TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
26
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
14 small_hysteresis
0:
Hysteresis for step frequency comparison is 1/16
1:
Hysteresis for step frequency comparison is 1/32
15 stop_enable
0:
Normal operation
1:
Emergency stop: ENCA_DCIN stops the sequencer
when tied high (no steps become executed by
the sequencer, motor goes to standstill state).
16 direct_mode
0:
1:
Normal operation
Motor coil currents and polarity directly
programmed via serial interface: Register XDIRECT
(0x2D) specifies signed coil A current (bits 8..0)
and coil B current (bits 24..16). In this mode, the
current is scaled by IHOLD setting. Velocity based
current regulation of stealthChop is not available
in this mode. The automatic stealthChop current
regulation will work only for low stepper motor
velocities.
17 test_mode
0:
Normal operation
1:
Enable analog test output on pin DCO.
IHOLD[1..0] selects the function of DCO:
0…2: T120, DAC, VDDH
Hint: Not for user, set to 0 for normal operation!
Bit
GSTAT – Global status flags
(Re-Write with ‘1’ bit to clear respective flags)
reset
0
1
1:
Indicates that the IC has been reset. All registers
have been cleared to reset values.
drv_err
1:
Indicates, that the driver has been shut down
R+
WC
0x01
3
GSTAT
due to overtemperature or short circuit detection.
Read DRV_STATUS for details. The flag can only
be cleared when the temperature is below the
limit again.
2
uv_cp
1:
Indicates an undervoltage on the charge pump.
The driver is disabled during undervoltage. This
flag is latched for information.
Bit
INPUT
Reads the state of all input pins available
0 STEP
1 DIR
2 DCEN_CFG4
3 DCIN_CFG5
4 DRV_ENN
5 DCO_CFG6
6 1
7 unused
31.. VERSION: 0x30=first version of the IC
8
+
8
R
0x04
0x06
IOIN
24 Identical numbers mean full digital compatibility.
W
OTP_PROG
Bit
OTP_PROGRAM – OTP programming
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
