TMC424-PI24 Trinamic Microchips, TMC424-PI24 Datasheet - Page 52

• Manufacturer Part Number: TMC424-PI24
• Description: Economic Miniature Three Axis Microstepping Stepper Motor Controller
• Manufacturer: Trinamic Microchips

TMC428 DATASHEET (V. 2.00 / November 12, 2003)
Revision History
Copyright © 2000–2003 TRINAMIC Microchips GmbH
Version
1.00
1.01
1.02 November 21, 2001 Version published on
2.00
2.00 November 12, 2003 additional hints concerning motion parameters units and signed representation and
February 23, 2001 First complete version published in printed form
October 2, 2003 Changed to font Arial, numbering added to headings, revision history added
March 27, 2001 Version updated based on customer feed back
Date
concerning signal polarities (see section 2.5, page 5),
hint added concerning SPI timing of µC interface section 6.1on page 8,
hint concerning power-on reset initialization values added near Table 7-2 on page 14,
LP bit position corrected @ Table 7-2 on page 14 and Table 8-5 on page 23,
limit parameter a_max_upper_limit similar to a_max_lower_limit added as new sub-
section (see page 16),
interrupt register index (hint within text, section 8.13, page 23) corrected to IDX=%1011,
additional statements concerning the functional difference of stop switch and reference
switch in context of parameter dx_ref_tolerance section 8.15 on page 26, hints
concerning MSB order concerning sending and receiving via the µC SPI interface,
hints concerning the functional difference between stop switch and reference switch,
description concerning latching the position (under control of REF_RnL bit) corrected is
section 8.16 on page 26,
function of the CDGW status bit explained in more detail concerning
datagram_high_word and datagram_low_word (section 9.1 on page 26) and
cover_datagram (section 9.3 on page 27),
correction of maximum value of clk2_div and formula to calculate the datagram
frequency f_datagram[Hz] added to section 9.7 on page 28,
numbering within table of table concerning Table 9-2: Global parameter LSMD (last
stepper motor driver) on page 29 corrected,
Figure 11-1 on page 35 added to outline the driver chain configuration principle,
imaginary example for Stepper Motor Driver Datagram Configuration (see page 36)
changed to real example for the TMC236 / TMC239 / TMC246 / TMC249 family,
section 12.1 (page 39) concerning indexing the wave LUT added,
optional capacitor Copt added to drawing Figure 16-1on page 47,
calculation of the number of steps during acceleration added to section 8.14, Table 18-1
on page 49 temperature ranges completed,
example 'pmulpdiv.c' on page 51 for calculation of p_mul & p_div replaced by a
more efficient one
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