TMC-UPS-10A70V-EVAL

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Encoder Engine: Hall analog/digital, Encoder analog/digital

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TMC4671 TRINAMIC | Alldatasheet

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PDF pages: 157

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4.4 AD#%NGINE
4.4.1 AD#GROUPAANDAD#GROUPB
4.5 DELTA3IGMA#ON1GURATIONAND4IMING#ON 1GURATION
4.5.3 AD##ON1GURATION--DA#
4.6 ANALOG3IGNAL#ONDITIONING
4.6.3 AD#3ELECTOR&AD#3CALERW// ﬀSET#ORRECTION
4.7.4 DIGITAL(ALL3ENSORINTERFACEWITHOPTIONAL INTERIM0OSITION INTERPOLATION
4.7.5 DIGITAL(ALL3ENSOR-INTERIM0OSITION INTERPOLATION
4.7.6 DIGITAL(ALL3ENSORS--ASKINGAND&ILTERING

DEDICATED-OTIONCONTROLLERFOR2-/3-0HASE0-3- I.4EG2A4EDC I2C5I43 4-#4671DATASHEET I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 4HE4-C4671ISAFULLYINTEGRATEDSERVOCONTROLLER,PROVIDING&IELD/RIENTEDCONTROLFORB,DC/0-3- AND2-PHASE3TEPPER-OTORSASWELLASDCMOTORSANDVOICECOILS.ALLCONTROLFUNCTIONSAREIMPLE- MENTEDINHARDWARE. INTEGRATEDADCS,POSITIONSENSORINTERFACES,POSITIONINTERPOLATORS,ENABLE AFULLYFUNCTIONALSERVOCONTROLLERFORAWIDERANGEOFSERVOAPPLICATIONS. &EATURES

3ERVO#ONTROLLER W/&IELD/RIENTED#ONTROL(&/#)
4ORQUE#ONTROL(&/#), 6ELOCITY#ONTROL,0OSITION#ONTROL
&EED&ORWARD#ONTROL INPUTS
INTEGRATEDAD#S,∆Σ-AD#&RONTEND
%NCODER%NGINE:(ALLANALOG/DIGITAL, %NCODERANALOG/DIGITAL
3UPPORTS3-0HASE0-3-/B,D#, 2-0HASE3TEPPER-OTORS, ANDD#-OTORS
ADVANCED07-%NGINE(25K(Z...100K(Z)
APPLICATION30I+DEBUG(5A24,30I)
3TEP-DIRECTIONINTERFACE(3/D)APPLICATIONS
2OBOTICS
0ICKAND0LACE-ACHINES
&ACTORYAUTOMATION
%--OBILITY
,ABORATORYAUTOMATION
BLOWERS
0UMPS 3IMPLI1EDBLOCKDIAGRAM h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONAT:WWW.TRINAMIC.COM 2EADENTIREDOCUMENTATION.

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 3/157 5 3AFETY&UNCTIONS 54 6 2EGISTER-AP 56 7 0INNING 136 8 4-C46710IN4ABLE 138

9 ELECTRICALCHARACTERISTICS 142

h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 4/157 113ETUPGUIDELINES 148 120ACKAGEDIMENSIONS 149 133UPPLEMENTALDIRECTIVES 151 14ERRATA 153 15&IGURESINDEX 155 164ABLESINDEX 156 172EVISION(ISTORY 157 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 5/157 1 /RDERCODES /RDER#ODE DESCRIPTION 3IZE 4-#4671-%3 4-#4671&/#3ERVO#ONTROLLER I# 10.5MMX6.5MM 4-#4671-%6A, 4-#4671%VALUATIONBOARD 55MMX85MM 4-#4671-B/B 4-#4671BREAKOUTBOARD 38MMX40MM ,ANDUNGSBRUECKE -#5BOARD 85MMX55MM 4-#-503-2A246-%6A,0OWER3TAGEBOARD 85MMX55MM 4-#-503-10A706-%6A,0OWER3TAGEBOARD 85MMX55MM 53B-2-24-I INTERFACEADAPTERTOUSE24- I 40MMX20MM 4ABLE1:/RDERCODES h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 6/157 2 &UNCTIONAL3UMMARY

3ERVOCONTROLLERWITH&IELD/RIENTEDCONTROL(&/C) – 4ORQUE(AND2UX)CONTROLMODE – 6ELOCITYCONTROLMODE – 0OSITIONCONTROLMODE – UPDATERATEOFCURRENTCONTROLLERAND07-ATMAXIMUMFREQUENCYOF100K(Z(SPEEDAND POSITIONCONTROLLERUPDATERATEISCON 1GURABLEBYSETTINGADIVIDEROFCURRENTCONTROLLERUPDATE RATE)
CONTROL&UNCTIONS/0ICONTROLLERS – 0ROGRAMMABLECLIPPINGOFINPUTSANDOUTPUTSOFINTERIMRESULTS – INTEGRATORWINDUPPROTECTIONFORALLCONTROLLERS – 0ROGRAMMABLE1ELDORIENTEDVOLTAGECIRCULAR( D + U2 Q)LIMITER – &EED-FORWARDOﬀSETSFORTARGETVALUESANDFEED-FORWARDFRICTIONCOMPENSATION – ADVANCEDFEED-FORWARDCONTROLSTRUCTUREFOROPTIMALTRAJECTORYTRACKINGPERFORMANCE – %XTENDEDI21EVENTMASKINGOPTIONSANDLIMITERSTATUSREGISTER – ADVANCEDENCODERINITIALIZATIONALGORITHMSWITH(ALLSENSOROR/ANDWITHMINIMALMOVEMENT
3UPPORTED-OTOR4YPES – &/#3:3-PHASEPERMANENTMAGNETSYNCHRONOUSMOTORS(0-3-) – &/#2:2-PHASESTEPPERMOTORS – D#1:BRUSHEDD#MOTORS,ORLINEARVOICECOILMOTORS
ADCENGINEWITH/ ﬀ SETCORRECTIONAND3CALING – INTEGRATED∆Σ AD#SFORCURRENTSENSEVOLTAGE,MOTORSUPPLYVOLTAGE,ANALOGENCODER,TWOAG0 IS – INTEGRATED∆Σ-INTERFACEFOREXTERNAL ∆Σ--ODULATORS
0OSITION&EEDBACKEVALUATION – /PENLOOPPOSITIONGENERATOR(PROGRAMMABLE;RPM=,;RPM/S=)FORINITIALSETUP – DIGITALINCREMENTALENCODER(AB.RESP.AB:,UPTO5-(Z) – 3ECONDARYDIGITALINCREMENTALENCODER – DIGITAL(ALLSENSORINTERFACE(( 1,(2,(3 RESP.(U,(V,(W)WITHINTERPOLATIONOFINTERIMPOSITIONS – ANALOGENCODER/ANALOG(ALLSENSORINTERFACE(3IN#OS(0o,90o)OR0o,120o,240o) – MULTI-TURNPOSITIONCOUNTER(32-BIT) – 0OSITIONTARGET,VELOCITYANDTARGETTORQUE 1LTERS(BIQUAD)
07-ENGINE INCLUDING3607- – 0ROGRAMMABLE07-FREQUENCYWITHINTHERANGEOF20K(Z...100K(Z – 0ROGRAMMABLEBRAKE-BEFORE--AKE(BB-)TIMES(HIGHSIDE,LOWSIDE)0NS...2.5µSIN10NSSTEPS ANDGATEDRIVERINPUTSIGNALS – 07-AUTOSCALINGFORTRANSPARENTCHANGEOF07-FREQUENCYDURINGMOTION
30ICOMMUNICATIONINTERFACE – 40-BITDATAGRAMLENGTH(12EAD7RITEBIT+7ADDRESSBITS+32DATABITS) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 7/157 – IMMEDIATE30IREADRESPONSE(REGISTERREADACCESSBYSINGLEDATAGRAM) – 30ICLOCKFREQUENCYUPTO1-(Z(8-(ZINFUTUREVERSION)

42I.A-IC2EAL4IME-ONITORING INTERFACE – (IGHFREQUENCYSAMPLINGOFREAL-TIMEDATAVIA42 I.A-I#’SREAL-TIMEMONITORINGSYSTEM – /NLYSINGLE10-PINHIGHDENSITYCONNECTORON0#BNEEDED – ADVANCEDCONTROLLERTUNINGSUPPORTBYFREQUENCYRESPONSEIDENTI 1CATIONANDADVANCEDAUTO TUNINGOPTIONSWITH42 I.A-I#’SID%
5A24DEBUG INTERFACE – 4HREEPIN(G.D,2XD,4XD)3.365A24INTERFACE(1.8;9600(DEFAULT),115200,921600,OR3-BPS) – 4RANSPARENTREGISTERACCESSPARALLELTOEMBEDDEDUSERAPPLICATIONINTERFACE(30 I)
3UPPLY6OLTAGES – 56AND3.36;6##?#/2%ISINTERNALLYGENERATED
I/6OLTAGE – 3.36FORALLDIGITAL I/S(CHOOSABLEBY6##I/3UPPLY),56INPUTRANGEFORDI ﬀERENTIALANALOGINPUTS, 1.256INPUTRANGEFORSINGLEENDEDINPUTS
CLOCK&REqUENCY – 25-(Z(EXTERNALOSCILLATORNEEDED)
0ACKAGES – 1&.76 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 8/157 3 &/CBASICS 4HISSECTIONGIVESASHORTINTRODUCTIONINTOSOMEBASICSOF&IELD/RIENTED#ONTROL(&/#)OFELECTRICMOTORS. 3.1 7HY&/C? 4HE&IELD/RIENTED#ONTROL(&/#),ALTERNATIVELYNAMED6ECTOR#ONTROL(6#),ISAMETHODFORTHEMOST ENERGY-EZCIENTWAYOFTURNINGANELECTRICMOTOR. 3.2 7HATIS&/C? 4HE&IELD/RIENTED#ONTROLWASINDEPENDENTLYDEVELOPEDBY+.(ASSE,45DARMSTADT,1968,ANDBY&ELIX BLASCHKE,45BRAUNSCHWEIG,1973.4HE&/#ISACURRENTREGULATIONSCHEMEFORELECTROMOTORSTHATTAKES THEORIENTATIONOFTHEMAGNETIC 1ELDANDTHEPOSITIONOFTHEROTOROFTHEMOTORINTOACCOUNT,REGULATING THESTRENGTHINSUCHWAYTHATTHEMOTORGIVESTHATAMOUNTOFTORQUETHATISREQUESTEDASTARGETTORQUE. 4HE&/#MAXIMIZESACTIVEPOWERANDMINIMIZESIDLEPOWER-THAT 1NALLYRESULTSINPOWERDISSIPATION-BY INTELLIGENTCLOSED-LOOPCONTROLILLUSTRATEDBY 1GURE1. &IGURE1:ILLUSTRATIONOFTHE&/CBASICPRINCIPLEBYCARTOON:-AXIMIzEACTIVEPOWERANDMINIMIzEIDLEPOWERAND POWERDISSIPATIONBYINTELLIGENTCLOSED-LOOPCONTROL. 3.3 7HY&/CASPURE(ARDWARE3OLUTION? 4HEINITIALSETUPOFTHE&/#ISUSUALLYVERYTIMECONSUMINGANDCOMPLEX,ALTHOUGHSOURCECODEISFREELY AVAILABLEFORVARIOUSPROCESSORS.4HISISBECAUSETHE&/#HASMANYDEGREESOFFREEDOMTHATALLNEEDTO 1T TOGETHERINACHAININORDERTOWORK. 4HEHARDWARE&/#ASANEXISTINGSTANDARDBUILDINGBLOCKDRASTICALLYREDUCESTHEE ﬀORTINSYSTEMSETUP. 7ITHTHATO ﬀ THESHELFBUILDINGBLOCK,THESTARTINGPOINTOF&/#ISTHESETUPOFTHEPARAMETERSFORTHE&/#. 3ETTINGUPANDIMPLEMENTTHE&/#ITSELFANDBUILDINGANDPROGRAMMINGREQUIREDINTERFACEBLOCKSISNO LONGERNECESSARY.4HEREALPARALLELPROCESSINGOFHARDWAREBLOCKSDE-COUPLESTHEHIGHERLEVERAPPLICATION SOFTWAREFROMHIGHSPEEDREAL-TIMETASKSANDSIMPLI 1ESTHEDEVELOPMENTOFAPPLICATIONSOFTWARE.7ITHTHE 4-#4671,THEUSERISFREETOUSEITSQUALI 1ED#05TOGETHERWITHITSQUALI 1EDTOOLCHAIN,FREEINGTHEUSER FROM1GHTINGWITHPROCESSER-SPECI1CCHALLENGESCONCERNINGINTERRUPTHANDLINGANDDIRECTMEMORYACCESS. 4HEREISNONEEDFORADEDICATEDTOOLCHAINTOACCESSTHE4-#4671REGISTERSANDTOOPERATEIT-JUST30 I(OR 5A24)COMMUNICATIONNEEDSTOBEENABLEDFORANYGIVEN#05. 4HEINTEGRATIONOFTHE&/#ASA3O#(3YSTEM-ON-#HIP)DRASTICALLYREDUCESTHENUMBEROFREQUIREDCOMPO- NENTSANDREDUCESTHEREQUIRED0#BSPACE.4HISISINCONTRASTTOCLASSICAL&/#SERVOSFORMEDBYMOTOR h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 9/157 BLOCKANDSEPARATECONTROLLERBOXWIREDWITHMOTORCABLEANDENCODERCABLE.4HEHIGHINTEGRATIONOF&/#, TOGETHERWITHVELOCITYCONTROLLERANDPOSITIONCONTROLLERASA3O#,ENABLESTHE&/#ASASTANDARDPERIPHERAL COMPONENTTHATTRANSFORMSDIGITALINFORMATIONINTOPHYSICALMOTION.#OMPACTSIZETOGETHERWITHHIGH PERFORMANCEANDENERGYE ZCIENCYESPECIALLYFORBATTERYPOWEREDMOBILESYSTEMSAREENABLINGFACTORS WHENEMBEDDEDGOESAUTONOMOUS. 3.4 (OWDOES&/CWORK? 4WOFORCECOMPONENTSACTONTHEROTOROFANELECTRICMOTOR. /NECOMPONENTISJUSTPULLINGINRADIAL DIRECTION(ID)WHERETHEOTHERCOMPONENTISAPPLYINGTORQUEBYPULLINGTANGENTIALLY( I1).4HEIDEAL&/# PERFORMSACLOSEDLOOPCURRENTCONTROLTHATRESULTSINAPURETORQUEGENERATINGCURRENT I1–WITHOUTDIRECT CURRENTID. &IGURE2:&/COPTIMIzESTORQUEBYCLOSEDLOOPCONTROLWHILEMAXIMIzING I1ANDMINIMIzING IDTO0 &ROMTOPPOINTOFVIEW,THE&/#FOR3-PHASEMOTORSUSESTHREEPHASECURRENTSOFTHESTATORINTERPRETEDAS ACURRENTVECTOR(IU;IV;IW)ANDCALCULATESTHREEVOLTAGESINTERPRETEDASAVOLTAGEVECTOR(5U;5V;5W)TAKING THEORIENTATIONOFTHEROTORINTOACCOUNTINAWAYTHATONLYATORQUEGENERATINGCURRENT I1RESULTS. &ROMTOPPOINTOFVIEW,THE&/#FOR2-PHASEMOTORSUSESTWOPHASECURRENTSOFTHESTATORINTERPRETED ASACURRENTVECTOR( IX;IY)ANDCALCULATESTWOVOLTAGESINTERPRETEDASAVOLTAGEVECTOR(5X;5Y)TAKINGTHE ORIENTATIONOFTHEROTORINTOACCOUNTINAWAYTHATONLYATORQUEGENERATINGCURRENT I1RESULTS. 4ODOSO,THEKNOWLEDGEOFSOMESTATICPARAMETERS(NUMBEROFPOLEPAIRSOFTHEMOTOR,NUMBEROFPULSES PERREVOLUTIONOFANUSEDENCODER,ORIENTATIONOFENCODERRELATIVETOMAGNETICAXISOFTHEROTOR,COUNT DIRECTIONOFTHEENCODER)ISREQUIREDTOGETHERWITHSOMEDYNAMICPARAMETERS(PHASECURRENTS,ORIENTATION OFTHEROTOR). 4HEADJUSTMENTOF0PARAMETER0AND IPARAMETERSOFTWO0 ICONTROLLERSFORCLOSEDLOOPCONTROLOFTHE PHASECURRENTSDEPENDSONELECTRICALPARAMETERSOFTHEMOTOR(RESISTANCE,INDUCTANCE,BACK%-&CONSTANT OFTHEMOTORTHATISALSOTHETORQUECONSTANTOFTHEMOTOR,SUPPLYVOLTAGE). 3.5 7HATIS2EqUIREDFOR&/C? 4HE&/#NEEDSTOKNOWTHEDIRECTIONOFTHEMAGNETICAXISOFTHEROTOROFTHEMOTORINREFRENCETO THEMAGNETICAXISOFTHESTATOROFTHEMOTOR. 4HEMAGNETIC 2UXOFTHESTATORISCALCULATEDFROMTHE CURRENTSTHROUGHTHEPHASESOFTHEMOTOR.4HEMAGNETIC 2UXOFTHEROTORIS 1XEDTOTHEROTORANDTHEREBY DETERMINEDBYANENCODERDEVICE. &ORTHE&/#,THEUSERNEEDSTOMEASURETHECURRENTSTHROUGHTHECOILSOFTHESTATORANDTHEANGLEOFTHE ROTOR.4HEMEASUREDANGLEOFTHEROTORNEEDSTOBEADJUSTEDTOTHEMAGNETICAXES. 4HECHALLENGEOFTHE&/#ISTHEHIGHNUMBEROFDEGREESOFFREEDOMINALLPARAMETERS. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 10/157

