TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 18

• 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)
0x0D: sd_scale - Ramp Generator Register
Encoder Register Set
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
R/W
R/W
R+C
RW
W
W
W
W
R
R
Addr
0x10
0x11
0x12
0x13
0x14
0x15
0x16
14...0
Bit
15
sd_scaler
sd_scale_
sign
31…0
31…0
12…0
31…0
31…0
19…0
Bits
Function
0
enc_const
enc_x
enc_mode
enc_status
enc_latch
x_act_latch
enc_warn_
dist
Register
Value
x
0
1
Each step input pulse counts up resp. down x_target by
(x+1) / (2^15)
Count up when direction input is positive
Count down when direction input is positive
Accumulation constant,
16 bit integer part, 16 bit fractional part
enc_x accumulates
+/- enc_const / (2^16* enc_x) (binary)
or
+/- enc_const / (10^4* enc_x) (decimal)
To switch between decimal and binary
setting, see enc_mode bit 13.
Use the sign, to match rotation direction!
Actual encoder position
bit 0 : pol_A
bit 1 : pol_B
bit 2 : pol_N
bit 3 : ignore_AB
bit 4 : clr_cont
bit 5 : clr_once
bit 6 : pos_edge
bit 7 : neg_edge
bit 8 : clr_enc_x
bit 12 : x_comp_sel_enc
bit 13 : enc_sel_decimal
bit 0 : N_event
Encoder N event detected, status bit is
cleared on read: Read (R) + clear (C)
Encoder position enc_x latched on N event
Motor
reference switch event or virtual stop switch
event
Warning threshold for motor to encoder
deviation (x_actual - enc_x). This function
uses pid_e. An interrupt can be triggered
when the threshold is exceeded.
abs(pid_e) > enc_warn_dist
position
Description
x_actual
Description
latched
on
binary:
± [µsteps/2^16]
±(0…32767.0…
65535)
decimal:
±(0…32767.0…
9999)
default = 1.0
(=65536)
± [µsteps]
[µsteps]
[µsteps]
[µsteps]
Range [Unit]
18