_REACHED_Flag .......................................... 58 28: Circular motion (X_RANGE = 300) ........................................................................................... 62 29: Dedicated Ramp Timing Pins ................................................................................................... 63 30: Dedicated Ramp Timing Registers ........................................................................................... 63 31: Start Trigger Configuration ..................................................................................................... 64 32: Start Enable Switch Configuration ........................................................................................... 64 33: Parameter Settings Timing Example 1 ..................................................................................... 66 34: Parameter Settings Timing Example 2 ..................................................................................... 67 35: Parameter Settings Timing Example 3 ..................................................................................... 68 36: Pipeline Activation Options ...................................................................................................... 76 37: Pipeline Mapping for different Pipeline Configurations ............................................................... 77 38: Pin Names for SPI Motor Drive ................................................................................................ 81 39: Dedicated SPI Output Registers .............................................................................................. 82 40: Wave Inclination Characteristics of Internal MSLUT .................................................................. 84 41: Overview of the Microstep Behavior Example ........................................................................... 88 42: SPI Output Communication Pins .............................................................................................. 89 43: TMC Stepper Motor Driver Options .......................................................................................... 93 44: Mapping of TMC23x/24x Status Flags ...................................................................................... 97 45: Mapping of TMC26x Status Flags ........................................................................................... 103 46: Mapping of TMC2130 Status Flags ......................................................................................... 108 47: Non-TMC Data Transfer Options ............................................................................................ 109 48: Available SPI-DAC Options .................................................................................................... 112 49: Dedicated PWM Output Pins ................................................................................................. 121 50: Dedicated PWM Output Registers .......................................................................................... 121 51: Dedicated dcStep Pins .......................................................................................................... 126 52: Dedicated dcStep Registers ................................................................................................... 126 53: Dedicated Reset and Clock Pins ............................................................................................. 132 54: Dedicated Reset and Clock Gating Registers .......................................................................... 132 55: General Configuration 0x00 .................................................................................................. 137 56: Reference Switch Configuration 0x01 .................................................................................... 140 57: Start Switch Configuration START_CONF 0x02 ....................................................................... 142 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 68: 69: 70: 71: 72: 73: 74: 75: 76: 77: 78: 79: 80: 81: 82: 83: 84: 85: 86: 85: 176/179 Input Filter Configuration Register INPUT_FILT_CONF 0x03 ................................................... 143 SPI Output Configuration Register SPI_OUT_CONF 0x04 ........................................................ 146 Current Scale Configuration (0x05)........................................................................................ 147 Current Scale Values (0x06) .................................................................................................. 148 Various Scaling Configuration Registers (0x15…0x1B) ............................................................ 148 Motor Driver Settings (0x0A) ................................................................................................. 149 Event Selection Regsiters 0x0B…0x0D ................................................................................... 150 Status Event Register EVENTS (0x0E) .................................................................................... 151 Status Flag Register STATUS (0x0F) ...................................................................................... 152 Various Configuration Registers ............................................................................................. 153 PWM Configuration Registers. ............................................................................................... 154 Ramp Generator Registers .................................................................................................... 158 External Clock Frequency Register ......................................................................................... 159 Target and Compare Registers .............................................................................................. 159 Pipeline Registers ................................................................................................................. 160 Shadow Registers ................................................................................................................. 160 Reset and Clock Gating Register ............................................................................................ 161 dcStep Registers .................................................................................................................. 161 Transfer Registers ................................................................................................................ 162 SinLUT Registers .................................................................................................................. 163 SPI-DAC Configuration Registers. .......................................................................................... 164 Version Register ................................................................................................................... 164 Maximum Ratings: 3.3V supply ............................................................................................. 165 Maximum Ratings: 5.0V supply ............................................................................................. 165 Maximum Ratings: Temperature ........................................................................................... 165 DC Characteristics ................................................................................................................ 166 Power Dissipation ................................................................................................................. 166 General IO Timing Parameters .............................................................................................. 167 Package Dimensions ............................................................................................................. 171 Document Revision History ................................................................................................... 179 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 177/179 20. Figures Index Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 1: Sample Image TMC4331A ......................................................................................................... 1 2: Block Diagram .......................................................................................................................... 1 3: S-shaped Velocity Profile ........................................................................................................... 