TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
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4.2.4 Step/Direction Interface
The user can manipulate the target position via the step direction interface. It can be enabled by setting
the STEP_WIDTH (S32) register to a proper step width.
The Step/Direction interface is not working properly, due to wrong mapping of
internal signals. The target position is updated, but not fed into the position
controller. This error will be fixed in next IC Version.
Info
4.2.5 Single Pin Interface
The TMC4671 can be operated in Motion Modes in which the main target value is calculated from either a
PWM input signal on PIN PWM_I or by analog input to AGPI_A.
Number
Motion Mode Using PWM_I or AGPI_A
0
1
Stopped Mode
Torque Mode
no
no
2
Velocity Mode
no
3
Position Mode
no
4
PRBS Flux Mode
no
5
PRBS Torque Mode
PRBS Velocity Mode
PRBS Position Mode
UQ UD Ext Mode
no
6
no
7
no
8
no
9
Encoder Init Mini Move Mode
AGPI_A Torque Mode
AGPI_A Velocity Mode
AGPI_A Position Mode
PWM_I Torque Mode
PWM_I Velocity Mode
PWM_I Position Mode
no
10
11
12
13
14
15
AGPI_A
AGPI_A
AGPI_A
PWM_I
PWM_I
PWM_I
Table 3: Single Pin Interface Motion Modes
Registers SINGLE_PIN_IF_OFFSET and SINGLE_PIN_IF_SCALE can be used to scale the value to desired range.
In case of the PWM input, a permanent low input signal or permanent high signal is treated as input error
and chosen target value is set to zero.
Register SINGLE_PIN_IF_CFG configures the length of a digital filter for the PWM_I signal. Spikes on the
signal can be thereby suppressed. Bit 0 in register SINGLE_PIN_IF_STATUS is set high when PWM_I is
constant low, Bit 1 is set high when the PWM_I is constant high. Writing to this register resets these flags.
Maximum PWM period of the PWM signal must be 65536 x 40 ns. The calculation of the normalized duty
cycle is started on the rising edge of PWM_I. The PWM frequency needs to be constant as big variations
(tolerance of 4 us in PWM period) in the PWM frequency are treated as error.
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