3.5.1 COORDINATE4RANSFORMATIONS-CLARKE,0ARK,ICLARKE,I0ARK

4HE&/#REQUIRESDI ﬀERENTCOORDINATETRANSFORMATIONSFORMULATEDASASETOFMATRIXMULTIPLICATIONS.4HESE ARETHE#LARKE4RANSFORMATION(#LARKE),THE0ARK4RANSFORMATION(0ARK),THEINVERSE0ARK4RANSFORMA- TION(I0ARK)ANDTHEINVERSE#LARKE4RANSFORMATION(I#LARKE).3OMEPUT0ARKAND#LARKETOGETHERASD1 TRANSFORMATIONAND0ARKAND#LARKEASINVERSED1TRANSFORMATION. 4HE4-#4671TAKESCAREOFTHEREQUIREDTRANSFORMATIONSSOTHEUSERNOLONGERHASTO 1GHTWITHIMPLEMEN- TATIONDETAILSOFTHESETRANSFORMATIONS. 3.5.2 -EASUREMENTOF3TATORCOILCURRENTS 4HEMEASUREMENTOFTHESTATORCOILCURRENTSISREQUIREDFORTHE&/#TOCALCULATEAMAGNETICAXISOUTOFTHE STATOR1ELDCAUSEDBYTHECURRENTS 2OWINGTHROUGHTHESTATORCOILS. #OILCURRENTSTANDSFORMOTORTORQUEINCONTEXTOF&/#.4HISISBECAUSEMOTORTORQUEISPROPORTIONAL TOMOTORCURRENT,DE 1NEDBYTHETORQUECONSTANTOFAMOTOR. INADDITION,THETORQUEDEPENDSONTHE ORIENTATIONOFTHEROTOROFTHEMOTORRELATIVETOTHEMAGNETIC 1ELDPRODUCEDBYTHECURRENTTHROUGHTHE COILSOFTHESTATOROFTHEMOTOR. 3.5.3 3TATORCOILCURRENTSI?5,I?6,I?7ANDASSOCIATIONTO4ERMINAL6OLTAGES5?5,5?6,5?7 4HECORRECTASSOCIATIONBETWEENSTATORTERMINALVOLTAGES5?5,5?6,5?7ANDSTATORCOILCURRENTS I?5,I?6, I?7ISESSENTIALFORTHE&/#. INADDITIONTOTHEASSOCIATION,THESIGNSOFEACHCURRENTCHANNELNEEDTO 1T.3IGNSOFTHECURRENTCANBEADAPTEDNUMERICALLYBYTHEAD#SCALER.4HEMAPPINGOFAD#CHANNELSIS PROGRAMMABLEVIACON 1GURATIONREGISTERSFORTHEAD#SELECTOR. INITIALSETUPISSUPPORTEDBYTHEINTEGRATED OPENLOOPENCODERBLOCK,THATCANSUPPORTTHEUSERTOTURNAMOTOROPENLOOP.

3.5.3.1 CHAINOFGAINSFORADC2AW6ALUES

ANAD#RAWVALUEISARESULTOFACHAINOFGAINSTHATDETERMINEIT.ACOILCURRENT I?3%.3%2OWINGTHROUGHA SENSERESISTORCAUSESAVOLTAGEDI ﬀERENCEACCORDINGTO/HM ’SLAW.4HERESULTINGAD#RAWVALUEISARESULT OFTHEANALOGSIGNALPATHACCORDINGTO 4HEAD#?GA I.ISARESULTOFACHAINOFGAINSWITHINDIVIDUALSIGNS.4HESIGNOFTHEAD#?GA I.ISPOSITIVE ORNEGATIVE,DEPENDINGONTHEASSOCIATIONOFCONNECTIONSBETWEENSENSEAMPLI 1ERINPUTSANDTHESENSE RESISTORTERMINALS.4HEAD#?/&&3%4ISTHERESULTOFELECTRICALO ﬀSETSOFTHEPHASECURRENTMEASUREMENT SIGNALPATH.&ORTHE4-#4671,THEMAXIMUMAD#?2A7VALUEAD#?2A7?-A8= (216 −1) ANDTHEMINIMUM AD#RAWVALUEISAD#?2A7?- I.=0. ∗ 3%.3%?A-0,I&I%2?GAI. (2) &ORTHE&/#,THEAD#?2A7ISSCALEDBYTHEAD#SCALEROFTHE4-#4671TOGETHERWITHSUBTRACTIONOFO ﬀSET TOCOMPENSATEIT.INTERNALLY,THE4-#4671&/#ENGINECALCULATESWITHS16VALUES.4HUS,THEAD#SCALING NEEDSTOBECHOSENSOTHATTHEMEASUREDCURRENTS 1TINTOTHES16RANGE.7ITHTHEAD#SCALER,THEUSERCAN CHOOSEASCALINGWITHPHYSICALUNITSLIKE [mA]. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 11/157 3.5.4 -EASUREMENTOF2OTORANGLE DETERMINATIONOFTHEROTORANGLEISEITHERDONEBYSENSORS(DIGITALENCODER,ANALOGENCODER,DIGITAL(ALL SENSORS,ANALOG(ALLSENSORS)ORSENSORLESSBYARECONSTRUCTIONOFTHEROTORANGLE.#URRENTLY,THEREARENO SENSORLESSMETHODSAVAILABLEFOR&/#THATWORKINAGENERALPURPOSEWAYASASENSORDOWNTOVELOCITY ZERO. 4HE4-#4671DOESNOTSUPPORTSENSORLESS&/#. 3.5.5 -EASURED2OTORANGLEVS.-AGNETICAXISOF2OTORVS.-AGNETICAXISOF3TATOR 4HEROTORANGLE,MEASUREDBYANENCODER,NEEDSTOBEADJUSTEDTOTHEMAGNETICAXISOFTHEROTOR.4HISIS BECAUSEANINCREMENTALENCODERHASANARBITRARYORIENTATIONRELATIVETOTHEMAGNETICAXISOFTHEROTOR,AND THEROTORHASANARBITRARYORIENTATIONTOMAGNETICAXISOFTHESTATOR. 4HEDIRECTIONOFCOUNTINGDEPENDSONTHEENCODER,ITSMOUNTING,ANDWIRINGANDPOLARITIESOFENCODER SIGNALSANDMOTORTYPE.3O,THEDIRECTIONOFENCODERCOUNTINGISPROGRAMMABLEFORCOMFORTABLEDE 1NITION FORAGIVENCOMBINATIONOFMOTORANDENCODER. 3.5.5.1 DIRECTIONOF-OTION--AGNETIC&IELDVS.0OSITION3ENSOR &OR&/#ITISESSENTIAL,THATTHEDIRECTIONOFREVOLUTIONOFTHEMAGNETIC 1ELDISCOMPATIBLEWITHTHEDIRECTION OFMOTIONOFTHEROTORPOSITIONRECONSTRUCTEDFROMENCODERSIGNALS:&ORREVOLUTIONOFMAGNETIC 1ELDWITH POSITIVEDIRECTION,THEDECODERPOSITIONNEEDSTOTURNINTOTHESAMEPOSITIVEDIRECTION.&ORREVOLUTIONOF MAGNETIC1ELDWITHNEGATIVEDIRECTION,THEDECODERPOSITIONNEEDSTOTURNINTOTHESAMENEGATIVEDIRECTION. 7ITHANABSOLUTEENCODER,ONCEADJUSTEDTOTHERELATIVEORIENTATIONOFTHEROTORANDTOTHERELATIVE ORIENTATIONOFTHESTATOR,ONECOULDSTARTTHE&/#WITHOUTINITIALIZATIONOFTHERELATIVEORIENTATIONS.

3.5.5.2 BANG-BANGINITIALIzATIONOFTHEENCODER

ABANG-BANGINITIALIZATIONISANINITIALIZATIONWHERETHEMOTORISFORCEDWITHHIGHCURRENTINTOASPECI 1C POSITION.&ORBANG-BANGINITIALIZATION,THEUSERSETSACURRENTINTODIRECTIONDTHATISSTRONGENOUGHTO MOVETHEROTORINTOTHEDESIREDDIRECTION./THERINITIALIZATIONMETHODSRAMPUPTHECURRENTSMOOTHLYAND ADJUSTTHECURRENTVECTORTOROTORMOVEMENTDETECTEDBYTHEENCODER.

3.5.5.3 ENCODERINITIALIzATIONUSING(ALL3ENSORS

4HEENCODERCANBEINITIALIZEDUSINGDIGITAL(ALLSENSORSIGNALS.DIGITAL(ALLSENSORSIGNALSGIVEABSOLUTE POSITIONSWITHINEACHELECTRICALPERIODWITHARESOLUTIONOFSIXTYDEGREES. IFTHE(ALLSENSORSIGNALSAREUSED TOINITIALIZETHEENCODERPOSITIONONTHE 1RSTCHANGEOFA(ALLSENSORSIGNAL,ANABSOLUTEREFERENCEWITHIN THEELECTRICALPERIODFORCOMMUTATIONISGIVEN. 3.5.5.4 -INIMUM-OVEMENTINITIALIzATIONOFTHEENCODER &ORMINIMALMOVEMENTINITIALIZATIONOFTHEENCODER,THEUSERSLOWLYINCREASESACURRENTINTODIRECTIOND ANDADJUSTSANO ﬀSETOFTHEMEASUREDANGLEINAWAYTHATTHEROTOROFTHEMOTORDOESNOTMOVEDURING INITIALIZATIONWHILETHEO ﬀSETOFTHEMEASUREDANGLEISDETERMINED. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 12/157

