TMC428 – Application Note - Trinamic

TMC428 – Application Note – TMC428 Getting Started – Including StallGuard TM 5
(v. 2.00 / April 14, 2008)
2.2 Stepper Motor Global Parameter Register (JDX=%1111)
The stepper motor global parameter register holds different flags (mot1r, refmux) to configure the
references switches (REF1, REF2, REF3), the SPI interface update behavior (cont_update), speed
(clk2_div), chip select (cs_ComInd), the polarities of different control bits of the SPI datagrams
(DAC_AB, FD_AB, PH_AB) and the polarities of SPI control signals (SCK_S, nSCS_S) , and the
number (LSMD) of stepper motor drivers within the chain. Please refer to the TMC428 data sheet
concerning functionalities of the flags. Figure 2 outlines an SPI datagram 0x7E010F02 to initialize the
stepper motor global parameter register with LSMD=2 for 3 stepper motor drivers.
3
1
RRS
3
0
2
9
2
8
2
7
ADDRESS
2
6
2
5
0 1 1 1 1 1 1
2
4
RW
2
3
Stepper Motor Global Parameter Register JDX=%1111
2
2
2
1
mot1r
Copyright © 2005-2008 TRINAMIC Motion Control GmbH & Co. KG
2
0
refmux
1
9
1
8
1
7
1
6
cont_update
1
5
1
4
1
3
1
2
1
1
DATA
clk2_div
1
0
9 8 7 6 5 4 3 2 1 0
cs_ComInd
polarities
0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 0
7 E 0 1 0 7 0 2
Figure 2 : Stepper Motor Global Parameter Register Setting Example
DAC_AB
FD_AB
PH_AB
SCK_S
nSCS_S
LSMD