TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 28

• 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)
So, each position count of the encoder is equal to 51200 / 16384 = 3.125 micro steps.
So, the accumulation constant enc_const of the incremental encoder interface of the TMC457 has to
be set that each encoder step represents 3.15. This is achieved by setting enc_const = 3.125 * 65536
= 204800 = $00 03 20 00. The datagram sequence doing the initialization of the encoder interface is:
8 Notation of Number Systems
Decimal numbers are used as usual without additional identification. Binary numbers are identified by a
prefixed % character. Hexadecimal numbers are identified by a prefixed $ character. Alternatively,
hexadecimal numbers are identified similar to C language with a prefixed 0x. For better readability of
long number spaces are inserted. So, for example the decimal number 42 in the decimal system is
written as %101010 in the binary number system, and it is written as $2A or 0x2A in the hexadecimal
number system.
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
$90 00 03 20 00
$91 00 03 20 00
$92 00 03 20 00
Figure 6 : Incremental Encoder Signals Outline (AB w/o clear pulse N)
position
A
B
// set enc_const := $00 03 20 00
// set x_enc := $00 00 00 00
// set enc_clr_mode := $00 00 00 00, ignore N pulse
-4 -3 -2 -1
0
1
2
3
4
5
6
7
t
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