TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 19

• Manufacturer Part Number: TMC457_1
• Description: S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
0x12: enc_mode - Encoder Register
Vector Control Register Set
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
R/W
R/W
RW
W
W
Addr
0x17
0x18
0x19
Bit
10
11
12
13
0
1
2
3
4
5
6
7
8
9
pol_A
pol_B
pol_N
ignore_AB
clr_cont
clr_once
pos_edge
neg_edge
clr_enc_x
-
-
-
x_comp_
sel_enc
enc_sel_
decimal
11…0
Bits
9…8,
Function
7…0
1…0
venc_us_
const
venc_us_
pos
venc_us_
sel
Register
Value
x
x
x
x
1
1
1
1
0
1
0
1
0
1
A polarity when N is active
B polarity when N is active
defines polarity of N
Ignore A and B polarity
continuous clear while N is active (clear once per revolution)
N event enable, clear on next N event
N positive edge trigger (when N becomes active)
Disables N level control
N negative edge trigger (when N becomes inactive)
Disables N level control
Upon N event, the enc_x becomes latched to enc_latch only
Additionally clear encoder counter enc_x at N-event
- (reserved)
- (reserved)
- (reserved)
Source for POSCOMP: x_compare is compared to x_actual
x_compare is compared to enc_x
Encoder divisor binary: Counts in n/65536
Encoder divisor decimal: Counts in n/10000
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
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
encoder
Description
position
Description
(use
for
± [µsteps/64]
default = 0 (off)
[256 / electrical
period]
Range [Unit]
19