3.5.6 KNOWLEDGEOF2ELEVANT-OTOR0ARAMETERSAND0OSITION3ENSOR(ENCODER)0ARAMETERS

3.5.6.1 .UMBEROF0OLE0AIRSOFA-OTOR 4HENUMBEROFPOLEPAIRSISANESSENTIALMOTORPARAMETER. ITDE1NESTHERATIOBETWEENELECTRICALREVOLUTIONS ANDMECHANICALREVOLUTIONS.&ORAMOTORWITHONEPOLEPAIR,ONEMECHANICALREVOLUTIONISEQUIVALENTTO ONEELECTRICALREVOLUTION.&ORAMOTORWITHNPPPOLEPAIRS,ONEMECHANICALREVOLUTIONISEQUIVALENTTONPP ELECTRICALREVOLUTIONS,WITHN=1,2,3,4,.... 3OMEDE1NETHENUMBEROFPOLES.0INSTEADOFNUMBEROFPOLEPAIRS.00FORAMOTOR,WHICHRESULTSINA FACTOROFTWOTHATMIGHTCAUSECONFUSION.&ORTHE4-#4671,WEUSE.00NUMBEROFPOLEPAIRS. 3.5.6.2 .UMBEROFENCODER0OSITIONSPER2EVOLUTION &ORTHEENCODER,THENUMBEROFPOSITIONSPERREVOLUTION(002)ISANESSENTIALPARAMETER.4HENUMBEROF POSITIONSPERREVOLUTIONISESSENTIALFORTHE&/#. 3OMEENCODERVENDORSGIVETHENUMBEROFLINESPERREVOLUTION(,02)ORJUSTNAMEDLINECOUNT(,#)AS ENCODERPARAMETER.,INECOUNTANDPOSITIONSPERREVOLUTIONMIGHTDI ﬀERBYAFACTOROFFOUR.4HISISBECAUSE OFTHEQUADRATUREENCODING-ASIGNALANDBSIGNALWITHPHASESHIFT-THATGIVEFOURPOSITIONSPERLINE, ENABLINGTHEDETERMINATIONOFTHEDIRECTIONOFREVOLUTION.3OMEENCODERVENDORSASSOCIATECOUNTSPER REVOLUTION(#02)ORPULSESPERREVOLUTIONASSOCIATEDTO002ACRONYM. 4HE4-#4671USES0OSITIONS0ER2EVOLUTION(002)ASENCODERPARAMETER. 3.5.7 0ROPORTIONALINTEGRAL(0I)CONTROLLERSFORCLOSED,OOPCURRENTCONTROL ,ASTBUTNOTLEAST,TWO0 ICONTROLLERSAREREQUIREDFORTHE&/#.4HE4-#4671ISEQUIPPEDWITHTWO0 I CONTROLLERS-ONEFORCONTROLOFTORQUEGENERATINGCURRENT I?1ANDONETOCONTROLCURRENT I?DTOZERO. 3.5.8 0ULSE7IDTH-ODULATION(07-)AND3PACE6ECTOR0ULSE7IDTH-ODULATION(3607-) 4HE07-POWERSTAGEISAMUST-HAVEFORENERGYE ZCIENTMOTORCONTROL.4HE07-ENGINEOFTHE4-#4671 JUSTNEEDSACOUPLEOFPARAMETERSTOSET07-FREQUENCYF07-ANDSWITCHINGPAUSESFORBOTHHIGHSIDE SWITCHESTBB-?(ANDLOWSIDESWITCHESTBB-?,.3OMECONTROLBITSAREFORTHEPROGRAMMINGOFPOWER SWITCHPOLARITIESFORMAXIMUM 2EXIBILITYINTHESELECTIONINGATEDRIVERSFORTHEPOWER-/3-&%4S. AN ADDITIONALCONTROLBITSELECTS3607-ONORO ﬀ.4HE4-#4671ALLOWSFORCHANGEOF07-FREQUENCYBYA SINGLEPARAMETERDURINGOPERATION. 7ITHTHIS,THE4-#4671ISADVANCEDCOMPAREDTOSOFTWARESOLUTIONSWHERE07-AND360-CON 1GURATION OF#05INTERNALPERIPHERALSNORMALLYNEEDSSETTINGSOFMANYPARAMETERS. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 13/157 3.5.9 /RIENTATIONS,-ODELSOF-OTORS,ANDCOORDINATE4RANSFORMATIONS 4HEORIENTATIONOFMAGNETICAXES(5,6,7FOR&/#3RESP.8,9FOR&/#2)ISESSENTIALFORTHE&/#TOGETHER WITHTHERELATIVEORIENTATIONOFTHEROTOR.(ERE,THEROTORISMODELEDBYABARMAGNETWITHONEPOLEPAIR (N?POLE?PAIRS=1)WITHMAGNETICAXISINNORTH-SOUTHDIRECTION. 4HEACTUALMAGNETICAXISOFTHESTATOR-FORMEDBYTHEMOTORCOILS-ISDETERMINEDBYMEASUREMENTOFTHE COILCURRENTS. 4HEACTUALMAGNETICAXISOFTHEROTORISDETERMINEDBYINCREMENTALENCODERORBY(ALLSENSORS. INCREMENTAL ENCODERSNEEDANINITIALIZATIONOFORIENTATION,WHERE(ALLSENSORSGIVEANABSOLUTEORIENTATION,BUTWITH LOWRESOLUTION.ACOMBINATIONOF(ALLSENSORANDINCREMENTALENCODERISUSEFULFORSTART-UPINITIALIZATION. &IGURE3:/RIENTATIONS567(&/C3)AND89(&/C2) &IGURE4:COMPASS-OTOR-ODELW/30HASES567(&/C3)ANDCOMPASS-OTOR-ODELW/20HASES(&/C2) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 14/157 4 &UNCTIONALDESCRIPTION 4HE4-#4671ISAFULLYINTEGRATEDCONTROLLERFOR 1ELD-ORIENTEDCONTROL(&/#)OFEITHERONE2-PHASESTEPPER MOTOR(&/#2)ORONE3-PHASEBRUSHLESSMOTOR(&/#3),ASWELLASD#MOTORSORVOICECOILACTUATORS. #ONTAININGTHECOMPLETECONTROLLOOPCOREARCHITECTURE(POSITION,VELOCITY,TORQUE),THE4-#4671ALSOHAS THEREQUIREDPERIPHERALINTERFACESFORCOMMUNICATIONWITHANAPPLICATIONCONTROLLER,FORFEEDBACK(DIGITAL ENCODER,ANALOGINTERPOLATORENCODER,DIGITAL(ALLWITHINTERPOLATOR,ANALOGINPUTSFORCURRENTANDVOLTAGE MEASUREMENT),ANDHELPFULADDITIONAL I/S.4HE4-#4671SUPPORTSHIGHESTCONTROLLOOPSPEEDAND07- FREQUENCIES. 4HE4-#4671ISTHEBUILDINGBLOCKWHICHTAKESCAREOFALLREAL-TIMECRITICALTASKSOF 1ELD-ORIENTEDMOTOR CONTROL.ITDECOUPLESTHEREAL-TIME 1ELD-ORIENTEDMOTORCONTROLANDITSREAL-TIMESUB-TASKSSUCHASCURRENT MEASUREMENT,REAL-TIMESENSORSIGNALPROCESSING,ANDREAL-TIME07-SIGNALGENERATIONFROMTHEUSER APPLICATIONLAYERASOUTLINEDBY 1GURE5. &IGURE5:(ARDWARE&/CAPPLICATIONDIAGRAM 4.1 &UNCTIONALBLOCKS 4HEAPPLICATIONINTERFACE,REGISTERBANK,AD#ENGINE,ENCODERENGINE,&/#TORQUE0 ICONTROLLER,VELOCITY0I CONTROLLER,POSITION0CONTROLLER,AND07-ENGINEMAKEUPTHE4-#4671. &IGURE6:(ARDWARE&/CBLOCKDIAGRAM h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 15/157 4HEAD#ENGINEINTERFACESTHEINTEGRATEDAD#CHANNELSANDMAPSRAWAD#VALUESTOSIGNED16BIT(S16) VALUESFORTHEINNER&/#CURRENTCONTROLLOOPBASEDONPROGRAMMABLEO ﬀSETANDSCALINGFACTORS. 4HE &/#TORQUE0 ICONTROLLERFORMSTHEINNERBASECOMPONENTINCLUDINGREQUIREDTRANSFORMATIONS(#LARK,0ARK, INVERSE0ARK,INVERSE#LARK).ALLFUNCTIONALBLOCKSAREPUREHARDWARE.

4.2 COMMUNICATIONINTERFACES

4HE4-#4671ISEQUIPPEDWITHAN30 IINTERFACEFORACCESSTOALLREGISTERSOFTHE4-#4671.4HE30 IINTERFACE ISTHEMAINAPPLICATIONINTERFACE. ANADDITIONAL5A24INTERFACEISINTENDEDFORSYSTEMSETUP.7ITHTHATINTERFACE,THEUSERCANACCESSALL REGISTERSOFTHE4-#4671INPARALLELTOTHEAPPLICATIONACCESSINGTHEMVIATHE30 ICOMMUNICATIONINTERFACE -VIATHEUSER’S1RMWAREORVIAEVALUATIONBOARDSANDTHE4-#,- ID%.4HEDATAFORMATOFTHE5A24INTERFACE ISSIMILARTOTHE30 ICOMMUNICATIONINTERFACE-30I40BITDATAGRAMSSENTTOTHE4-#4671AND30 I40BIT DATAGRAMSRECEIVEDBYTHE-#5VS. 1VEBYTESSENTVIA5A24AND 1VEBYTESRECEIVEDVIA5A24.3ENDING ABURSTOFDI ﬀERENTREAL-TIMEDATAFORVISUALIZATIONANDANALYSISVIATHE4-#,- ID%CANBETRIGGEREDUSING SPECIALDATAGRAMS.7ITHTHAT,THEUSERCANSETUPANEMBEDDEDAPPLICATIONTOGETHERWITHTHE4-#,- ID%, WITHOUTHAVINGTOWRITEACOMPLEXSETOFVISUALIZATIONANDANALYSISFUNCTIONS.4HEUSERCANFOCUSONITS APPLICATION. 4HE4-#4671ISALSOEQUIPPEDWITHANADDITIONAL30 IMASTERINTERFACE(42I.A-I#2EAL-TIME-ONITORING INTERFACE,DBG30I)FORHIGH-SPEEDVISUALIZATIONOFREAL-TIMEDATATOGETHERWITHTHE4-#,- ID%. 4.2.1 30I3LAVE5SER INTERFACE 4HE30IOFTHE4-#4671FORTHEUSERAPPLICATIONHASANEASYCOMMANDANDCONTROLSTRUCTURE.4HE4-#4671 USER30IACTSASASLAVE.4HE30 IDATAGRAMLENGTHIS40BITWITHACLOCKRATEUPTO1-(Z(8-(ZINFUTURE CHIPVERSION).

