TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
6/166
SPI Encoder Mode Selection ..............................................................................................106
SPI Encoder Configuration via TMC4330A...........................................................................107
12. Possible Regulation Options with Encoder Feedback ............................................ 108
Feedback Monitoring.........................................................................................................108
Target-Reached during Regulation.....................................................................................108
PID-based Control of XACTUAL..........................................................................................109
PID Readout Parameters...................................................................................................109
PID Control Parameters and Clipping Values.......................................................................110
Enabling PID Regulation....................................................................................................110
Closed-Loop Operation......................................................................................................111
Basic Closed-Loop Parameters...........................................................................................111
Enabling and calibrating Closed-Loop Operation .................................................................112
Limiting Closed-Loop Catch-Up Velocity..............................................................................113
Enabling the Limitation of the Catch-Up Velocity.................................................................113
Enabling Closed-Loop Velocity Mode ..................................................................................114
Back-EMF Compensation during Closed-loop Operation.......................................................115
Encoder Velocity Readout Parameters................................................................................116
Encoder Velocity Filter Configuration..................................................................................116
Encoder Velocity equals 0 Event ........................................................................................116
13. Reset and Clock Gating.......................................................................................... 117
Manual Hardware Reset ....................................................................................................117
Manual Software Reset .....................................................................................................117
Reset Indication ...............................................................................................................117
Activating Clock Gating manually .......................................................................................118
Clock Gating Wake-up.......................................................................................................118
Automatic Clock Gating Procedure .....................................................................................119
TECHNICAL SPECIFICATIONS...................................................................................... 120
14. Complete Register and Switches List..................................................................... 120
General Configuration Register GENERAL_CONF 0x00.........................................................120
Reference Switch Configuration Register REFERENCE_CONF 0x01 .......................................123
Start Switch Configuration Register START_CONF 0x02.......................................................126
Input Filter Configuration Register INPUT_FILT_CONF 0x03................................................128
Scaling Configuration Register SCALE_CONF 0x05 ..............................................................129
Encoder Signal Configuration (0x07)..................................................................................130
Serial Encoder Data Input Configuration (0x08)..................................................................133
Microstep Settings Register STEP_CONF 0x0A ....................................................................134
Event Selection Registers 0x0B..0X0D ................................................................................135
Status Event Register (0x0E).............................................................................................136
Status Flag Register (0x0F) ...............................................................................................137
Various Configuration Registers: Synchronization, PWM, etc................................................138
Ramp Generator Registers.................................................................................................139
External Clock Frequency Register .....................................................................................143
Target and Compare Registers ..........................................................................................143
Pipeline Registers .............................................................................................................144
Shadow Register...............................................................................................................144
Reset and Clock Gating Register ........................................................................................145
Encoder Registers.............................................................................................................146
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the “Supplemental Directives” on page 160.
MAIN MANUAL
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
