TMC423_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC423_1 Datasheet - Page 18

• Manufacturer Part Number: TMC423_1
• Description: Serial Triple Incremental Encoder Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC423 Data Sheet – (V1.13 / June 20
8 SPI-Protocol for Interface with 6-bit Register
The 6-bit SPI Interface is used to receive step / direction information from the TMC428. The TMC423
processes the data and issues the corresponding step / direction signals via the step / direction pins.
Bit0 (Pulse 1) have to be sent first to the TMC423.
The order of the control signals serially sent from the TMC428 has to be defined. This can be done by
writing so called primary signal codes into the stepper motor driver datagram configuration area of
the on-chip configuration RAM of the TMC428. This signals codes are $13 (step first) and $12
(direction). To switch to the next motor the next motor bit (NxM) has to be set.
8.1
Step pulses can be modified in their pulse width and delayed after an direction change was done.
The corresponding datagram (See 7.3) on page 17) is used to parameterize the Step / Dir interface.
Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG
Position within
datagram
0
1
2
3
4
5
Step and Direction Pulse conversion
Table 13: Datagram example and RAM contents for three step-direction drivers
Driver/motor
step_out
1
2
3
step_in
Table 12: SPI Datagram Step / Direction Converter
dir
Figure 12: Step Direction conversion
Bit
0
1
2
3
4
5
th
step pulse length
, 2007)
NxM bit
Pulse 1
Direction 1
Pulse 2
Direction 2
Pulse 3
Direction 3
0
1
0
1
0
1
Step / Direction Converter
TMC428 signal
code
$13
$12
$13
$12
$13
$12
step pulse delay
t
t
t
RAM data
$13
$32
$13
$32
$13
$32
Step
Direction
Step
Direction
Step
Direction
primary signal
mnemonic of
TMC428
18/22