TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
45
6.4.1 ENCMODE – Encoder Register
0X38: ENCMODE – ENCODER REGISTER
Bit Name
Comment
10 enc_sel_decimal
0
Encoder prescaler divisor binary mode:
Counts ENC_CONST(fractional part) /65536
Encoder prescaler divisor decimal mode:
Counts in ENC_CONST(fractional part) /10000
1
9
8
latch_x_act
clr_enc_x
1: Also latch XACTUAL position together with X_ENC.
Allows latching the ramp generator position upon an N channel event as
selected by pos_edge and neg_edge.
0
1
Upon N event, X_ENC becomes latched to ENC_LATCH only
Latch and additionally clear encoder counter X_ENC at N-event
7
6
neg_edge
pos_edge
n p N channel event sensitivity
0 0 N channel event is active during an active N event level
0 1 N channel is valid upon active going N event
1 0 N channel is valid upon inactive going N event
1 1 N channel is valid upon active going and inactive going N event
1: Latch or latch and clear X_ENC on the next N event following the write
access
1: Always latch or latch and clear X_ENC upon an N event (once per
revolution, it is recommended to combine this setting with edge sensitive
N event)
5
4
clr_once
clr_cont
3
ignore_AB
0
An N event occurs only when polarities given by
pol_N, pol_A and pol_B match.
1
Ignore A and B polarity for N channel event
2
1
0
pol_N
pol_B
pol_A
Defines active polarity of N (0=low active, 1=high active)
Required B polarity for an N channel event (0=neg., 1=pos.)
Required A polarity for an N channel event (0=neg., 1=pos.)
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