TMC4330A Datasheet | Document Revision 1.01 • 2017-JAN-12
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By overstepping the position overflow, the internal REV_CNT register is increased by
one revolution as soon as XACTUAL oversteps from (X_RANGE – 1) to -X_RANGE or
is decreased by one revolution as soon as XACTUAL oversteps in the opposite
direction.
Release of the
Revolution
Counter
The information about the number of revolutions can be obtained by reading out
register 0x36, which by default is the X_LATCH register (read only).
In order to gain information on the number of revolutions:
Action:
Set circular_cnt_as_xlatch = 1 (GENERAL_CONF register 0x00).
Result:
Register 0x36 cease to display the X_LATCH value. Instead, the revolution counter
REV_CNT can be read out at this register address.
NOTE:
As soon as circular motion is inactive (circular_motion=0), REV_CNT is reset to 0.
Blocking Zones
During circular motion, virtual stops can be used to set blocking zones. Positions inside
these blocking zones are NOT dedicated for motion.
Activating
Blocking Zones
during Circular
Motion
In order to activate the blocking zone, do as follows:
PRECONDITION:
Circular motion is activated (circular_motion = 0) and properly assigned
(X_RANGE ≠ 0).
PROCEED WITH:
Action:
Set VIRTUAL_STOP_LEFT register 0x33 as left limit for the blocking zone.
Set VIRTUAL_STOP_RIGHT register 0x34 as right limit for the blocking zone.
Enable both virtual limits as explained in section 8.2.1 (page 52).
Result:
The blocking zone reaches from VIRTUAL_STOP_LEFT to VIRTUAL_STOP_RIGHT.
During positioning, the path from XACTUAL to XTARGET does not lead through the
blocking zone; which can result in a longer path compared to the direct path through
the blocking zone (see Figure B1 in Table 28, page 63).
However, the selected virtual stop deceleration ramp is initiated as soon as one of the
limits is reached. This can result from the velocity mode or if the target XTARGET is
located in the blocking zone.
Continued on next page.
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