4HE-3B(BIT#39)ISSENT 1RST.4HE,3B(BIT#0)ISSENTLAST.
4HE-3B(BIT#39)ISTHE72 I4%?NOT2%AD(72N2D)BIT.
4HEBITS(BIT#39TOBIT#32)ARETHEADDRESSBITS(ADD2).
BITS(BIT#31)TO(BIT#0)ARE32DATABITS. 4HE30IOFTHE4-#4671IMMEDIATELYRESPONSESWITHINTHEACTUAL30 IDATAGRAMONREADANDWRITEFOR EASE-OF-USECOMMUNICATIONANDUSES30IMODE3WITH#0/,=1AND#0(A=1. &IGURE7:30IDATAGRAM3TRUCTURE ASIMPLE30 IDATAGRAMEXAMPLE: 0x8100000000 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR) 0x0000000000 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x34363731 <=> ACSII "4671" h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 16/157 &IGURE8:30I4IMING 30I INTERFACE4IMING CHARACTERISTICS,FC,K=25-(z 0ARAMETER 3YMBOL CONDITION -IN 4YP -AX 5NIT 3#+VALIDBEFOREORAFTERCHANGEOFN3#3 tCC 62.5 NS N3#3HIGHTIME tCSH 62.5 NS N3#3LOWTIME tCSL 62.5 NS 3#+HIGHTIME tCH 62.5 NS 3#+LOWTIME tCL 62.5 NS 3#+LOWTIME tCL 62.5 NS 3#+FREQUENCY fSCK 8 -(Z -/3ISETUPTIMEBEFORERISINGEDGEOF3#+ tDU 62.5 NS -/3IHOLDTIMEAFTERFALLINGEDGEOF3#+ tDH 62.5 NS -I3/DATAVALIDTIMEAFTERFALLINGEDGEOF3#+ tDO 10 NS 4ABLE2:30I4IMING0ARAMETER INfo 4HE30IINTHE4-#4671-%3SHOWSFOLLOWINGERROR:DURINGTRANSACTIONOFREADDATA THE-3B(BIT#31)MIGHTGETCORRUPTED. 4HISSHOWSINTWODI ﬀERENTWAYS. 4HE 1RSTONEBEINGA40NSPULSE(POSITIVEORNEGATIVE)ON- I3/ATTHEBEGINNINGOF TRANSFEROFTHATPARTICULARBIT.4HISPULSECANCORRUPTTHE-3BOFREADDATAAND THISERRORCANBEAVOIDEDWHEN30 ICLOCKFREQUENCYISSETTO1-(Z.4HESECOND ERRORALSOCORRUPTS-3BOFREADDATAWHEN-3BOFREGISTERISUNSTABLE.3UCHAS CURRENTMEASUREMENTNOISEAROUNDZERO. INTHISCASE,-3BSHOULDBEIGNORED WHENPOSSIBLE. 0LEASEALSOCONSIDERTHATE.G. ACTUALTORQUEVALUECANBEREAD FROMREGISTER0 ID?4/215%?&,58?A#45A,ORFROM I.4%2I-?DA4AREGISTER,WHERE ITISSHOWINGUPINTHELOWER16BITS. 4HESEERRORSWILLBE 1XEDINTHENEXT I# VERSION.30IWRITEACCESSISNOTA ﬀECTEDANDCANBEPERFORMEDAT8-(ZCLOCK FREQUENCY. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 17/157 4.2.2 42I.A-IC2EAL-4IME-ONITORINGINTERFACE(30I-ASTER) 4HE42I.A-I#2EAL-4IME-ONITORINGINTERFACE(24-I,30I-ASTER)ISANADDITIONALFASTINTERFACEENABLING REAL-TIMEIDENTI1CATIONOFMOTORANDSYSTEMPARAMETERS.4HEUSERCANCHECKCON 1GURATIONANDACCESS REGISTERSINTHE4-#4671VIATHE4-#,-ID%WITHITSBUILD-INCON 1GURATIONWIZARDSFOR&/#SETUPINPARALLEL TOTHEUSER 1RMWARE.42I.A-I#PROVIDESA-ONITORINGADAPTERTOACCESSTHEINTERFACE,WHICHCONNECTS EASILYTOASINGLE10PINHIGHDENSITYCONNECTOR(4YPE:(IROSED&20&-10D0-16)ONTHEUSER ’S0#BORONTHE EVALUATIONBOARD.IFTHEINTERFACEISNOTNEEDED,PINSCANBELEFTOPENORCANBEUSEDASG0 I/SACCORDING TOTHESPECI 1CATION. 4HECONNECTORNEEDSTOBEPLACEDNEARTHE4-#4671ANDASSIGNMENTNEEDSTOBEASDISPLAYEDIN 1GURE9. &IGURE9:CONNECTORFOR2EAL-4IME-ONITORING INTERFACE(CONNECTOR4YPE:(IROSED&20&-10D0-16) INfo 4HE42I.A-I#2EAL-4IME-ONITORING INTERFACECANNOTBEUSEDWITHGALVANIC ISOLATION,ASTHETIMINGOF30 ICOMMUNICATIONISTOOSTRICT. 4HISWILLBE 1XEDIN THENEXTVERSIONSOTHATGALVANICISOLATIONOF30 ISIGNALSWILLBEPOSSIBLEWITHA DE1NEDLATENCYOFISOLATORS. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 18/157 4.2.3 5A24INTERFACE 4HE5A24INTERFACEISASIMPLETHREEPIN(G.D,2XD,4XD)3.365A24INTERFACEWITHUPTO3-BIT/STRANSFER SPEEDWITHONESTARTBIT,EIGHTDATABITS,ONESTOPBIT,ANDNOPARITYBITS(1.8).4HEDEFAULTSPEEDIS9600 BPS./THERSUPPORTEDSPEEDSARE115200BPS,921600BPS,AND3000000BPS. 7ITHAN3.36-5A24-TO-53BADAPTERCABLE(E.G.&4DI44,-2322-20I),THEUSERCANUSETHEFULLMAXIMUMDATA RATE.4HE5A24PORTENABLES IN-3YSTEM-3ETUP-3UPPORTBYMULTIPLE-PORTEDREGISTERACCESS. AN5A24DATAGRAMCONSISTSOF 1VEBYTES-SIMILARTOTHEDATAGRAMSOFTHE30 I.INCONTRASTTO30 I,THE5A24 INTERFACEHASATIMEOUTFEATURE.3O,THE 1VEBYTESOFA5A24DATAGRAMNEEDTOBESENDWITHINONESECOND. APAUSEOFSENDINGMORETHANONESECONDCAUSESATIMEOUTANDSETSTHE5A24PROTOCOLHANDLERBACKINTO ID,%STATE.INOTHERWORDS,WAITINGFORMORETHANONESECONDINSENDINGVIA5A24ENSURESTHATTHE5A24 PROTOCOLHANDLERISIN ID,%STATE. ASIMPLE5A24EXAMPLE(SIMILARTOTHESIMPLE30 IEXAMPLE): 0x81 0x00 0x00 0x00 0x00 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR) 0x00 0x00 0x00 0x00 0x00 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x34363731 7HY5A24 INTERFACE?ITMIGHTBECOMENECESSARYDURINGTHESYSTEMSETUPPHASETOSIMPLYACCESSSOME INTERNALREGISTERSWITHOUTDISTURBINGTHEAPPLICATION,WITHOUTCHANGINGTHEACTUALUSERAPPLICATIONSOFTWARE, ANDWITHOUTADDINGADDITIONALDEBUGGINGCODETHATMIGHTDISTURBTHEAPPLICATIONSOFTWAREITSELF.4HE5A24 ENABLESTHISSUPPORTINGFUNCTION. INADDITION,ITALSOENABLESEASYACCESSFORMONITORINGPURPOSESWITHITS VERYSIMPLEANDDIRECT 1VEBYTEPROTOCOL.ITISNOTRECOMMENDEDASSTANDARDCOMMUNICATIONINTERFACEDUE TOLOWPERFORMANCE. &IGURE10:5A242EADDATAGRAM(4-C4671REGISTERREADVIA5A24) &IGURE11:5A247RITEDATAGRAM(4-C4671REGISTERWRITEVIA5A24) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 19/157 4.2.4 3TEP/DIRECTIONINTERFACE 4HEUSERCANMANIPULATETHETARGETPOSITIONVIATHESTEPDIRECTIONINTERFACE. ITCANBEENABLEDBYSETTING THE34%0?7ID4((332)REGISTERTOAPROPERSTEPWIDTH. INfo 4HE3TEP/DIRECTIONINTERFACEISNOTWORKINGPROPERLY,DUETOWRONGMAPPINGOF INTERNALSIGNALS. 4HETARGETPOSITIONISUPDATED,BUTNOTFEDINTOTHEPOSITION CONTROLLER.4HISERRORWILLBE 1XEDINNEXT I#6ERSION. 4.2.5 3INGLE0ININTERFACE 4HE4-#4671CANBEOPERATEDIN-OTION-ODESINWHICHTHEMAINTARGETVALUEISCALCULATEDFROMEITHERA 07-INPUTSIGNALON0 I.07-?IORBYANALOGINPUTTOAG0 I?A. .UMBER -OTION-ODE 5SING07-?IORAG0 I?A 0 3TOPPED-ODE NO 1 4ORQUE-ODE NO 2 6ELOCITY-ODE NO 3 0OSITION-ODE NO 4 02B3&LUX-ODE NO 5 02B34ORQUE-ODE NO 6 02B36ELOCITY-ODE NO 7 02B30OSITION-ODE NO 8 515D%XT-ODE NO 9 %NCODERINIT-INI-OVE-ODE NO 10 AG0I?A4ORQUE-ODE AG0I?A 11 AG0I?A6ELOCITY-ODE AG0I?A 12 AG0I?A0OSITION-ODE AG0I?A 13 07-?I4ORQUE-ODE 07-?I 14 07-?I6ELOCITY-ODE 07-?I 15 07-?I0OSITION-ODE 07-?I 4ABLE3:3INGLE0IN INTERFACE-OTION-ODES INCASEOFTHE07-INPUT,APERMANENTLOWINPUTSIGNALORPERMANENTHIGHSIGNALISTREATEDASINPUTERROR ANDCHOSENTARGETVALUEISSETTOZERO. 2EGISTER3I.G,%?0I.?I&?#&GCON1GURESTHELENGTHOFADIGITAL 1LTERFORTHE07-? ISIGNAL.3PIKESONTHE SIGNALCANBETHEREBYSUPPRESSED. BIT0INREGISTER3 I.G,%?0I.?I&?34A453ISSETHIGHWHEN07-? IIS CONSTANTLOW,BIT1ISSETHIGHWHENTHE07-? IISCONSTANTHIGH.7RITINGTOTHISREGISTERRESETSTHESE 2AGS. -AXIMUM07-PERIODOFTHE07-SIGNALMUSTBE65536X40NS.4HECALCULATIONOFTHENORMALIZEDDUTY CYCLEISSTARTEDONTHERISINGEDGEOF07-? I.4HE07-FREQUENCYNEEDSTOBECONSTANTASBIGVARIATIONS (TOLERANCEOF4USIN07-PERIOD)INTHE07-FREQUENCYARETREATEDASERROR. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 20/157 ADUTYCYCLEOF50%EQUALSANINPUTVALUEOF32768.7ITHTHEO ﬀSETANDSCALINGFACTORSITCANBEMAPPEDTO DESIREDRANGE. 4.3 .UMERICAL2EPRESENTATION,ELECTRICALANGLE,-ECHANICALANGLE,AND0OLE0AIRS 4HE4-#4671USESDIﬀERENTNUMERICALREPRESENTATIONSFORDI ﬀERENTPARAMETERS,MEASUREDVALUES,AND INTERIMRESULTS. 4HETERMSELECTRICALANGLE0( I?%,MECHANICALANGLE0( I?-,ANDNUMBEROFPOLEPAIRS (.?0/,%?0AI23)OFTHEMOTORAREIMPORTANTFORSETUPOF&/#.4HISSECTIONDESCRIBESTHEDI ﬀERENTNUMERICAL REPRESENTATIONSOFPARAMETERSANDTERMS. 4.3.1 .UMERICAL2EPRESENTATION 4HE4-#4671USESSIGNEDANDUNSIGNEDVALUESOFDI ﬀERENTLENGTHSAND 1XEDPOINTREPRESENTATIONSFOR PARAMETERSTHATREQUIREANON-INTEGERGRANULARITY. 3YMBOL DESCRIPTION -IN -AX U16 UNSIGNED16BITVALUE 0 65535 S16 SIGNED16BITVALUES, 2’THCOMPLEMENT -32767 32767 U32 UNSIGNED32BITVALUE 0 232 =4294967296 S32 SIGNED32BITVALUES, 2’THCOMPLEMENT -2147483647231 -1=2147483647 Q8.8 SIGNED1XPOINTVALUEWITH8BITINTEGERPART AND8BITFRACTIONALPART -32767/256 32767/256 Q4.12 SIGNED1XPOINTVALUEWITH4BITINTEGERPART AND12BITFRACTIONALPART -32767/4096 -32767/4096 4ABLE4:.UMERICAL2EPRESENTATIONS INfo 4WO’SCOMPLEMENTOFNBITIS −2(n−1) ...−2(n−1) −1.4OAVOIDUNWANTEDOVER 2OW, THERANGEISCLIPPEDTO −2(n−1) + 1 ...−2(n−1) −1. BECAUSETHEZEROISINTERPRETEDASAPOSITIVENUMBERFOR2 ’THCOMPLEMENTREPRESENTATIONOFINTEGERNBIT NUMBER,THESMALLESTNEGATIVENUMBERIS −2(n−1) WHERETHELARGESTPOSITIVENUMBERIS 2(n−1) −1.5SING THESMALLESTNEGATIVENUMBER −2(n−1) MIGHTCAUSECRITICALUNDER 2OWOROVER 2OW.INTERNALCLIPPINGTAKES THISINTOACCOUNTBYMAPPING −2(n−1) TO−2(n−1) + 1. (EXADECIMAL6ALUE U16 S16 Q8.8 Q4.12 0X0000H 0 0 0.0 0.0 0X0001H 1 1 1/256 1/4096 0X0002H 2 2 2/256 2/4096 0X0080H 128 128 0.5 0.03125 0X0100H 256 256 1.0 0.0625 0X0200H 512 512 2.0 0.125 0X3&&&H 16383 16383 16383/256 16383/4096 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 21/157 (EXADECIMAL6ALUE U16 S16 Q8.8 Q4.12 0X5A81H 23169 23169 23169/256 23169/4096 0X7&&&H 32767 32767 32767/256 32767/4096 0X8000H 32768 -32768-32768/256-32768/4096 0X8001H 32769 -32767-32767/256-32767/4096 0X8002H 32770 -32766-32766/256-32766/4096 0X#001H 49153 -16383 -16383/256-16383/4096 4ABLE5:%XAMPLESOFU16,S16,Q8.8,Q4.12 AREUSEDASSIGNEDNUMBERS.4HISISBECAUSETHESESVALUESAREMULTIPLIEDWITHSIGNEDERRORVALUESRESP. ERRORINTEGRALVALUES. 4HEPARAMETER.?0/,%?0A I23DE1NESTHEFACTORBETWEENELECTRICALANGLE0( I?%ANDMECHANICALANGLE 0(I?-OFAMOTOR(PLS.REFER 1GURE12). AMOTORWITHONE(1)POLEPAIRTURNSONCEFOREACHELECTRICALPERIOD.AMOTORWITHTWO(2)POLEPAIRSTURNS ONCEFOREVERYTWOELECTRICALPERIODS.AMOTORWITHTHREE(3)POLEPAIRSTURNSONCEFOREVERYTHREEELECTRICAL PERIODS.AMOTORWITHFOURPOLE(4)PAIRSTURNSONCEFOREVERYFOURELECTRICALPERIODS. 4HEELECTRICALANGLE0( I?%ISRELEVANTFORTHECOMMUTATIONOFTHEMOTOR. ITISRELEVANTFORTHETORQUECONTROL OFTHEINNER&/#LOOP. 4HEMECHANICALANGLE0( I?-ISPRIMARILYRELEVANTFORVELOCITYCONTROLANDFORPOSITIONING.4HISISBECAUSE ONEWANTSTOCONTROLTHEMOTORSPEEDINTERMSOFMECHANICALTURNSANDNOTINTERMSOFELECTRICALTURNS. DIﬀERENTENCODERSGIVEDI ﬀERENTKINDSOFPOSITIONANGLES.DIGITAL(ALLSENSORSNORMALLYGIVETHEELECTRICAL POSITION0(I?%THATCANBEUSEDFORCOMMUTATION. ANALOGENCODERSGIVE-DEPENDINGONTHEIRRESOLU- TION-ANGLESTHATHAVETOBESCALED 1RSTTOMECHANICALANGLES0( I?-ANDTOELECTRICALANGLES0( I?%FOR COMMUTATION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 22/157 &IGURE12:._0/,%_0AI23-.UMBEROF0OLE0AIRS(.UMBEROF0OLES) 4.3.3 .UMERICAL2EPRESENTATIONOFANGLES0(I %LECTRICALANGLESANDMECHANICALANGLESAREREPRESENTEDAS16BITINTEGERVALUES./NEFULLREVOLUTIONOF 360 deg ISEQUIVALENTTO 216 = 65536 STEPS.ANYPOSITIONCOMINGFROMASENSORISMAPPEDTOTHISINTEGER RANGE.ADDINGANOﬀSETOF0( I?/&&3%4CAUSESAROTATIONOFANANGLE 0(I?/&&3%4/216.3UBTRACTIONOFAN OﬀSETCAUSESAROTATIONOFANANGLE0( I?/&&3%4INOPPOSITEDIRECTION. &IGURE13:INTEGER2EPRESENTATIONOFANGLESAS16BITSIGNED(S16)RESP.16BITUNSIGNED(U16) (EXADECIMAL6ALUE U16 S16 0(I;o= ±0(I;o= 0X0000H 0 0 0.0 0.0 0X1555H 5461 5461 30.0 -330.0 0X2AAAH 10922 10922 60.0 -300.0 0X4000H 16384 16384 90.0 -270.0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 23/157 (EXADECIMAL6ALUE U16 S16 0(I;o= ±0(I;o= 0X5555H 21845 21845 120.0 -240.0 0X6AAAH 27306 27768 150.0 -210.0 0X8000H 32768 -32768180.0 -180.0 0X9555H 38229 -27307210.0 -150.0 0XAAAAH 43690 -21846 240.0 -120.0 0X#000H 49152 -16384 270.0 -90.0 0XD555H 54613 -10923 300.0 -60.0 0X%AAAH 60074 -5462 330.0 -30.0 4ABLE6:%XAMPLESOFU16,S16,Q8.8 4HEOPTIONOFADDINGANO ﬀSETISFORADJUSTMENTOFANGLESHIFTBETWEENTHEMOTORANDSTATORANDTHEROTOR ANDENCODER.&INALLY,THERELATIVEORIENTATIONSBETWEENTHEMOTORANDSTATORANDTHEROTORANDENCODERCAN BEADJUSTEDBYJUSTONEO ﬀSET.ALTERNATIVELY,ONECANSETTHECOUNTERPOSITIONOFANINCREMENTALENCODERTO ZEROONINITIALPOSITION.&ORABSOLUTEENCODERS,ONENEEDSTOUSETHEO ﬀSETTOSETANINITIALPOSITION.

4.4 ADCENGINE

4HEAD#ENGINECONTROLSTHESAMPLINGOFDI ﬀERENTAVAILABLEAD#CHANNELS.4HEAD#CHANNELS(AD#? I0?0/3, AD#?I0?.%G,AD#?I1?0/3,AD#?I1?.%G)FORCURRENTMEASUREMENTAREDI ﬀERENTIALINPUTS. &ORANALOG (ALLANDFORANALOGENCODER,THEAD#CHANNELSHAVEDI ﬀERENTIALINPUTS(A%.#?58?0/3,A%.#?58?.%G, ARESINGLE-ENDEDANALOGINPUTS(AG0I?A,AG0I?B).4HEAD#CHANNELFORMEASUREMENTOFSUPPLYVOLTAGE (AD#?6-)ISASSOCIATEDWITHTHEBRAKECHOPPER. 4HE&/#ENGINEEXPECTSO ﬀSETCORRECTEDAD#VALUES,SCALEDINTOTHE&/#ENGINE ’S16BIT(S16) 1XED POINTREPRESENTATION.4HEINTEGRATEDSCALERANDO ﬀSETCOMPENSATORMAPSRAWAD#SAMPLESOFCURRENT MEASUREMENTCHANNELSTO16BITTWO ’SCOMPLEMENTVALUES(S16). 7HILETHEOﬀSETISCOMPENSATEDBY SUBTRACTION,THEOﬀSETISREPRESENTEDASANUNSIGNEDVALUE.4HESCALINGVALUEISSIGNEDTOCOMPENSATE WRONGMEASUREMENTDIRECTION.4HES16SCALEDAD#VALUESAREAVAILABLEFORREADOUTFROMTHEREGISTERBY THEUSER. INfo 7RONGSCALINGFACTORS(AD#?3#A,%)ORWRONGO ﬀSETS(AD#?/&&3%4)MIGHTCAUSE DAMAGESWHENTHE&/#ISACTIVE. INTEGRATEDHARDWARELIMITERSALLOWPROTECTION- ESPECIALLYINTHESETUPPHASEWHENUSINGCAREFULLIMITS. AD#SAMPLESFORMEASUREMENTOFSUPPLYVOLTAGE(6-)ANDTHEGENERALPURPOSEANALOGAD#INPUTSARE AVAILABLEASRAWVALUESONLYWITHOUTDIGITALSCALING.4HISISBECAUSETHESEVALUESARENOTPROCESSEDBYTHE &/#ENGINE.4HEYAREJUSTADDITIONALAD#CHANNELSFORTHEUSER.4HEGENERALPURPOSEANALOGINPUTS(AG0 I) AREINTENDEDTOMONITORANALOGVOLTAGESIGNALSREPRESENTING-/3&%4TEMPERATUREORMOTORTEMPERATURE. AG0I?ACANALSOBEUSEDFORTHE3INGLE0IN INTERFACE(PLEASESEESECTION4.8.10). INfo AD#?6-MUSTBESCALEDDOWNBYVOLTAGEDIVIDERTOTHEALLOWEDVOLTAGERANGE, ANDMIGHTREQUIREADDITIONALSUPPLYVOLTAGESPIKEPROTECTION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 24/157

4.4.1 ADCGROUPAANDADCGROUPB

AD#INPUTSOFTHE4-#4671AREGROUPEDINTOTWOGROUPS,TOENABLEDI ﬀERENTSAMPLERATESFORTWOGROUPS OFANALOGSIGNALSIFNEEDED.&ORALLAPPLICATIONSBOTHGROUPSSHOULDWORKWITHTHESAMESAMPLINGRATES. NECESSARYTORUNITSAD#CHANNELSWITHAMUCHHIGHERBANDWIDTHTHANTHEAD#CHANNELSFORCURRENT MEASUREMENT. 4.4.2INTERNALDELTA3IGMAADCS 4HE4-#4671ISEQUIPPEDWITHINTERNALDELTASIGMAAD#SFORCURRENTMEASUREMENT,SUPPLYVOLTAGE MEASUREMENT,ANALOGG0ISANDANALOGENCODERSIGNALMEASUREMENT.DELTASIGMAAD#S,ASINTEGRATED WITHINTHE4-#4671,TOGETHERWITHPROGRAMMABLEDIGITAL 1LTERSARE 2EXIBLEINPARAMETERIZINGCONCERNING RESOLUTIONVS.SPEED.4HEADVANTAGEOFDELTASIGMAAD#SISTHATTHEUSERCANADJUSTMEASUREMENTFROM LOWERSPEEDWITHHIGHERRESOLUTIONTOHIGHERSPEEDWITHLOWERRESOLUTION.4HIS 1TSWITHMOTORCONTROL APPLICATION.(IGHERRESOLUTIONISREQUIREDFORLOWSPEEDSIGNALS,WHILELOWERRESOLUTIONSATIS 1ESTHENEEDS FORHIGHSPEEDSIGNALS. DUETOHIGHOVERSAMPLING,THEANALOGINPUTFRONT-ENDISEASIERTOIMPLEMENTTHANFORSUCCESSIVEAPPROXI- MATIONREGISTERAD#SASANTIALIASING 1LTERSCANBECHOSENTOAMUCHHIGHERCUTO ﬀ FREQUENCY.4HEAD# %NGINEPROCESSESALLAD#CHANNELSINPARALLELHARDWARE-AVOIDINGPHASESHIFTSBETWEENTHECHANNELS COMPAREDTOAD#CHANNELSINTEGRATEDIN-#5S. ANANALOGVOLTAGE6? I.OFANANALOGINPUTISMAPPEDTOARAWAD#VALUEAD#?2A7.

4.4.3 EXTERNALDELTA3IGMAADCS

4HEDELTASIGMAFRONT-ENDOFTHEAD#ENGINESUPPORTSEXTERNALDELTASIGMAMODULATORSTOENABLEISOLATED DELTASIGMAMODULATORSFORTHE4-#4671. ADDITIONALLY,THEDELTASIGMAFRONT-ENDSUPPORTSLOW-COST COMPARATORSTOGETHERWITHTWORESISTORSANDONECAPACITOR(2-#-2-#-0)FORMING1RSTORDERDELTASIGMA MODULATORS,ASGENERICANALOGFRONT-ENDFORPUREDIGITALVARIANTSOFTHE4-#4671CORE.

4.4.3.1 ADC2A7

4HESAMPLEDRAWAD#VALUESAREAVAILABLEFORREADOUTBYTHEUSER.4HISISIMPORTANTDURINGTHESYSTEM SETUPPHASETODETERMINEO ﬀSETANDSCALINGFACTORS.

4.4.3.2 ADCE84

4HEUSERCANWRITEAD#VALUESINTOTHEAD#?%84REGISTERSOFTHEREGISTERBANKFROMEXTERNALSOURCES.4HESE VALUESCANBESELECTEDASRAWCURRENTAD#VALUESBYSELECTION.AD#?%84REGISTERSAREPRIMARILYINTENDED FORTESTPURPOSESASOPTIONALINPUTSFOREXTERNALCURRENTMEASUREMENTSOURCES.

4.5 DELTA3IGMACON1GURATIONAND4IMINGCON 1GURATION

4HEDELTASIGMACON 1GURATIONISPROGRAMMEDVIA-#&GREGISTERTHATSELECTSTHEMODE(INTERNAL/EXTERNAL DELTASIGMAMODULATORWITH 1XEDINTERNAL100-(ZSYSTEMCLOCKORWITHPROGRAMMABLE-#,+;DELTASIGMA MODULATORCLOCKMODE(-#,+OUTPUT,-#,+INPUT,-#,+USEDAS-DA#OUTPUTWITHEXTERNAL2-#-2-#-0 CON1GURATION);DELTASIGMAMODULATORCLOCKANDITSPOLARITY;ANDTHEPOLARITYOFTHEDELTASIGMAMODULATOR DATASIGNAL-DA4). h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 25/157 &IGURE14:DELTA3IGMAADCCON 1GURATIONSDSADC_C/.& IG(INTERNAL:A.A,/GVS.EXTERNAL:-C,K/,-C,K I,-DAC) A.A,/G INTEGRATEDINTERNALAD#MODE, 6I.?-DA4ISANALOGINPUT6 I. -#,+NOTCONNECTED(.#) 6I.(ANALOG) -#,+/ EXTERNAL DS-ODULATOR (E.G. AD7403) WITH -#,+ INPUT DRIVENBY-#,+/ -#,+OUTPUT -DA4INPUT -#,+I EXTERNAL DS-ODULATOR (E.G. AD7400) WITH -#,+ OUTPUT THATDRIVES-#,+ I -#,+INPUT -DA4INPUT -DA# EXTERNAL DS-ODULATOR (E.G. ,-339, ,-319) REALIZED BY EXTERNALCOMPARATOR#-0WITH TWO2ANDONE# -DA#OUTPUT(=-#,+OUT) -DA4INPUTFOR#-0 4ABLE7:DELTA3IGMAADCCON 1GURATIONS(1GURE14),SELECTEDWITHDSADC_-C&G_AANDDSADC_-C&G_B. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 26/157 REGISTER FUNCTION DSAD#?-#&G?B DELTASIGMAMODULATORCON 1GURATION-#&G(A.A,/G,-#,+ I,-#,+/,-DA#),GROUPB DSAD#?-#&G?A DELTASIGMAMODULATORCON 1GURATION-#&G(A.A,/G,-#,+ I,-#,+/,-DA#),GROUPA DSAD#?-#,+?B DELTASIGMAMODULATORCLOCK-#,+,GROUPB DSAD#?-#,+?A DELTASIGMAMODULATORCLOCK-#,+,GROUPA DSAD#?-D%#?B DELTASIGMADECIMATIONPARAMETER-D%#,GROUPB DSAD#?-D%#?A DELTASIGMADECIMATIONPARAMETER-D%#,GROUPA 4ABLE8:2EGISTERSFORDELTA3IGMACON 1GURATION 4.5.0.1 4IMINGCON1GURATION-C,K 7HENTHEPROGRAMMABLE-#,+ISSELECTED,THE-#,+?AAND-#,+?BPARAMETERREGISTERSDE 1NETHE PROGRAMMABLECLOCKFREQUENCYF-#,+OFTHEDELTASIGMAMODULATORCLOCKSIGNAL-#,+FORDELTASIGMA MODULATORGROUPAANDGROUPB.&ORAGIVENTARGETDELTASIGMAMODULATORFREQUENCYF-#,+,TOGETHERWITH THEINTERNALCLOCKFREQUENCYF#,+=100-(Z,THE-#,+FREQUENCYPARAMETERISCALCULATEDBY DUETOTHE32BIT ’SLENGTHOFTHE-#,+FREQUENCYPARAMETER,THERESULTINGFREQUENCYF-#,+MIGHTDI ﬀER FROMTHEDESIREDFREQUENCYF-#,+.4HEBACKCALCULATIONOFTHERESULTINGFREQUENCYF-#,+FORACALCULATED -#,+PARAMETERWITH32BITLENGTHISDE 1NEDBY 4HEPRECISEPROGRAMMINGOFTHE-#,+FREQUENCYISPRIMARILYINTENDEDFOREXTERNALDELTASIGMAMODULATORS TOMEETGIVEN%- IREQUIREMENTS.7ITHTHAT,THEUSERCANPROGRAMMFREQUENCIESF-#,+WITHARESOLUTION BETTERTHAN0.1(Z.4HISADVANTAGECONCERNING%- IMIGHTCAUSETROUBLEWHENUSINGEXTERNALDELTASIGNAL MODULATORSIFTHEYARESENSITIVETOSLIGHTFREQUENCYALTERNATING.4HISISNOTANISSUEWHENUSINGEXTERNAL 1RST-ORDERDELTASIGMAMODULATORSBASEDON2-#-2-#-0(E.G.,-339).BUTFOREXTERNALSECOND-ORDERDELTA SIGNALMODULATORS,ITISRECOMMENDEDTOCON 1GURETHE-#,+PARAMETERFORFREQUENCIESF-#,+WITHK(Z QUANTIZATION(E.G.10,001,000(ZINSTEADOF10,000,001(Z).4ABLE9GIVESANOVERVIEWOF-#,+PARAMETER SETTINGSFORDI ﬀERENTFREQUENCIESF-#,+. F-#,+?TARGET -#,+ F-#,+?RESULTING COMMENT 25-(Z 0x20000000 25-(Z W/OF-#,+FREQUENCYJITTER,RECOMMENDED 20-(Z 0x19000000 20-(Z-468750(Z RECOMMENDEDFOREXT.∆Σ MODULATOR 20-(Z 0x19999999 20-(Z-0.03(Z MIGHTBECRITICALFOREXT. ∆Σ MODULATOR 12.5-(Z 0x10000000 12.5-(Z W/OF-#,+FREQUENCYJITTER,RECOMMENDED 10-(Z 0x0CCCCCCC 10-(Z-0.04(Z MIGHTBECRITICALFOREXT. ∆Σ MODULATOR 10-(Z 0x0CC00000 10-(Z-39062.5(Z RECOMMENDEDFOREXT.∆Σ MODULATOR 4ABLE9:DELTA3IGMA-C,KCON 1GURATIONS h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 27/157 INfo 0ARAMETRIZATIONOFF-#,+WILLBECHANGEDINAFUTUREVERSIONOFTHECHIPTOMATCH USUALMODULATORFREQUENCIESLIKE10-(ZAND20-(ZBETTER. ITISRECOMMENDEDTO USEA-ODULATORFREQUENCYOF25K(ZFORALLAPPLICATIONS. IFTHESECONDAD#GROUP ISNOTNEEDED,ITISRECOMMENDEDTOSHUTITO ﬀ BYSETTINGTHE-#,+?BREGISTERTO 0X0.

4.5.0.2 DECIMATIONCON1GURATION-DEC

4HEHIGHOVERSAMPLEDSINGLEBITDELTASIGMADATASTREAM(-DA4)ISDIGITALLY 1LTEREDBY3INC3 1LTERS.4O GETRAWAD#DATA,THEACTUALDIGITALLY 1LTEREDVALUESNEEDTOBESAMPLEDPERIODICALLYWITHALOWERRATE CALLEDDECIMATIONRATIO.4HEDECIMATIONISCONTROLLEDBYPARAMETER-D%#?AFORAD#GROUPAAND-D%#?B FORAD#GROUPB.ANEWAD#?2A7VALUEISAVAILABLEAFTER-D%#DELTASIGMAPULSESOF-#,+.ASSUCH,THE PARAMETERS-#,+AND-D%#TOGETHERDE 1NETHESAMPLINGRATEOFTHE16BITAD#?2A7VALUES. 4HEDELTASIGMAMODULATORWITH3INC3 1LTERWORKSWITHBESTNOISEREDUCTIONPERFORMANCEWHENTHELENGTH OFTHESTEPRESPONSETIMET3 I.#3OFTHE3INC3 1LTERISEQUALTOTHELENGTHOFTHE07-PERIODT07-= (07-?-A8#.4+1)/F07-#,+=((07-?-A8#.4+1)*10NS)OFTHEPERIOD.4HELENGTHOFTHESTEPFUNCTION RESPONSEOFA3INC3 1LTERIS -D%#RECOMMENDED= T07- 3·T-#,+−2 (8) 50-(Z 20NS 665 331 165 25-(Z 40NS 331 165 81 20-(Z 50NS 265 131 65 12.5-(Z 80NS 165 81 40 10-(Z 100NS 131 65 31 4ABLE10:2ECOMMENDEDDECIMATION0ARAMETER-D%C(EQUATION(8)FORDI ﬀERENT07-FREQUENCIESF07- (-D%C25FORF07-=25K(zW/07-_-A8C.4=3999,-D%C50FORF07-=50K(zW/07-_-A8C.4=1999, -D%C100FORF07-=100K(zW/07-_-A8C.4=999). INfo INTERNALSTRUCTUREOFTHE3INC3ANDSYNCHRONIZATIONTO07-WILLBEENHANCED INFUTUREVERSIONOFTHECHIP.4HISMIGHTNEEDTHEUSER ’SAPPLICATIONCONTROLLER SOFTWARETOBECHANGED. 4.5.1INTERNALDELTA3IGMA-ODULATORS--APPINGOF6?2A7TOADC?2A7 GENERALLY,DELTASIGMAMODULATORSWORKBESTFORATYPICALINPUTVOLTAGERANGEOF25%6?-A8...75%6?-A8. &ORTHEINTEGRATEDDELTASIGMAMODULATORS,THISINPUTVOLTAGEOPERATIONRANGEISRECOMMENDEDWITH6?-A8 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 28/157 =56WHERE6?-A8=3.36ISPOSSIBLE.4HETABLE11DE 1NESTHERECOMMENDEDVOLTAGERANGESFORBOTH56 AND3.36ANALOGSUPPLYVOLTAGES. 4ABLE11:2ECOMMENDEDINPUTVOLTAGERANGEFROM6_- I.25%;6=TO6_-A875%;6=FORINTERNALDELTA3IGMA -ODULATORS;6_3500,9;6==56ISRECOMMENDEDFORTHEANALOGPARTOFTHE4-C4671. 6?2A7 =   6?-A8 FOR 6? I. > 6?-A8 6?-I. FOR 6? I. < 6?-I. (9) 4HERESULTINGRAWAD#VALUEIS 4HEIDEALIZEDEXPRESSION(EQUATION9)ISVALIDFORRECOMMENDEDVOLTAGERANGES(TABLE11)NEGLECTING DEVIATIONSINLINEARITIES.4HESEDEVIATIONSPRIMARILYDEPENDONDI ﬀERENTIMPEDANCEONTHEANALOGSIGNAL PATH,BUTALSOONDIGITALPARAMETERIZATION.&INALLY,THEDEVIATIONISQUANTI 1EDINTERMSOFRESULTINGAD# RESOLUTION. 3O, THE DELTA 3IGMA AD# ENGINE MAPS THE ANALOG INPUT VOLTAGES 6?2A7 = 6?I. - 6?2%& OF VOLTAGE 0X0000... 0X&&&&. 6MIN;6= 6REF;6= 6MAX;6= 6I.;6= D549;%= AD#?2A7 0.0 2.5 5.0 1.0 25% 0X4000 0.0 2.5 5.0 2.5 50% 0X7ﬀF 0.0 2.5 5.0 3.75 75% 0X#000 4ABLE12:DELTA3IGMAINPUTVOLTAGEMAPPINGOFINTERNALDELTA3IGMA-ODULATORS INfo &ORCALIBRATINGPURPOSES,THEINPUTVOLTAGEOFTHEDELTASIGMAAD#INPUTSCANBE PROGRAMMEDTO 1XEDVOLTAGES(25%,50%,75%OFANALOGSUPPLYVOLTAGE)VIATHE ASSOCIATEDCON1GURATIONREGISTERD3?A.A,/G? I.054?34AG%?#&G. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 29/157

4.5.2 EXTERNALDELTA3IGMA-ODULATORINTERFACE

4HE4-#4671ISEQUIPPEDWITHINTEGRATEDDIGITAL 1LTERSFOREXTRACTIONOFAD#RAWVALUESFROMDELTASIGMA DATASTREAMFORBOTHINTERNALANDEXTERNALDELTASIGMAMODULATORS.4HEINTERFACEFOREXTERNALDELTASIGMA MODULATORSISINTENDEDFOREXTERNALISOLATEDSIGMADELTAMODULATORS,SUCHASAD7401(WITH-#,+INPUT DRIVENBY4-#4671),ORAD7402(WITH-#,+OUTPUTTODRIVE4-#4671).INADDITION,THEEXTERNALDELTASIGMA INTERFACESUPPORTSTHEUSEOFSIMPLECOMPARATORWITHA2-#-2NETWORKASEXTERNALLOWCOSTDELTASIGMA MODULATORS(2-#-2-#-0,E.G.,-339). INfo 7HENSELECTINGTHEEXTERNALDELTASIGMAAD# INTERFACE,THEHIGH-PERFORMANCE DEBUG30I INTERFACE(24-I)ITNOTAVAILABLEINPARALLELDUETOPINSHARING.4HE5A24 ISALWAYSAVAILABLE,BUTWITHLESSPERFORMANCETHANTHE24- I. %ACHEXTERNALDELTASIGMAMODULATORCHANNEL(DS-/D)HASTWOSIGNALS(PLS.REFER 1GURE14),ONEDEDICATED INPUT,ANDONEPROGRAMMABLEINPUT/OUTPUT. 4HECON1GURATIONOFTHEEXTERNALDELTASIGMAMODULATOR INTERFACEISDE 1NEDBYPROGRAMMINGASSOCIATEDREGISTERS.7HENSELECTINGEXTERNALDELTASIGNALAD#,THE ASSOCIATEDANALOGAD#INPUTSARECON 1GUREDASDIGITALINPUTSFORTHEDELTASIGMASIGNALDATASTREAM-DA4.

4.5.3 ADCCON1GURATION--DAC

&IGURE15:∆Σ ADCCON 1GURATION--DAC(COMPARATOR-2-C-2AS∆Σ--ODULATOR) INTHE-DA#DELTASIGMAMODULATOR,THEDELAYOFTHECOMPARATOR#-0DETERMINESTHE-#,+OFTHE RANGEOF1+TO10+.4HEF-A8TYPDEPENDSALSOONTHECHOICEOFTHEDECIMATIONRATIO. #-0 T#-0TYP[ns] R-#-0[kΩ] R-DA# [kΩ] C-#-0[pF] F-#,+MAX490 ,-319 100 1 1 100 10-(Z ,-319 100 10 10 100 1-(Z ,-319 100 100 100 100 100K(Z #-0 T#-0TYP[ns] R-#-0[kΩ] R-DA# [kΩ] C-#-0[pF] F-#,+MAX490 ,-339 1000 1 1 100 1-(Z h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 30/157 #-0 T#-0TYP[ns] R-#-0[kΩ] R-DA# [kΩ] C-#-0[pF] F-#,+MAX490 ,-339 1000 10 10 100 100K(Z ,-339 1000 100 100 100 10K(Z 4ABLE13:DELTA3IGMA2-C-2-C-0CON1GURATIONS(PLS.REFER14) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 31/157 6MIN;6= 6REF;6= 6MAX;6= 6I.;6= D549;%= AD#?2A7 0.0 1.65 3.3 0.0 0% 0X0000 0.0 1.65 3.3 0.825 25% 0X4000 0.0 1.65 3.3 1.65 50% 0X7ﬀF 0.0 1.65 3.3 2.475 75% 0X#000 0.0 1.65 3.3 3.3 100% 0Xﬀﬀ 6MIN;6= 6REF;6= 6MAX;6= 6I.;6= D549;%= AD#?2A7 0.0 2.5 5.0 0.0 0% 0X0000 0.0 2.5 5.0 1.0 25% 0X4000 0.0 2.5 5.0 2.5 50% 0X7ﬀF 0.0 2.5 5.0 3.75 75% 0X#000 0.0 2.5 5.0 5.0 100% 0Xﬀﬀ 4ABLE14:DELTA3IGMAINPUTVOLTAGEMAPPINGOFEXTERNALCOMPARATOR(C-0)

4.6 ANALOG3IGNALCONDITIONING

4HERANGEOFMEASUREDCOILCURRENTS,RESP.THEMEASUREDVOLTAGESOFSENSERESISTORS,NEEDSTOBEMAPPED TOTHEVALIDINPUTVOLTAGERANGEOFTHEDELTASIGMAAD#INPUTS.4HISANALOGPREPROCESSINGISTHETASKOFTHE ANALOGSIGNALCONDITIONING.

4.6.0.1 CHAINOFGAINSFORADC2AW6ALUES

ANAD#RAWVALUEISARESULTOFACHAINOFGAINSTHATDETERMINEIT.ACOILCURRENT I?3%.3%2OWINGTHROUGHA SENSERESISTORCAUSESAVOLTAGEDI ﬀERENCEACCORDINGTO/HM ’SLAW.&INALLY,ACURRENTISMAPPEDTOANAD# RAWVALUE 4HEAD#?GA I.ISARESULTOFACHAINOFGAINSWITHINDIVIDUALSIGNS.4HESIGNOFTHEAD#?GA I.ISPOSITIVE ORNEGATIVE,DEPENDINGONTHEASSOCIATIONOFCONNECTIONSBETWEENSENSEAMPLI 1ERINPUTSANDTHESENSE RESISTORTERMINALS.4HEAD#?/&&3%4ISTHERESULTOFELECTRICALO ﬀSETSOFTHEPHASECURRENTMEASUREMENT SIGNALPATH.&ORTHE4-#4671,THEMAXIMUMAD#?2A7VALUEISAD#?2A7?-A8= (216 −1) ANDTHEMINIMUM AD#RAWVALUEISAD#?2A7?- I.=0. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 32/157 ∗ 3%.3%?A-0,I&I%2?GAI. (12) 2SENSE[mΩ] ISENSE[A] 5SENSE[mV] GAI.[V/V ] AD#?GA I.[A/V] 3ENSEAMPLI1ER 5 10 50 20 10 AD8204 10 5 50 20 5 AD8204 4ABLE15:%XAMPLE0ARAMETERSFORADC_GA I. &ORTHE&/#,THEAD#?2A7ISSCALEDBYTHEAD#SCALEROFTHE4-#4671TOGETHERWITHSUBTRACTIONOFO ﬀSET TOCOMPENSATEIT.INTERNALLY,THE4-#4671&/#ENGINECALCULATESWITHS16VALUES.3O,THEAD#SCALINGNEEDS TOBECHOSENSOTHATTHEMEASUREDCURRENTS 1TINTOTHES16RANGE.7ITHTHEAD#SCALER,THEUSERCANCHOOSE ASCALINGWITHPHYSICALUNITSLIKE [mA]. ASCALINGTO[mA] COVERSACURRENTRANGEOF −32A... + 32AWITH m[A] RESOLUTION.&ORHIGHERCURRENTS,THEUSERCANCHOOSEUNUSUALUNITSLIKECENTIAMPERE [cA] COVERING AD#SCALERANDO ﬀSETCOMPENSATORSAREFORMAPPINGRAWAD#VALUESTOS16SCALEDANDO ﬀSETCLEANED CURRENTMEASUREMENTVALUESTHATAREADEQUATEFORTHE&/#. 4.6.1 &/C3-3TATORCOILCURRENTSI?5,I?6,I?7ANDASSOCIATIONTO4ERMINAL6OLTAGES5?5,5?6,5?7 4HECORRECTASSOCIATIONBETWEENSTATORTERMINALVOLTAGES5?5,5?6,5?7ANDSTATORCOILCURRENTS I?5,I?6, I?7ISESSENTIALFORTHE&/#. &ORTHREE-PHASEMOTORSWITHTHREETERMINALS5,6,7,THEVOLTAGE5?5ISINPHASEWITHTHECURRENT I?5,5?6 ISINPHASEWITH I?6,AND5?7ISINPHASEWITH I?7ACCORDINGTOEQUATIONS(13)AND(14)FOR&/#3.   UU(φe) = UD · sin(φe) UV(φe) = UD · sin(φe + 120o) UW(φe) = UD · sin(φe −120o) (13)   IU(φe) = ID · sin(φe) IV(φe) = ID · sin(φe + 120o) IW(φe) = ID · sin(φe −120o) (14) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 33/157 4.6.2 3TATORCOILCURRENTSI?8,I?9ANDASSOCIATIONTO4ERMINAL6OLTAGES5?8,5?9 &ORTWO-PHASEMOTORS(STEPPER)WITHFOURTERMINALS81,82,AND91,92,VOLTAGE5?5X=5?81-5?82ISIN PHASEWITHTHEMEASUREDCURRENT I?8AND5?7Y=5?91-5?92ISINPHASEWITHTHEMEASUREDCURRENT I?9 ACCORDINGTOEQUATIONS(15)AND(16)FOR&/#2. 5?89?&/#2 = UX(φe) = UX ∗ sin(φe) UY(φe) = UY ∗ sin(φe + 90o) (15) I?89?&/#2 = IX(φe) = ID ∗ sin(φe) IY(φe) = ID ∗ sin(φe + 90o) (16)

4.6.3 ADC3ELECTOR&ADC3CALERW// ﬀ SETCORRECTION

4HEAD#SELECTORSELECTSAD#CHANNELSFOR&/#.4HE3-PHASE&/#USESTWOOFTHREEAD#CHANNELSFOR MEASUREMENTANDCALCULATESTHETHIRDCHANNELVIA+IRCHHO ﬀ ’S,AWUSINGTHESCALEDANDO ﬀSET-CORRECTED AD#VALUES.4HE2-PHASE&/#JUSTUSESTWOAD#CHANNELSBECAUSEFORA2-PHASESTEPPERMOTOR,THETWO PHASESAREINDEPENDENTFROMEACHOTHER. Note 4HEOPEN-LOOPENCODERISUSEFULFORSETTINGUPAD#CHANNELSELECTION,SCALING, ANDOﬀSETBYRUNNINGAMOTOROPEN-LOOP. 4HE&/#23%NGINEPROCESSESCURRENTSAS16BITSIGNED(S16)VALUES.2AWAD#VALUESAREEXPANDEDTO16BIT WIDTH,REGARDLESSOFTHEIRRESOLUTION.7ITHTHIS,EACHAD#ISAVAILABLEFORREADOUTASA16BITNUMBER. 4HEAD#SCALERW/O ﬀSETCORRECTIONISFORTHEPREPROCESSINGOFMEASUREDRAWCURRENTVALUES. ITMIGHTBE USEDTOMAPTOUSER ’SOWNUNITS(E.G.AORMA).&ORSCALING,GAINSOFCURRENTAMPLI 1ERS,REFERENCEVOLTAGES, ANDOﬀSETSHAVETOBETAKENINTOACCOUNT. INfo 2AWAD#VALUESGENERALLYAREOF16BITWIDTH,REGARDLESSOFTHEIRREALRESOLUTION. INfo 4HEAD#SCALERMAPSRAWAD#VALUESTOTHE16BITSIGNED(S16)RANGEANDCENTERS THEVALUESTOZEROBYREMOVINGO ﬀSETS. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 34/157 &IGURE16:ADC3ELECTOR&3CALERW// ﬀSETCORRECTION AD#O ﬀSETSANDAD#SCALERSFORTHEANALOGCURRENTMEASUREMENTINPUTCHANNELSNEEDTOBEPROGRAMMED AD#?I0?%84,ANDAD#?I1?%84ISMAPPEDEITHERTOAD#? I0?2A7ORTOAD#? I1?2A7BYAD#? I0?3%,%#4AND AD#?I1?3%,%#4. INADDITION,THEAD#?/&&3%4ISFORCONVERSIONOFUNSIGNEDAD#VALUESINTOSIGNEDAD#VALUESASREQUIRED FORTHE&/#. &OR&/#3,THETHIRDCURRENT AD#?I2ISCALCULATEDVIA+IRCHHO ﬀ ’S,AW.4HISREQUIRESTHECORRECTSCALINGAND OﬀSETCORRECTIONBEFOREHAND.&OR&/#2,THEREISNOCALCULATIONOFATHIRDCURRENT. 4HEAD#?58?3%,%#4SELECTSONEOFTHETHREEAD#CHANNELSAD#? I0AD#?I1,ORAD#?I2FORAD#?58. 4HEAD#?6?3%,%#4SELECTSONEOFTHETHREEAD#CHANNELSAD#? I0AD#?I1,ORAD#?I2FORAD#?6. 4HEAD#?79?3%,%#4SELECTSONEOFTHETHREEAD#CHANNELSAD#? I0AD#?I1,ORAD#?I2FORAD#?79. 4HEAD#?58,AD#?6,ANDAD#?79AREFORTHE&/#3(5,6,7).4HEAD#?58ANDAD#?79(8,9)AREFORTHE &/#2. Note 4HEOPEN-LOOPENCODERISUSEFULTORUNAMOTOROPENLOOPFORSETTINGUPTHEAD# CHANNELSELECTIONWITHCORRECTASSOCIATIONBETWEENPHASECURRENTS I?5,I?6,I?7 ANDPHASEVOLTAGES5?5,5?6,5?7. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 35/157

