TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
24
6.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
Bit GCONF – Global configuration flags
single_driver
0
0:
1:
Two motors can be operated.
Single motor, double current operation - driver 2
outputs are identical to driver 1, all driver 2
related controls are unused in this mode.
Attention: Set correctly before driver enable!
1
2
stepdir1_enable
0:
1:
Driver 1 does not accept steps.
Step/Dir interface enabled via STEP1 and DIR1
stepdir2_enable
0:
Driver 2 does not accept steps.
1:
Step/Dir interface enabled via STEP2 and DIR2
3
4
5
6
7
reserved
set to 0
reserved
set to 0
reserved
set to 0
reserved
set to 0
test_mode
RW
0x00
10
GCONF
0:
Normal operation
1:
Enable analog test output on pin REFR2
SLAVEADDR selects the function of REFR2:
0…4: T120, DAC1, VDDH1, DAC2, VDDH2
Attention: Not for user, set to 0 for normal operation!
8
9
shaft1
1:
shaft2
1: Inverse motor 2 direction
10 lock_gconf
1: GCONF is locked against further write access.
Inverse motor 1 direction
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