TMC423_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC423_1 Datasheet - Page 15

• Manufacturer Part Number: TMC423_1
• Description: Serial Triple Incremental Encoder Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC423 Data Sheet – (V1.13 / June 20
7 Configuration Datagrams
7.1
The Encoder Interface Initialization datagram configures the parameterizeable encoder prescaler to
adapt the TMC423 for different incremental encoders. Furthermore the TMC423 behavior concerning
the N channel can be selected.
Example: A 1000 steps per rotation encoder is to connect at a stepper motor with 12800 microsteps per rotation. When the next
event at the high active N channel is found, the position register must set to zero. Only Encoder Interface 1 is connected.
The following datagram performs this task:
•
•
•
Bit
31…28
27…25
24
23…12
Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG
Bits 31 down to 24 have to be set to 01
The prescaler value has to set to 12800 / (1000*4) = 3.2. Therefore bits 23 down to 12 must set to 831
The N channel is set up correctly when bits 11 down to 0 are set to A0
Configuration
Encoder
“0000” Register Address
Interface Selection
External Encoder Resolution and Corresponding Prescaler Factor
Encoder Interface Initialization
000 = Interface 1
001 = Interface 2
010 = Interface 3
011 = Interface 1, 2 and 3
‘1’
Bits 15 … 12:
Bits 22 … 16:
Bit 23:
Default:
(010)
Example settings:
Encoder: 1024 lines (4096 steps per rotation)
(032)
(019)
Encoder: 1000 lines
(831)
(813)
Encoder: 512 lines
(064)
(032)
(019)
Encoder: 500 lines
(862)
(831)
(813)
Encoder: 256 lines
(0C8)
(064)
(032)
(019)
Encoder: 250 lines
(8C4)
(862)
(831)
(813)
Encoder: 200 lines
(100)
(080)
(040)
(020)
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
h
for 12800 micro steps per rotation (prescaler 3.125)
for 6400 micro steps (prescaler 1.5625)
for 6400 micro steps (prescaler 1.6)
for 12800 micro steps (prescaler 6.25)
for 6400 micro steps (prescaler 3.125)
for 3200 micro steps (prescaler 1.5625)
for 12800 micro steps (prescaler 6.4)
for 6400 micro steps (prescaler 3.2)
for 3200 micro steps (prescaler 1.6)
for 6400 micro steps (prescaler 6.25)
for 3200 micro steps (prescaler 3.125)
for 1600 micro steps (prescaler 1.5625)
for 6400 micro steps (prescaler 6.4)
for 3200 micro steps (prescaler 3.2)
for 1600 micro steps (prescaler 1.6)
for 12800 micro steps (prescaler 16)
for 6400 micro steps (prescaler 8)
for 3200 micro steps (prescaler 4)
for 1600 micro steps (prescaler 2)
for 12800 micro steps (prescaler 12.5)
for 12800 micro steps (prescaler 12.8)
for 12800 micro steps (prescaler 3.2)
(prescaler 1)
Interface
Fractional part of Factor. Unit: 1/16 (when bit 23 = 0) resp. 1/5 (bit 23 = 1)
Integer part of Factor
Switches Fractional part between 1/5 resolution or 1/16 resolution
(default value after power on)
HEX
th
, 2007)
to select encoder interface 1
Prescaler
HEX
.
and
Null
HEX
.
Event
15/22