4.7 ENCODERENGINE

4HEENCODERENGINEISANUNI 1EDPOSITIONSENSORINTERFACE. ITMAPSTHESELECTEDENCODERPOSITIONINFORMA- TIONTOELECTRICALPOSITION(PHI?E)ANDTOMECHANICALPOSITION(PHI?E).BOTHARE16BITVALUES.4HEENCODER ENGINEMAPSSINGLETURNPOSITIONSFROMPOSITIONSENSORSTOMULTI-TURNPOSITIONS.4HEUSERCANOVERWRITE THEMULTI-TURNPOSITIONFORINITIALIZATION. 4HEDIﬀERENTPOSITIONSENSORSARETHEPOSITIONSOURCESFORTORQUEAND 2UXCONTROLVIA&/#,FORVELOCITY CONTROL,ANDFORPOSITIONCONTROL.4HE0( I?%?3%,%#4I/.SELECTSTHESOURCEOFTHEELECTRICALANGELPHI?E FORTHEINNER&/#CONTROLLOOP.6%,/# I49?3%,%#4I/.SELECTSTHESOURCEFORVELOCITYMEASUREMENT.7ITH PHI?ESELECTEDASSOURCEFORVELOCITYMEASUREMENT,ONEGETSTHEELECTRICALVELOCITY.7ITHTHEMECHANICAL ANGLEPHI?MSELECTEDASSOURCEFORVELOCITYMEASUREMENT,ONEGETSTHEMECHANICALVELOCITYTAKINGTHE SETNUMBEROFPOLEPAIRS(.?0/,%?0A I23)OFTHEMOTORINTOACCOUNT..EVERTHELESS,FORAHIGHLYPRECISE POSITIONING,ITMIGHTBEUSEFULTODOPOSITIONINGBASEDONTHEELECTRICALANGELPHI?E. 4.7.1 /PEN-,OOPENCODER &ORINITIALSYSTEMSETUP,THEENCODERENGINEISEQUIPPEDWITHANOPEN-LOOPPOSITIONGENERATOR.4HISALLOWS FORTURNINGTHEMOTOROPEN-LOOPBYSPECIFYINGSPEEDINRPMANDACCELERATIONINRPM/S,TOGETHERWITH AVOLTAGE5D?%84INDDIRECTION. ASSUCH,THEOPEN-LOOPENCODERISNOTAREALENCODER. ITSIMPLYGIVES POSITIONSASANENCODERDOES.4HEOPEN-LOOPDECODERHASADIRECTIONBITTODE 1NEDIRECTIONOFMOTIONFOR THEAPPLICATION. Note 4HEOPEN-LOOPENCODERISUSEFULFORINITIALAD#SETUP,ENCODERSETUP,(ALLSIGNAL VALIDATION,ANDFORVALIDATIONOFTHENUMBEROFPOLEPAIRSOFAMOTOR.4HEOPEN- LOOPENCODERTURNSAMOTOROPENWITHPROGRAMMABLEVELOCITYINUNIT;20-=WITH PROGRAMMABLEACCELERATIONINUNIT;20-/S=. 7ITHTHEOPEN-LOOPENCODER,THEUSERCANTURNAMOTORWITHOUTANYPOSITIONSENSORANDWITHOUTANY CURRENTMEASUREMENTASA 1RSTSTEPOFDOINGTHESYSTEMSETUP. 7ITHTHETURNINGMOTOR,THEUSERCAN ADJUSTTHEAD#SCALESANDO ﬀSETSANDSETUPPOSITIONSSENSORS((ALL,INCREMENTALENCODER,...)ACCORDING TORESOLUTION,ORIENTATION,ANDDIRECTIONOFROTATION. 4.7.2INCREMENTALAB.ENCODER 4HEINCREMENTALENCODERSGIVETWOPHASESHIFTEDINCREMENTALPULSESIGNALSAANDB.3OMEINCREMENTAL ENCODERSHAVEANADDITIONALNULLPOSITIONSIGNAL.ORZEROPULSESIGNAL:.ANINCREMENTALENCODER(CALLED AB.ENCODERORAB:ENCODER)HASANINDIVIDUALNUMBEROFINCREMENTALPULSESPERREVOLUTION.4HENUMBER OFINCREMENTALPULSESDE 1NETHENUMBEROFPOSITIONSPERREVOLUTION(002).4HE002MIGHTMEANPULSES PERREVOLUTIONORPERIODSPERREVOLUTION. INSTEADOFPOSITIONSPERREVOLUTION,SOMEINCREMENTALENCODER VENDORSCALLTHESE#02COUNTSPERREVOLUTION. 4HE002PARAMETERISTHEMOSTIMPORTANTPARAMETEROFTHEINCREMENTALENCODERINTERFACE.7ITHTHAT,IT FORMSAMODULO(002)COUNTER,COUNTINGFROM0TO(002-1).DEPENDINGONTHEDIRECTION,ITCOUNTSUPOR DOWN.4HEMODULO002COUNTERISMAPPEDINTOTHEREGISTERBANKASADUALPORTEDREGISTER.4HEUSERCAN OVERWRITEITWITHANINITIALPOSITION.4HEAB.ENCODERINTERFACEPROVIDESBOTHTHEELECTRICALPOSITIONAND THEMULTI-TURNPOSITION,WHICHAREACCESSIBLETHROUGHDUAL-PORTEDREAD-WRITEREGISTERS. Note 4HE002PARAMETERMUSTBESETEXACTLYACCORDINGTOTHEUSEDENCODER. 4HE.PULSEFROMANENCODERTRIGGERSEITHERSAMPLINGOFTHEACTUALENCODERCOUNTTOFETCHTHEPOSITIONAT THE.PULSEORITRE-WRITESTHEFETCHEDNPOSITIONONAN.PULSE.4HE.PULSECANEITHERBEUSEDASSTAND h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 36/157 ALONEPULSEORAND-EDWITH.AB=.ANDAANDB. ITDEPENDSONTHEDECODERWHATKINDOF.PULSEHASTOBE BEUSED.&ORTHOSEENCODERSWITH.PULSEOVERFOURABQUADRANTSTHEUSERCANENHANCETHEPRECISIONOF THE.PULSEPOSITIONDETECTIONBYUSING.ABINSTEADOF.. Note INCREMENTALENCODERSAREAVAILABLEWITH.PULSEANDWITHOUT.PULSE. &IGURE17:AB.INCREMENTAL%NCODER.0ULSE 4HEPOLARITYOF.PULSE,APULSEANDBPULSEAREPROGRAMMABLE.4HE.PULSEISFORREINITIALIZATIONWITHEACH TURNOFTHEMOTOR./NCEFETCHED,THEAB.DECODERCANBECON 1GUREDTOWRITEBACKTHEFETCHED.PULSE POSITIONWITHEACH.PULSE. Note 4HEAB.ENCODERINTERFACEHASADIRECTIONBITTOSETTOMATCHWIRINGOFMOTORTO DIRECTIONOFENCODER. ,OGICALAB.=AANDBAND.MIGHTBEUSEFULFORINCREMENTALENCODERSWITHLOWRESOLUTION.PULSETO ENHANCETHERESOLUTION./NTHEOTHERHAND,FORINCREMENTALENCODERSWITHHIGHRESOLUTION.PULSEALOGICAL AB.=AANDBAND.MIGHTTOTALLYSUPPRESSTHERESULTING.PULSE. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 37/157 &IGURE18:%NCODERAB.4IMING-HIGHPRECISE.PULSEANDLESSPRECISE.PULSE 4.7.3 3ECONDARYINCREMENTALAB.ENCODER &ORCOMMUTATINGAMOTORWITH&/#,THEUSERSELECTSAPOSITIONSENSORSOURCE(DIGITALINCREMENTALENCODER, DIGITAL(ALL,ANALOG(ALL,ANALOGINCREMENTALENCODER,...)THATISMOUNTEDCLOSETOTHEMOTOR.4HEINNER &/#LOOPCONTROLSTORQUEAND 2UXOFTHEMOTORBASEDONTHEMEASUREDPHASECURRENTSANDTHEELECTRICAL ANGLEOFTHEROTOR. 4HE4-#4671ISEQUIPPEDWITHASECONDARYINCREMENTALENCODERINTERFACE. 4HISSECONDARYENCODER INTERFACEISAVAILABLEASSOURCEFORVELOCITYCONTROLORPOSITIONCONTROL. 4HISISFORAPPLICATIONSWHEREA MOTORWITHAGEARINGPOSITIONSANOBJECT. INfo 4HESECONDARYINCREMENTALENCODERISNOTAVAILABLEFORCOMMUTATION(PHI?E)FOR THEINNER&/#.INOTHERSWORDS,THEREISNOELECTRICALANGLEPHI?ESELECTABLEFROM THESECONDARYENCODER.

4.7.4 DIGITAL(ALL3ENSORINTERFACEWITHOPTIONAL INTERIM0OSITION INTERPOLATION

4HEDIGITAL(ALLINTERFACEISTHEPOSITIONSENSORINTERFACEFORDIGITAL(ALLSIGNALS. 4HEDIGITAL(ALLSIGNAL INTERFACE1RSTMAPSTHEDIGITAL(ALLSIGNALSTOANELECTRICALPOSITION0( I?%?2A7.ANOﬀSET0(I?%?/&&3%4CAN BEUSEDTOROTATETHEORIENTATIONOFTHE(ALLSIGNALANGLE.4HEELECTRICALANGLE0( I?%ISFORCOMMUTATION. /PTIONALLY,THEDEFAULTELECTRICALPOSITIONSOFTHE(ALLSENSORSCANBEADJUSTEDBYWRITESINTOTHEASSOCIATED REGISTERS. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 38/157 &IGURE19:(ALL3ENSORANGLES (ALLSENSORSGIVEABSOLUTEPOSITIONSWITHINANELECTRICALPERIODWITHARESOLUTIONOF60 oAS16BITPOSITIONS (S16RESP.U16)0(I.7ITHACTIVATEDINTERIM(ALLPOSITIONINTERPOLATION,THEUSERGETSHIGHRESOLUTIONINTERIM POSITIONSWHENTHEMOTORISRUNNINGATASPEEDABOVE60RPM.

4.7.5 DIGITAL(ALL3ENSOR-INTERIM0OSITION INTERPOLATION

&ORLOWERTORQUERIPPLETHEUSERCANSWITCHONTHEPOSITIONINTERPOLATIONOFINTERIM(ALLPOSITIONS.4HIS FUNCTIONISUSEFULFORMOTORSTHATARECOMPATIBLEWITHSINEWAVECOMMUTATION,BUTEQUIPPEDWITHDIGITAL (ALLSENSORS. 7HENTHEPOSITIONINTERPOLATIONISSWITCHEDON,ITBECOMESACTIVEONSPEEDSABOVE60RPM. &ORLOWER SPEEDSITAUTOMATICALLYDISABLESITSELF.4HISISESPECIALLYIMPORTANTWHENTHEMOTORHASTOBEATREST. (ALLSENSORPOSITIONINTERPOLATIONMIGHTFAILWHEN(ALLSENSORSARENOTPROPERLYPLACEDINTHEMOTOR.0LEASE ADJUST(ALLSENSORPOSITIONSFORTHISCASE.

4.7.6 DIGITAL(ALL3ENSORS--ASKINGAND&ILTERING

3OMETIMESDIGITAL(ALLSENSORSIGNALSGETDISTURBEDBYSWITCHINGEVENTSINTHEPOWERSTAGE.4HE4-#4671 CANAUTOMATICALLYMASKSWITCHINGDISTORTIONSBYCORRECTSETTINGOFTHE(A,,?-A3+ I.GREGISTER.7HENA SWITCHINGEVENTOCCURS,THE(ALLSENSORSIGNALSAREHELDFOR(A,,?-A3+ I.GVALUETIMES10NS.4HISWAY, (ALLSENSORDISTORTIONSAREELIMINATED. 5NCORRELATEDDISTORTIONSCANBE 1LTEREDVIAADIGITAL 1LTEROFCON 1GURABLELENGTH.IFTHEINPUTSIGNALTOTHE 1LTERDOESNOTCHANGEFOR(A,,?D IG?&I,4%2?,%.G4(TIMES5US,THESIGNALCANPASSTHE 1LTER.4HIS1LTER ELIMINATESISSUESWITHBOUNCING(ALLSIGNALS.

4.7.7 DIGITAL(ALL3ENSORSTOGETHERWITHINCREMENTALENCODER

IFAMOTORISEQUIPPEDWITHBOTH(ALLSENSORSANDINCREMENTALENCODER,THE(ALLSENSORSCANBEUSEDFOR THEINITIALIZATIONASALOWRESOLUTIONABSOLUTEPOSITIONSENSOR.,ATERON,THEINCREMENTALENCODERCANBE USEDASAHIGHRESOLUTIONSENSORFORCOMMUTATION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 39/157

4.7.8 ANALOG(ALLANDANALOGENCODERINTERFACE(3INCOSOF0o90oOR0o120o240o)

ANANALOGENCODERINTERFACEISPARTOFTHEDECODERENGINE. ITISABLETOHANDLEANALOGPOSITIONSIGNALSOF0 o AND90oANDOF0o120o240o.4HEANALOGDECODERENGINEADDSO ﬀSETSANDSCALESTHERAWANALOGENCODER SIGNALS,WHILEALSOCALCULATINGTHEELECTRICALANGLE0( I?%FROMTHESEANALOGPOSITIONSIGNALSBYANA4A.2 ALGORITHM. SIN/COS Hall Track SIN Track COS 3-phase Analog Hall Track 0° Track 120° Track 240° SIN/COS with 10 PPR Track SIN Track COS &IGURE20:ANALOG%NCODER(A%.C)SIGNALWAVEFORMS ANINDIVIDUALSIGNEDO ﬀSETISADDEDTOEACHASSOCIATEDRAWAD#CHANNELANDSCALEDBYITSASSOCIATED SCALINGFACTORSACCORDINGTO INADDITION,THEA%.#?/&&3%4ISFORCONVERSIONOFUNSIGNEDAD#VALUESINTOSIGNEDAD#VALUESASREQUIRED FORTHE&/#. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 40/157 &IGURE21:ANALOG%NCODER(A%.C)3ELECTOR&3CALERW// ﬀSETCORRECTION IN&IG.20POSSIBLEWAVEFORMSARESHOWN.4HEGRAPHSSHOWUSUAL3 I./#/3TRACKSIGNALSWITHONEANDMULTI- PLEPERIODSPERREVOLUTIONASWELLASTYPICALWAVEFORMSOFTHREEPHASEANALOG(ALLSIGNALSFORONEELECTRICAL REVOLUTION. 4HENUMBEROFPERIODSPERREVOLUTIONCANBECON 1GUREDBYREGISTERA%.#?D%#/D%2?002. 4HEPOSITIONINONEPERIOD(A%.#?D%#/D%2?0( I?A)ISCALCULATEDBYANA4A.2ALGORITHM. 4HEPERIODS ARECOUNTEDWITHRESPECTTOTHENUMBEROFPERIODSPERREVOLUTIONTOCALCULATEA%.#?D%#/D%2?0( I?% ANDA%.#?D%#/D%2?0( I?-.IF002ISTHESAMEASTHENUMBEROFPOLEPAIRS,A%.#?D%#/D%2?0( I?%AND A%.#?D%#/D%2?0(I?AAREIDENTICAL.4HISISUSUALLYTHECASEFORANALOGHALLSIGNALS. INfo 4HEANALOG.PULSEISJUSTARAWAD#VALUE.(ANDLINGOFANALOG.PULSESIMILAR TO.PULSEHANDLINGOFDIGITALENCODER.PULSEISNOTIMPLEMENTEDFORANALOG ENCODER.

