TMC5130A-TA_17 Datasheet, PDF (29/128 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
29
6 Register Mapping
This chapter gives an overview of the complete register set. Some of the registers bundling a number
of single bits are detailed in extra tables. The functional practical application of the settings is detailed
in dedicated chapters.
Note
- All registers become reset to 0 upon power up, unless otherwise noted.
- Add 0x80 to the address Addr for write accesses!
NOTATION OF HEXADECIMAL AND BINARY NUMBERS
0x
%
precedes a hexadecimal number, e.g. 0x04
precedes a multi-bit binary number, e.g. %100
NOTATION OF R/W FIELD
R
W
R/W
R+C
Read only
Write only
Read- and writable register
Clear upon read
OVERVIEW REGISTER MAPPING
REGISTER
General Configuration Registers
Ramp Generator Motion Control Register Set
Velocity Dependent Driver Feature Control Register
Set
Encoder Register Set
Motor Driver Register Set
DESCRIPTION
These registers contain
- global configuration
- global status flags
- interface configuration
- and I/O signal configuration
This register set offers registers for
- choosing a ramp mode
- choosing velocities
- homing
- acceleration and deceleration
- target positioning
- reference switch and stallGuard2 event
configuration
- ramp and reference switch status
This register set offers registers for
- driver current control
- setting thresholds for coolStep operation
- setting thresholds for different chopper modes
- setting thresholds for dcStep operation
The encoder register set offers all registers needed for
proper ABN encoder operation.
This register set offers registers for
- setting / reading out microstep table and
counter
- chopper and driver configuration
- coolStep and stallGuard2 configuration
- dcStep configuration
- reading out stallGuard2 values and driver error
flags
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