TMC457_1 Datasheet, PDF (25/37 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)
25
Type & Version Register
R/W Addr Bits Register
R 0x60 23…0 version
Description
TMC457 v. 1.00  0x457100
Range
Interrupt Configuration Register
R/W Addr Bits Register
W 0x61 7…0 int_mask
R
W+C
0x62
7…0 int_flag
Description
bit 0: int_target
bit 1: int_deviation
bit 2: int_N
bit 3: int_stop
bit 4: int_drvstatus
bit 5: int_ref_L
bit 6: int_ref_R
bit 7: int_x_comp
Same assignments as int_mask register. An
active interrupt bit reads out as '1'. Writing a 1
to an active bit resets the interrupt flag. The
interrupt output becomes active (low) as soon
as at least one bit is set.
Range
0x61: int_mask – Interrupt Configuration Register
R/W Bit
Function Value
Description
W
0 int_target
1 Target position reached interrupt:
If set, an interrupt is issued when the motor comes to a stand still
at x_target
1 int_deviation
1 Encoder position mismatch interrupt:
If set, an interrupt is issued, when pid_e exceeds the tolerance
value pid_tolerance.
2 int_N
1 Encoder N event interrupt :
If set, an interrupt is issued upon an encoder N event, as defined
by enc_clr_mode.
3 int_stop
1 Stop condition interrupt:
If set, an interrupt is issued upon a motor stop condition, as
defined by switch_mode.
4 int_drvstatus
1 Driver status interrupt:
If set, an interrupt is issued upon a driver error detected in the
driver_status bits.
5 int_ref_L
1 Reference switch left interrupt:
If set, an interrupt becomes issued upon activation of the left
reference switch.
6 int_ref_R
1 Reference switch right interrupt:
If set, an interrupt is issued upon activation of the right reference
switch.
7 int_x_comp
1 X_compare matching interrupt:
If set, an interrupt is issued, when x_target matches x_compare.
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG