TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
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20.3 Closing the Loop
Depending on the application, an encoder can be used for different purposes. Medical applications
often require an additional and independent monitoring to detect hard or soft failure. Upon failure,
the machine can be stopped and restarted manually. Use ENC_DEVIATION setting and interrupt to
safely detect a step loss failure / mismatch between motor and encoder.
Less critical applications may use the encoder to detect failure, stop the motors upon step loss and
restart automatically. A different use of the encoder allows increased positioning precision by
positioning directly to encoder positions. The application can modify target positions based on the
deviation, or even regularly update the actual position with the encoder position.
To realize a directly encoder based commutation, TRINAMIC offers the new S-ramp closed loop motion
controller TMC4361.
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
