TMC457_1 Datasheet, PDF (19/37 Pages) TRINAMIC Motion Control GmbH & Co. KG. – S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
19
0x12: enc_mode - Encoder Register
R/W Bit
Function Value
Description
0 pol_A
x A polarity when N is active
1 pol_B
x B polarity when N is active
2 pol_N
x defines polarity of N
3 ignore_AB
x Ignore A and B polarity
4 clr_cont
1 continuous clear while N is active (clear once per revolution)
5 clr_once
1 N event enable, clear on next N event
6 pos_edge
1 N positive edge trigger (when N becomes active)
Disables N level control
7 neg_edge
1 N negative edge trigger (when N becomes inactive)
Disables N level control
8 clr_enc_x
0 Upon N event, the enc_x becomes latched to enc_latch only
1 Additionally clear encoder counter enc_x at N-event
9-
- (reserved)
10 -
- (reserved)
11 -
- (reserved)
12 x_comp_
0 Source for POSCOMP: x_compare is compared to x_actual
sel_enc
1 x_compare is compared to enc_x
13 enc_sel_
0 Encoder divisor binary: Counts in n/65536
decimal
1 Encoder divisor decimal: Counts in n/10000
Vector Control Register Set
R/W Addr Bits
Register
W
0x17
11…0
venc_us_
const
RW 0x18
7…0
venc_us_
pos
W
0x19
9…8, venc_us_
1…0 sel
Description
Accumulation constant,
6 integer part, 6 bit fractional part
venc_us_const = 128*(motor full steps per
rotation) / encoder resolution
0.0: vector control off
Use the sign, to match rotation direction!
Actual encoder position (use for
initialization of function – position must
match selected microstep_adr bits)
bit 0,1 : venc_microstep_resolution
00 = 2048 microsteps
01 = 1024 microsteps
10 = 256 microsteps
11 = 64 microsteps
selects bits from microstep_adr (0x33) to
match one electrical period
bit 8, 9 : venc_phi_load_sel
00 = 90°
01 = 101,25°
10 = 112,5 °
11 = 121,75°
selects maximum motor load angle
Range [Unit]
± [µsteps/64]
default = 0 (off)
[256 / electrical
period]
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG