TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
26
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
31.. VERSION: 0x10=version of the IC
24 Identical numbers mean full digital compatibility.
Bit
OUTPUT
Sets the IO output pin polarity and data direction.
io0_out: IO0 output polarity
io1_out: IO1 output polarity
io2_out: IO2 output polarity
-
0
1
2
3
8
9
4
+
4
W
OUTPUT
ioddr0 (IO0: 0=input, 1=output)
ioddr1 (IO1: 0=input, 1=output)
10 ioddr2 (IO2: 0=input, 1=output)
11 - (IO3 is always input)
Addresses Addr are specified for motor 1 (upper value) and motor 2 (second address).
6.2 Current Setting
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (MOTOR 1: 0X30…0X36, MOTOR 2: 0X50…0X56)
R/W
Addr
n
Register
Description / bit names
Bit IHOLD_IRUN – Driver current control
4..0 IHOLD
Standstill current (0=1/32…31=32/32)
12..8 IRUN
Motor run current (0=1/32…31=32/32)
5
+
5
+
4
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
19..16 IHOLDDELAY
0x30
0x50
W
IHOLD_IRUN
Controls the number of clock cycles for motor
power down after a motion as soon as TZEROWAIT
has expired. The smooth transition avoids a motor
jerk upon power down.
0:
instant power down
1..15:
Delay per current reduction step in multiple
of 2^18 clocks
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
