TMC423_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC423_1 Datasheet - Page 13

• 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
5.2
5.3
5.3.1
Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG
Byte #
Step /Dir
Control
Bit #
Matrix
Data
INT
Interrupt Flags [Bit]
32-bit SPI Datagram Structure
SPI 32-bit Datagram Specification
Overview
31
0
0
0
0
0
0
0
0
0
0
0
30
0
0
0
0
0
0
0
0
0
0
0
29
31
30
29
28
0
0
0
0
0
0
0
0
0
0
0
Address
Byte 3
28
0
0
0
0
0
0
0
0
1
1
1
3
1
3
1
27
0
0
0
0
1
1
1
1
0
0
0
Address
3
0
INT
3
0
26
0
0
1
1
0
0
1
1
0
0
1
2
9
2
9
2
8
2
8
25
0
1
0
1
0
1
0
1
0
1
0
0 0 0
2
7
2
7
24
2
6
2
6
1
1
1
1
1
1
0
1
Figure 9: Overview TMC423 Registers
2
5
2
5
Datagram from TMC423 send to µC
Figure 8: Structure 32-Bit Interface
23
R
W
Encoder 1, 2, 3 Prescaler - set all commonly
0
2
4
2
4
Datagram from µC to TMC423
INT_enc1
INT_enc2
INT_enc3
2
3
2
3
22
Switch Row 3
th
INT_ext
LED Row 3
Name
Step Pulse Length
, 2007)
2
2
2
2
Table 5: Interrupt Flags
21
2
1
2
1
Byte 2
2
0
2
0
20
Encoder 1 Prescaler
Encoder 2 Prescaler
Encoder 3 Prescaler
1
9
1
9
19
1
8
1
8
1
7
1
7
18
1
6
1
6
17
1
5
1
5
Description
external Interrupt, e.g. TMC428
N Signal of Encoder Interface 1 detected
N Signal of Encoder Interface 2 detected
N Signal of Encoder Interface 3 detected
1
4
1
4
16
Switch Row 2
1
3
1
3
LED Row 2
Data
Data
1
2
1
2
15
Encoder 1 Position Register
Encoder 2 Position Register
Encoder 3 Position Register
1
1
1
1
14
1
0
1
0
9
9
13
Byte 1
8
8
Step Pulse Delay
12
7
7
6
6
11
Reserved
5
5
10
4
4
Switch Row 1
LED Row 1
3
3
9
2
2
1
1
8
0
0
7
6
5
Byte 0
Reserved
Reserved
Reserved
Reserved
Switch Row 0
4
LED Row 0
Reserved
3
13/22
2
1
0