TMC423_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC423_1 Datasheet - Page 16

• 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
11
10
9
8
7
6…0
7.2
To read the actual contents of the position register or to preset the position register the following
command is to be used:
Bit
31…28
27…25
24
23…0
Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG
Encoder Interface Hold Register Operation
Reserved
“0000” Register Address
Select Encoder Hold Register
Encoder Hold Register Data
(010)
Encoder: 125 lines
(993)
(8C4)
(862)
(831)
(813)
Encoder: 50 lines (200 steps per rotation)
(400)
(200)
(100)
(080)
(040)
(020)
(010)
N Polarity for Selected Interface
0 = active low (default)
1 = active high
When changing the polarity, please be aware that a single clear on N Event might be
triggered, and thus should not be initiated in the same write access.
Hold on N for Selected Interface
0 = no hold (default)
1 = active: Encoder counter freezes during 0 channel event.
Clear on N Event for Selected Interface
0 = no clear (default)
1 = active
When switched to active, then it depends on bit 8, if a clear event is issued only once, or
always when the N channel becomes active.
N Trigger Selection
0 = only at next N signal (default)
1 = always at N signal
The clear event last until the N signal goes inactive again. If earlier termination is desired,
i.e. to preset the encoder counter to a different value, disable “Clear on N” prior to
changing the position register.
add or sub register for each step (CW = looking onto the axis)
0= add for CW, sub for CCW (default)
1= add for CCW, sub for CW
Encoder Interface Control (Read/Preload Encoder Hold Register)
100 = Hold register in encoder interface 1
101 = Hold register in encoder interface 2
110 = Hold register in encoder interface 3
Read or Preload Selection
0 = Read encoder hold register
1 = Preload encoder hold register
h
h
h
h
h
h
h
h
h
h
h
h
h
for 800 micro steps (prescaler 1)
for 12800 micro steps (prescaler 25.6)
for 3200 micro steps (prescaler 6.4)
for 1600 micro steps (prescaler 3.2)
for 800 micro steps (prescaler 1.6)
for 12800 micro steps (prescaler 64)
for 6400 micro steps (prescaler 32)
for 3200 micro steps (prescaler 16)
for 1600 micro steps (prescaler 8)
for 800 micro steps (prescaler 4)
for 400 micro steps (prescaler 2)
for 200 steps per rotation (prescaler 1)
for 6400 micro steps (prescaler 12.8)
Table 7: SPI Datagram Hold Register
Table 6: SPI Datagram Prescaler
th
, 2007)
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