TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 23

• 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)
0x40: switch_mode – Reference Switch Configuration Register
0x41: switch_status – Reference Switch Configuration Register
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
R+C
R+C
R/W
R/W
R/W
R
R
Bit
Bit
10
11
12
13
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
stop_L
stop_R
pol_stop_L
pol_stop_R
swap_LR
soft_stop
en_lim_L
en_lim_R
latch_L_act
latch_L_inact
latch_R_act
latch_R_inact
en_latch_enc
stop_SG
status_stop_L
status_stop_R
status_latch_L
status_latch_R
event_stop_L
event_stop_R
event_stop_
SG
Function
Function
Value
Value
1
1
0
1
0
1
0
1
0
1
1
1
1
1
1
1
0
1
1
1
1
1
1
1
1
1
Enable stop switch left
Enable stop switch right
Left stop switch is positive active (STOP_L=1 stops motor)
Left stop switch is negative active (STOP_L=0 stops motor)
Right stop switch is positive active (STOP_R=1 stops motor)
Right stop switch is negative active (STOP_R=0 stops motor)
STOP_L stops motor when driving in negative direction,
STOP_R stops motor when driving in positive direction
Stop inputs are swapped:
STOP_R stops motor when driving in negative direction,
STOP_L stops motor when driving in positive direction
The motor velocity is switched to 0 when hitting a stop switch
(hard stop).
SoftStop enable:
The motor is slowed down to 0 using a linear ramp using
acceleration d_stop when hitting a stop switch.
Position limit L pos_limit_L enable (virtual stop switch)
Position limit R pos_limit_R enable (virtual stop switch)
Latch ramp position to x_act_latch on stop switch left going
active.
Latch ramp position to x_act_latch on stop switch left going
inactive.
Latch ramp position to x_act_latch on stop switch right going
active.
Latch ramp position to x_act_latch on stop switch right going
inactive.
Encoder position is not latched upon stop switch event.
Also latch encoder position together with ramp position to
enc_latch.
Stop motor on StallGuard event signaled by TMC246 / TMC249
Stop switch left status (1=active)
Stop switch right status (1=active)
Latch left ready (corresponding to switch_mode latch_L_act or
latch_L_inact) (Flag is cleared upon reading)
Latch right ready (corresponding to switch_mode latch_R_act or
latch_R_inact) (Flag is cleared upon reading)
Signals an active stop left condition due to stop switch
Signals an active stop right condition due to stop switch
Signals an active StallGuard stop event
(Flag is cleared upon reading)
Description
Description
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