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TMC424

P1-P3P4-P6P7-P9P10-P12P13-P15P16-P18P19-P21
TMC424 Datasheet – (V1.04 / 2015-JUL-01) 13/21
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
5.2 32-bit SPI Datagram Structure
2
7
1
7
1
8
1
9
2
0
2
1
2
2
2
3
2
4
2
5
2
6
1
6
6789
1
0
1
1
1
2
1
3
1
4
1
5
5
2
8
2
9
3
0
3
1
01234
0
Data
INT 0 0 0
Datagram from TMC424 send to µC
Datagram from µC to TMC424
2
7
1
7
1
8
1
9
2
0
2
1
2
2
2
3
2
4
2
5
2
6
1
6
6789
1
0
1
1
1
2
1
3
1
4
1
5
5
2
8
2
9
3
0
3
1
01234
R
W
Address Data
Figure 8: Structure 32-Bit Interface
Interrupt Flags [Bit]
Name
Description
31
INT_ext
external Interrupt, e.g. TMC429
30
INT_enc1
N Signal of Encoder Interface 1 detected
29
INT_enc2
N Signal of Encoder Interface 2 detected
28
INT_enc3
N Signal of Encoder Interface 3 detected
Table 5: Interrupt Flags
5.3 SPI 32-bit Datagram Specification
5.3.1 Overview
Byte 0Byte 1Byte 2Byte 3
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 000 000 Encoder 1 Prescaler
0 000 100 Encoder 2 Prescaler
0 000 010 Encoder 3 Prescaler
0 000 110 Encoder 1, 2, 3 Prescaler - set all commonly
1
1
1
1
Control
0 000 001
0 000 101
0 000 011
Encoder 1 Position Register
Encoder 2 Position Register
Encoder 3 Position Register
R W
Address
0 0 0 0 1 1 1
1000 0 0 0
1 10 0 0 0 0N-Input
Data
Step /Dir
INT
Byte #
Bit #
ReservedStep Pulse DelayStep Pulse Length
Reserved
Reserved
Reserved
Reserved
Reserved
INT EN
Clear Flags
Reg Hold
N Polarity
N Hold
N Clear
N Trigger
Direction
0
1
1
N1N2N3
0 0 0
N1N2N3
0 0 0
N1N2N3
0 0 0
N1N2N3
0 0 0
Figure 9: Overview TMC424 Registers
TMC424 Datasheet – (V1.04 / 2015-JUL-01) 14/21
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
6 Incremental Encoder
Incremental Encoders are translating the rotary motion of a shaft into a two-channel digital quadrature
output. The light emitted from a LED is focused onto a reflective code wheel. As the shaft moves, the
code wheel rotates, reflecting light from an alternating bright and dark pattern.
The TMC424 samples the incoming signals ENCx_A and ENCx_B from the incremental encoder. A
internal algorithm block counts the amount of edges generated by the encoder. A prescaler value can
be used to adapt the incremental encoder resolution to the stepper motor resolution.
For high resolution the TMC424 evaluates the encoder signals 4-times during each encoder step. This
has to be kept in mind when choosing the prescaler value.
Channel A
Channel B
Evaluation
Step
Channel N
Figure 10: Encoder Output and Evaluation
Note: It is possible that the encoder signals ENCx_A, ENCx_B and ENCx_N are polluted with crosstalk
noise. Crosstalk could influence the internal logic, to overcome this problem internal filters are applied
to ensure correct functionality. Furthermore is saves the need for external analog filters.
e.g.: Figure 11: Crosstalk on Encoder Wire shows crosstalk from channel A to channel B.
Figure 11: Crosstalk on Encoder Wire
TMC424 Datasheet – (V1.04 / 2015-JUL-01) 15/21
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
7 Configuration Datagrams
7.1 Encoder Interface Prescaler and Null Event Configuration
The Encoder Interface Initialization datagram configures the parameterizeable encoder prescaler to
adapt the TMC424 for different incremental encoders. Furthermore the TMC424 behavior concerning the
N channel can be selected.
Example: A 1000 steps per rotation encoder is to connect at a stepper motor with 12800 microsteps per rotation. When the
next event at the high active N channel is found, the position register must set to zero. Only Encoder Interface 1 is connected.
The following datagram performs this task:
Bits 31 down to 24 have to be set to 01
HEX
to select encoder interface 1
The prescaler value has to set to 12800 / (1000*4) = 3.2. Therefore bits 23 down to 12 must set to 831
HEX
.
The N channel is set up correctly when bits 11 down to 0 are set to A0
HEX
.
Bit
Encoder Interface Initialization
31…28
“0000” Register Address
27…25
Interface Selection
000 = Interface 1
001 = Interface 2
010 = Interface 3
011 = Interface 1, 2 and 3
24
‘1’
23…12
External Encoder Resolution and Corresponding Prescaler Factor
Bits 15 … 12: Fractional part of Factor. Unit: 1/16 (when bit 23 = 0) resp. 1/5 (bit 23 = 1)
Bits 22 … 16: Integer part of Factor
Bit 23: Switches Fractional part between 1/5 resolution or 1/16 resolution
Default:
(010)
h
(prescaler 1) (default value after power on)
Example settings:
Encoder: 1024 lines (4096 steps per rotation)
(032)
h
for 12800 micro steps per rotation (prescaler 3.125)
(019)
h
for 6400 micro steps (prescaler 1.5625)
Encoder: 1000 lines
(831)
h
for 12800 micro steps (prescaler 3.2)
(813)
h
for 6400 micro steps (prescaler 1.6)
Encoder: 512 lines
(064)
h
for 12800 micro steps (prescaler 6.25)
(032)
h
for 6400 micro steps (prescaler 3.125)
(019)
h
for 3200 micro steps (prescaler 1.5625)
Encoder: 500 lines
(862)
h
for 12800 micro steps (prescaler 6.4)
(831)
h
for 6400 micro steps (prescaler 3.2)
(813)
h
for 3200 micro steps (prescaler 1.6)
Encoder: 256 lines
(0C8)
h
for 12800 micro steps (prescaler 12.5)
(064)
h
for 6400 micro steps (prescaler 6.25)
(032)
h
for 3200 micro steps (prescaler 3.125)
(019)
h
for 1600 micro steps (prescaler 1.5625)
Encoder: 250 lines
(8C4)
h
for 12800 micro steps (prescaler 12.8)
(862)
h
for 6400 micro steps (prescaler 6.4)
(831)
h
for 3200 micro steps (prescaler 3.2)
(813)
h
for 1600 micro steps (prescaler 1.6)
Encoder: 200 lines
(100)
h
for 12800 micro steps (prescaler 16)
(080)
h
for 6400 micro steps (prescaler 8)
(040)
h
for 3200 micro steps (prescaler 4)
(020)
h
for 1600 micro steps (prescaler 2)
(010)
h
for 800 micro steps (prescaler 1)
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TMC424

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IC ENCODER SPI 100TQFP
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