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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
Figure 4: SPI Datagram Structure
3.3 Register Bank
This section gives a functional description as an overview. The section 5 starting
page 27 gives the detailed description of each register.
Info
The register bank is the interface to the user application. Each register of the TMC4670 has 8 bit address
followed by up to 32 data bits. Some addresses hold more then one data registers for simultaneous access
or composed control bit vectors. Section 5 page 27 describes all registers in detail.
During initialization, the user writes parameters into associated registers. These parameters are scaling
factors and offsets, sensor configuration parameters, limits for clipping, selections, P and I parameters for
the FOC torque controller, P and I parameters for velocity controller, and P parameter for the position
controller.
During application, the user writes application parameters into associated registers. These are - depending
on the motion mode - target torque, target velocity, or target position.
The TMC4670 has direct access registers and indirect access registers. Most registers are direct access
registers with read or write access by a single datagram. Some less often used registers (e.g. silicon version
registers, internal values for read out) are accessed via two registers: address register and data register.
The address register selects the address, the second register holds the data.
3.3.1 Register Bank - Read and Write
From the access point of view there are two kind of registers: read-only and read-write. The most significant
bit (MSB) of each register access datagram defines read (=0) or write (=1). So, there are 128 read addresses
(0x00h . . . 0x7Fh) and 128 write addresses (0x80h . . . 0xFFh) available. The TMC4670 ignores write accesses
to read-only registers.
• Fixed Read Only Register (e.g. SILICON_TYPE, SILICON_VERSION, SILICON_DATE, SILICON_TIME)
• Read Only Register for internal values (e.q. scaled ADC values)
•
Read Only Register for external Signals (e.g. ADC raw values, ABN encoder inputs, Hall signal inputs)
• Read Write Register for configurations (e.g. P and I parameter of PI controller, clipping parameters)
• Read Write Register for target values (e.g. target torque, target velocity, target position)
• Dual Ported Read Write Register (e.g. encoder count, actual position)
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