TMC428 ETC-unknow, TMC428 Datasheet - Page 36

• Manufacturer Part Number: TMC428
• Description: Intelligent Triple Stepper Motor Controller With Serial Peripheral Interfaces
• Manufacturer: ETC-unknow

TMC428 DATA SHEET (V. 1.00 / February 12, 2001)
The last five values (which are calculated to be 64) have to be replaced by 63. With this replacement one
finally gets y(i) = { 0, 2, 3, 5, 6, 8, 9, 11, 12, 14, 16, 17, 19, 20, 22, 23, 24, 26, 27, 29, 30, 32, 33, 34, 36,
37, 38, 39, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 56, 57, 58, 59, 59, 60, 60, 61,
61, 62, 62, 62, 63, 63, 63, 63, 63, 63, 63, 63 }. These 64 values– representing a quarter sine period in the
interval [ 0 ... /4 [ which is expanded automatically by the TMC428 to a full sine cosine period –have to
be send to the on-chip RAM of the TMC428 by 32 datagrams:
Table 19 - Datagrams for Initialization of a Quarter Sine Wave Period Micro Step Look-Up-Table
These 32 datagrams (Table 19) are sufficient for all programmable micro step resolutions. If micro stepping
is proposed for at least one stepper motor, these 32 datagrams have to be send once to the TMC428 for
initialization of the micro step table after power-on reset. The initialization of the micro step look-up-table
is not necessary, if full stepping is used for all stepper motors. The On-Chip RAM is not initialized during
power-on reset. So, the full initialization of the whole micro step look-up-table is recommended to avoid
trouble caused by missing look-up table entries. Additionally, a fully initialized micro step look-up-table
allows the selection of individual micro step resolutions for different stepper motors.
Copyright © 2000, TRINAMIC Microchips GmbH
TRINAMIC
M I C R O C H I P S
% binary representation of the datagram
% 11 00000 0 00000000 00 000010 00 000000 :
% 11 00001 0 00000000 00 000101 00 000011 :
% 11 00010 0 00000000 00 001000 00 000110 :
% 11 00011 0 00000000 00 001011 00 001001 : 11 & 9 : $ C6 00 0B 09
% 11 00100 0 00000000 00 001110 00 001100 : 14 & 12 : $ C8 00 0E 0C
% 11 00101 0 00000000 00 010001 00 010000 : 17 & 16 : $ CA 00 11 10
% 11 00110 0 00000000 00 010100 00 010011 : 20 & 19 : $ CC 00 14 13
% 11 00111 0 00000000 00 010111 00 010110 : 23 & 22 : $ CE 00 17 16
% 11 01000 0 00000000 00 011010 00 011000 : 26 & 24 : $ D0 00 1A 18
% 11 01001 0 00000000 00 011101 00 011011 : 29 & 27 : $ D2 00 1D 1B
% 11 01010 0 00000000 00 100000 00 011110 : 32 & 30 : $ D4 00 20 1E
% 11 01011 0 00000000 00 100010 00 100001 : 34 & 33 : $ D6 00 22 21
% 11 01100 0 00000000 00 100101 00 100100 : 37 & 36 : $ D8 00 25 24
% 11 01101 0 00000000 00 100111 00 100110 : 39 & 38 : $ DA 00 27 26
% 11 01110 0 00000000 00 101010 00 101001 : 42 & 41 : $ DC 00 2A 29
% 11 01111 0 00000000 00 101100 00 101011 : 44 & 43 : $ DE 00 1C 1B
% 11 10000 0 00000000 00 101110 00 101101 : 46 & 45 : $ E0 00 2E 2D
% 11 10001 0 00000000 00 110000 00 101111 : 48 & 47 : $ E2 00 30 2F
% 11 10010 0 00000000 00 110010 00 110001 : 50 & 49 : $ E4 00 32 31
% 11 10011 0 00000000 00 110100 00 110011 : 52 & 51 : $ E6 00 34 33
% 11 10100 0 00000000 00 110110 00 110101 : 54 & 53 : $ E8 00 36 35
% 11 10101 0 00000000 00 111000 00 110111 : 56 & 55 : $ EA 00 38 37
% 11 10110 0 00000000 00 111001 00 111000 : 57 & 56 : $ EC 00 39 38
% 11 10111 0 00000000 00 111011 00 111010 : 59 & 58 : $ EE 00 3B 3A
% 11 11000 0 00000000 00 111100 00 111011 : 60 & 59 : $ F0 00 3C 3B
% 11 11001 0 00000000 00 111101 00 111100 : 61 & 60 : $ F2 00 3D 3C
% 11 11010 0 00000000 00 111110 00 111101 : 62 & 61 : $ F4 00 3E 3D
% 11 11011 0 00000000 00 111110 00 111110 : 62 & 62 : $ F6 00 3E 3E
% 11 11100 0 00000000 00 111111 00 111111 : 63 & 63 : $ F8 00 3F 3F
% 11 11101 0 00000000 00 111111 00 111111 : 63 & 63 : $ FA 00 3F 3F
% 11 11110 0 00000000 00 111111 00 111111 : 63 & 63 : $ FC 00 3F 3F
% 11 11111 0 00000000 00 111111 00 111111 : 63 & 63 : $ FE 00 3F 3F
: decimal represented pair of values : $ hexadecimal
2 & 0 : $ C0 00 02 00
5 & 3 : $ C2 00 05 03
8 & 6 : $ C4 00 08 06
(separated by & character)
representation
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