TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
27
6.3 Motor Driver Registers
MOTOR DRIVER REGISTER SET (MOTOR 1: 0X6A…0X6F, MOTOR 2: 0X7A…0X7F)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
Microstep counter. Indicates actual position 0…1023
in the microstep table for CUR_A. CUR_B uses
an offset of 256.
Hint: Move to a position where MSCNT is
zero before re-initializing MSLUTSTART or
MSLUT and MSLUTSEL.
0x6A
0x7A
R
10 MSCNT
bit 8… 0:
CUR_A (signed):
+/-0...255
Actual microstep current for
motor phase A as read from
MSLUT (not scaled by current)
9
+
9
0x6B
0x7B
R
MSCURACT
bit 24… 16: CUR_B (signed):
Actual microstep current for
motor phase B as read from
MSLUT (not scaled by current)
0x6C
0x7C
chopper and driver configuration
See separate table!
RW
W
R
32 CHOPCONF
25 COOLCONF
coolStep smart current control register
and stallGuard2 configuration
See separate table!
stallGuard2 value and driver error flags
See separate table!
0x6D
0x7D
0x6F
0x7F
DRV_
32
STATUS
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