TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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Active START Pin Output Configuration ............................................................................... 66
Ramp Timing Examples...................................................................................................... 67
Shadow Register Settings................................................................................................... 70
Shadow Register Configuration Options............................................................................... 71
Delayed Shadow Transfer................................................................................................... 75
Pipelining Internal Parameters............................................................................................ 76
Configuration and Activation of Target Pipeline.................................................................... 76
Using the Pipeline for different internal Registers................................................................. 77
Pipeline Mapping Overview................................................................................................. 78
Cyclic Pipelining................................................................................................................. 79
Pipeline Examples.............................................................................................................. 79
Masterless Synchronization of Several Motion Controllers via START Pin................................ 81
10. Controlled PWM Output ........................................................................................... 82
How to change Motion Direction......................................................................................... 82
Change of Microstep Resolution.......................................................................................... 82
PWM Output Generation and Scaling Possibilities................................................................. 83
PWM Scale Example........................................................................................................... 84
Microstep Lookup Tables.................................................................................................... 85
Actual Microstep Values Output .......................................................................................... 86
How to Program the Internal MSLUT................................................................................... 86
Setup of MSLUT Segments ................................................................................................. 87
Microstep Waves Start Values............................................................................................. 88
Default MSLUT .................................................................................................................. 88
Explanatory Notes for Base Wave Inclinations ..................................................................... 89
11. Decoder Unit: Connecting ABN, SSI, or SPI Encoders correctly............................... 91
Selecting the correct Encoder ............................................................................................. 92
Disabling digital differential Encoder Signals........................................................................ 93
Inverting of Encoder Direction............................................................................................ 93
Encoder Misalignment Compensation .................................................................................. 94
Incremental ABN Encoder Settings...................................................................................... 95
Automatic Constant Configuration of Incremental ABN Encoder............................................ 95
Manual Constant Configuration of Incremental ABN Encoder ................................................ 95
Incremental Encoders: Index Signal: N resp. Z .................................................................... 96
Setup of Active Polarity for Index Channel.......................................................................... 96
Configuration of N Event .................................................................................................... 96
External Position Counter ENC_POS Clearing ....................................................................... 97
Latching External Position .................................................................................................. 98
Latching Internal Position................................................................................................... 98
Absolute Encoder Settings.................................................................................................. 99
Singleturn or Multiturn Data ............................................................................................... 99
Automatic Constant Configuration of Absolute Encoder .......................................................100
Manual Constant Configuration of incremental ABN Encoder................................................100
Absolute Encoder Data Setup ............................................................................................101
Emitting Encoder Data Variation ........................................................................................102
SSI Clock Generation ........................................................................................................103
Enabling Multicycle SSI request ........................................................................................104
Gray-encoded SSI Data Streams.......................................................................................104
SPI Encoder Data Evaluation .............................................................................................105
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