2 4: Open-Loop Hardware Set-up with TMC26x supporting External Stop Switches .............................. 2 5: Hardware Set-up for Open-loop Operation with TMC2130............................................................ 2 6: Package Outline: Pin Assignments Top View ............................................................................... 8 7: System Overview .................................................................................................................... 10 8: TMC4331A Connection: VCC=3.3V ........................................................................................... 11 9: TMC4331A with TMC26x Stepper Driver in SPI Mode or S/D Mode ............................................. 11 10: TMC4331A with TMC248 Stepper Driver in SPI Mode............................................................... 12 11: TMC4331A with TMC2130 Stepper Driver in SPI Mode or S/D Mode ......................................... 12 12: TMC4331A SPI Datagram Structure ........................................................................................ 13 13: Difference between Read and Write Access ............................................................................ 14 14: SPI Timing Datagram ............................................................................................................ 15 15: Reference Input Pins: SR_REF = 1, FILT_L_REF = 1 ............................................................... 19 16: START Input Pin: SR_S = 2, FILT_L_S = 0 ............................................................................. 19 17: S/D Input Pins: SR_SD_IN = 0, FILT_L_SD_IN = 7 ................................................................. 19 18: No Ramp Motion Profile ......................................................................................................... 30 19: Trapezoidal Ramp without Break Point ................................................................................... 31 20: Trapezoidal Ramp with Break Point ........................................................................................ 31 21: S-shaped Ramp without initial and final Acceleration/Deceleration Values ................................. 33 22: S-shaped Ramp with initial and final Acceleration/Deceleration Values ...................................... 34 23: Trapezoidal Ramp with initial Velocity ..................................................................................... 36 24: S-shaped Ramp with initial Start Velocity ................................................................................ 37 25: S-shaped Ramp with Stop Velocity ......................................................................................... 39 26: S-shaped Ramp with Start and Stop Velocity ........................................................................... 40 27: S-shaped Ramps with combined VSTART and ASTART Parameters ........................................... 41 28: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity ................................................ 42 29: Example for U-Turn Behavior of sixPoint Ramp ....................................................................... 43 30: Example for U-Turn Behavior of S-shaped Ramp ..................................................................... 44 31: Direct transition via VACTUAL=0 for S-shaped Ramps ............................................................. 44 32: HOME_REF Monitoring and HOME_ERROR_FLAG .................................................................... 56 33: Ramp Timing Example 1 ........................................................................................................ 66 34: Ramp Timing Example 2 ........................................................................................................ 67 35: Ramp Timing Example 3 ........................................................................................................ 68 36: Single-level Shadow Register Option to replace complete Ramp Motion Profile. ......................... 70 37: Double-stage Shadow Register Option 1, suitable for S-shaped Ramps. ................................... 71 38: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps. ................................ 72 39: Double-Stage Shadow Register Option 3, suitable for Trapezoidal Ramps ................................. 73 40: SHADOW_MISS_CNT Parameter for several internal Start Signals ............................................ 74 41: Target Pipeline with Configuration Options ............................................................................. 75 42: Pipeline Example A ................................................................................................................ 78 43: Pipeline Example B ................................................................................................................ 78 44: Pipeline Example C ................................................................................................................ 78 45: Pipeline Example D ............................................................................................................... 78 46: Pipeline Example E ................................................................................................................ 79 47: Pipeline Example F ................................................................................................................ 79 48: Pipeline Example G ............................................................................................................... 79 49: Pipeline Example H ............................................................................................................... 79 50: LUT Programming Example.................................................................................................... 83 51: MSLUT Curve with all possible Base Wave Inclinations (highest Inclination first) ....................... 87 52: SPI Output Datagram Timing ................................................................................................. 89 53: Cover Data Register Composition (CDL – COVER_DATA_LENGTH) ........................................... 91 54: Scaling Example 1 ............................................................................................................... 119 55: Scaling Example 2 ............................................................................................................... 120 56: Calculation of PWM Duty Cycles (PWM_AMPL) ...................................................................... 123 57: TMC4331A connected with TMC23x/24x operating in SPI Mode or PWM Mode ........................ 124 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 58: 59: 60: 61: 62: 63: 64: 65: 66: 67: 178/179 dcStep extended Application Operation Area ......................................................................... 127 Velocity Profile with Impact through Overload Situation ......................................................... 129 Manual Clock Gating Activation and Wake-Up ....................................................................... 133 Automatic Clock Gating Activation and Wake-Up ................................................................... 134 Internal Circuit Diagram for Layout Example ......................................................................... 168 Top Layer: Assembly Side .................................................................................................... 169 Inner Layer (GND) .............................................................................................................. 169 Inner Layer (Supply VS) ...................................................................................................... 170 Package Dimensional Drawings ............................................................................................ 171 Marking Details on Chip1 ...................................................................................................... 172 © 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 173.  MAIN MANUAL  TMC4331A Datasheet | Document Revision 1.01 • 2016-NOV-25 21. Revision History Document Revision History Version Date Author Description 1.00 2016-NOV-09 HS First complete version. 1.01 2016-NOV-25 HS Slight new arranges in the register overview. Table 87: Document Revision History © 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 173.  MAIN MANUAL  179/179