4.7.9 ANALOG0OSITIONDECODER(3INCOSOF0o90oOR0o120o240o)

4HEEXTRACTEDPOSITIONSFROMTHEANALOGDECODERAREAVAILABLEFORREADOUTFROMREGISTERS. 4.7.9.1 -ULTI-4URNCOUNTER %LECTRICALANGLESAREMAPPEDTOAMULTI-TURNPOSITIONCOUNTER. 4HEUSERCANOVERWRITETHISMULTI-TURN POSITIONFORINITIALIZATIONPURPOSES.

4.7.9.2 ENCODERENGINE0HI3ELECTOR

4HEANGLESELECTORSELECTSTHESOURCEFORTHECOMMUTATIONANGLE0( I?%.4HATELECTRICALANGLEISAVAILABLEFOR COMMUTATION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 41/157

4.7.9.3 EXTERNAL0OSITION2EGISTER

AREGISTERVALUEWRITTENINTOTHEREGISTERBANKVIATHEAPPLICATIONINTERFACEISAVAILABLEFORCOMMUTATION ASWELL.7ITHTHIS,THEUSERCANINTERFACETOANYENCODERBYJUSTWRITINGPOSITIONSEXTRACTEDFROMEXTERNAL ENCODERINTOTHISREGULATOR.&ROMTHEDECODERENGINEPOINTOFVIEWTHISISJUSTONEMORESELECTABLEENCODER SOURCE.

4.7.10 ENCODERINITIALIzATION3UPPORT

4HE4-#4671NEEDSPROPERFEEDBACKFORCORRECTANDSTABLEOPERATION./NEMAINPARAMETERISTHECOM- MUTATIONANGLEO ﬀSET0(I?%?/&&3%4.4HISOﬀSETMUSTNOTBECALCULATEDWHENANABSOLUTESENSORSYSTEM LIKEANALOGORDIGITAL(ALLSENSORSISUSED.ALLOTHERSUPPORTEDFEEDBACKSYSTEMSNEEDTOBEINITIALIZED- THEIR0(I?%?/&&3%4SNEEDTOBEIDENTI 1ED.4HEUSERHASSEVERALOPTIONSTODETERMINE0( I?%?/&&3%4WITH SUPPORTOFTHE4-#4671.

4.7.10.1 ENCODERINITIALIzATIONIN/PEN-,OOP-ODE

INTHECASEOFAFREEDRIVINGMOTOR,THEMOTORCANBESWITCHEDTO/PEN-,OOP-ODE. INTHISMODE,THE USEDCOMMUTATIONANGLE(0(I?/0%.?,//0)CANBEUSEDTOMATCHTHEMEASURED0( I?%.4HISMETHODIS SUPPORTEDBYTHE4-#,-ID%.

4.7.10.2 ENCODERINITIALIzATIONBY-INIMAL-OVEMENT

IFTHEMOTORSHALLNOTMAKEABIGMOVEDURINGINITIALIZATION,THE-/4 I/.?-/D%%.#/D%2?I.I4?-I.I?-/6% CANBEUSEDWHICHDETERMINES0( I?%?/&&3%4BYRAMPINGUPTHE 2UXANDCONTROLLINGTHEMOVEMENTTO AMINIMUMBYMANIPULATINGTHEUSED0( I?%?/&&3%4.AFTERTHEPROCEDUREIS 1NISHED,THEESTIMATED 0(I?%?/&&3%4CANBEREADFROMTHEREGISTERANDUSEDASTHECORRESPONDING0( I?%?/&&3%4FORTHEFEEDBACK SYSTEM. &IGURE22:%NCODER INITIALIzATIONBYMINIMAL-OVEMENT 4HE2UXRAMPINGCANBECONTROLLEDBYSETTINGTHE5?D? I.+2-WHICHMANIPULATESTHESLOPEOFTHERAMP. 4HEMAXIMUMVOLTAGECANBESETBYTHEPARAMETER5?D?-A8.DURINGOPERATION,THECURRENTISMONITORED ANDTHEPROCESSISSTOPPEDWHENTHECURRENTLIMIT I?D?-A8ISREACHED. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 42/157 &IGURE23:&LUX2AMPING INfo &ORCORRECTOPERATIONOFTHISMODULEAFEWPARAMETERSHAVETOBESET.0LEASETRY 42I.A-I#4-#,-ID%3UPPORTFOR 1RSTUSAGEANDPARAMETERTUNING.

4.7.10.3 ENCODERINITIALIzATIONBY(ALLSENSORS

4HE4-#4671CANCALCULATE0( I?%?/&&3%4VERYPRECISELYATA(ALLSTATECHANGEFORASECONDENCODER SYSTEM,WHEN(ALLSENSORSARECORRECTLYALIGNED.4HEREFORE,THEFUNCTIONNEEDSTOBEENABLEDANDCALCULATE ANEWO ﬀSETATTHENEXT(ALLSTATECHANGE.AFTERDISABLINGOFTHEMODULE,THEPROCESSCANBESTARTEDAGAIN. 4HISFUNCTIONCANALSOBEUSEDASAROUGHPLAUSIBILITYCHECKDURINGLONGEROPERATION. 4.7.10.4 ENCODERINITIALIzATIONBY.0ULSEDETECTION AFTERDETERMINATIONOFACORRECTO ﬀSET,THEVALUECANBEUSEDAGAINAFTERPOWERCYCLE.4HEENCODER ’S. PULSECANBEUSEDASREFERENCEFORTHIS.&ORSTARTERSTHEUSERCANDRIVETHEMOTORINOPEN-LOOPMODEORBY USINGDIGITAL(ALLSENSORSIGNALS.AFTERPASSINGTHEENCODER ’S.PULSE,THEAB.ENCODERISINITIALIZEDAND CANBEUSEDFOROPERATION. 4.7.11 6ELOCITY-EASUREMENT 3ERVOCONTROLCOMPRISESPOSITION,VELOCITYANDCURRENTCONTROL.4HEPOSITIONANDTHECURRENTAREMEASURED BYSEPARATESENSORS. 4HEACTUALVELOCITYHASTOBECALCULATEDBYTIMEDISCRETEDI ﬀERENTIATIONFROMTHE POSITIONSIGNAL.THEUSERCANCHOOSEACALCULATEDPOSITIONFROMTHEVARIOUSENCODERINTERFACESFORVELOCITY MEASUREMENTBYPARAMETER6%,/# I49?3%,%#4I/.. 4HEUSERCANSWITCHBETWEENTWODI ﬀERENTVELOCITYCALCULATIONALGORITHMSWITHTHEPARAMETER6%,/#- I49?-%4%2?3%,%#4I/..DEFAULTSETTING(6%,/#I49?-%4%2?3%,%#4I/.=0)ISTHESTANDARDVELOCITYMETER, WHICHCALCULATESTHEVELOCITYATASAMPLINGRATEOFABOUT4369.067(ZBYDI ﬀERENTIATION./UTPUTVALUEIS DISPLAYEDINRPM(REVOLUTIONSPERMINUTE).4HISOPTIONISRECOMMENDEDFORUSAGEWITHTHESTANDARD0 I CONTROLLERSTRUCTURE. BYCHOOSINGTHESECONDOPTION(6%,/# I49?-%4%2?3%,%#4I/.=1),THESAMPLINGFREQUENCYISSYNCHRONIZED TOTHE07-FREQUENCY.4HISOPTIONISRECOMMENDEDFORUSAGEWITHTHEADVANCED0 ICONTROLLERSTRUCTURE. /THERWISE,THECONTROLLERSTRUCTUREMIGHTTENDTOBEUNSTABLEDUETONON-MATCHEDSAMPLING. 6ELOCITY1LTERSCANBEAPPLIEDTOREDUCENOISEONVELOCITYSIGNALS.3ECTION4.9DESCRIBES 1LTERINGOPPORTUNI- TIESINDETAIL. 4.7.12 2EFERENCE3WITCHES 4HE4-#4671ISEQUIPPEDWITHTHREEINPUTPINSFORREFERENCESWITCHES(2%&?37?,,2%&?37?(AND2%&?37?2). 4HESEPINSCANBEUSEDTODETERMINETHREEREFERENCEPOSITIONS.4HE4-#4671DISPLAYSTHESTATUSOFTHE REFERENCESWITCHESINTHEREGISTER4-#? I.0543?2A7ANDISABLETOSTORETHEACTUALPOSITIONATRISING h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 43/157 EDGEOFTHECORRESPONDINGSIGNAL.4HESIGNALPOLARITIESAREPROGRAMMABLEANDTHEMODULEREACTSONLYON TOGGLINGTHE%.AB,%REGISTER.4HESIGNALSCANBE 1LTEREDWITHACON 1GURABLEDIGITAL 1LTER,WHICHSUPPRESSES SPIKEERRORS. 4.8 &/C23ENGINE INfo 3UPPORTFORTHE4-#4671ISINTEGRATEDINTOTHE4-#,- ID%INCLUDINGWIZARDSFOR SETUPANDCON 1GURATION.7ITHTHE4-#,-ID%,CON1GURATIONANDOPERATIONCANBE DONEINAFEWSTEPSANDTHEUSERGETSDIRECTACCESSTOALLREGISTERSOFTHE4-#4671. 4HE&/#23ENGINEPERFORMSTHEINNERCURRENTCONTROLLOOPFORTHETORQUECURRENT IQ ANDTHE 2UXCURRENT ID INCLUDINGTHEREQUIREDTRANSFORMATIONS.0ROGRAMMABLELIMITERSTAKECAREOFCLIPPINGOFINTERIMRESULTS. 0ERDEFAULT,THEPROGRAMMABLECIRCULARLIMITERCLIPS5?DAND5?1TO5?D?2= (2)·5?1AND5?2?2= (2)· 5?D.0ICONTROLLERSPERFORMTHEREGULATIONTASKS. 4.8.1 0ICONTROLLERS 0ICONTROLLERSAREUSEDFORCURRENTCONTROLANDVELOCITYCONTROL.A0CONTROLLERISUSEDFORPOSITIONCONTROL. 4HEDERIVATIVEPARTISNOTYETSUPPORTEDBUTMIGHTBEADDEDINTHEFUTURE.4HEUSERCANCHOOSEBETWEEN TWO0ICONTROLLERSTRUCTURES:4HECLASSIC0 ICONTROLLERSTRUCTURE,WHICHISALSOUSEDINTHE4-#4670,AND THEADVANCED0 ICONTROLLERSTRUCTURE.4HEADVANCED0 ICONTROLLERSTRUCTURESHOWSBETTERPERFORMANCEIN DYNAMICSANDISRECOMMENDEDFORHIGHPERFORMANCEAPPLICATIONS.5SERCANSWITCHBETWEENCONTROLLERSBY SETTINGREGISTER-/D%?0 ID?490%.#ONTROLLERTYPECANNOTBESWITCHEDINDIVIDUALLYFOREACHCASCADELEVEL. 4.8.2 0ICONTROLLERCALCULATIONS-CLASSIC3TRUCTURE 4HE0ICONTROLLERSINTHECLASSICSTRUCTUREPERFORMTHEFOLLOWINGCALCULATION D8D4= 0·E+ I· ∫ t E(T)dt (20) WITH E= 8?4A2G%4−8 (21) WHERE8?4A2G%4STANDSFORTARGET 2UX,TARGETTORQUE,TARGETVELOCITY,ORTARGETPOSITIONWITHERRORE,WHICH ISTHEDI ﬀERENCEBETWEENTARGETVALUEANDACTUALVALUES.4HETIMECONSTANT dtIS1µsWITHTHEINTEGRALPART ISDIVIDEDBY256. INfo #HANGINGTHE I-PARAMETEROFTHECLASSIC0ICONTROLLERDURINGOPERATIONCAUSESTHE CONTROLLEROUTPUTTOJUMP,ASTHECONTROLERRORIS 1RSTINTEGRATEDANDTHENGAINED BYTHE IPARAMETER.BECAREFULDURINGCONTROLLERTUNINGORUSETHEADVANCED0 I CONTROLLERSTRUCTUREINSTEAD.4HENORMALIZATIONOFTHE0 IPARAMETERSMIGHTBE CHANGEDDUETOLOWPERFORMANCEATHIGH07-FREQUENCIES.4HISWILLNEEDSMALL CHANGESINUSER ’SAPPLICATIONCONTROLLERSOFTWARE. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 44/157 4.8.3 0ICONTROLLERCALCULATIONS-ADVANCED3TRUCTURE 4HE0ICONTROLLERSINTHEADVANCEDCONTROLLERSTRUCTUREPERFORMTHECALCULATION D8D4= 0·E+ ∫ t 0·I·E(T)dt (22) WITH E= 8?4A2G%4−8 (23) WHERE8?4A2G%4REPRESENTSTARGET 2UX,TARGETTORQUE,TARGETVELOCITY,ORTARGETPOSITIONWITHCONTROLERRORE, WHICHISTHEDI ﬀERENCEBETWEENTARGETVALUEANDACTUALVALUES.4HETIMECONSTANT dtISSETACCORDINGTOTHE 07-PERIODBUTCANBEDOWNSAMPLEDFORTHEVELOCITYANDPOSITIONCONTROLLERBYREGISTER-/D%?0 ID?3-0,. 6ELOCITYANDPOSITIONCONTROLLEREVALUATIONCANBEDOWN-SAMPLEDBYACONSTANTFACTORWHENNEEDED. &IGURE24:ADVANCED0 ICONTROLLER INfo 4HE0IVELOCITYCONTROLLERWILLBEGIVENADERIVATIVEPART(SOITWILLBEA0 IDCONTROLLER) INAFUTUREVERSIONOFTHECHIP.ALSO,THENORMALIZATIONOFTHE0 IPARAMETERSMIGHT BECHANGEDDUETOLOWPERFORMANCEATHIGH07-FREQUENCIES. 4HISWILLNEED CHANGESINTHEUSER ’SAPPLICATIONCONTROLLERSOFTWARE. INfo 4HE0&ACTORINTHEADVANCEDPOSITIONCONTROLLERISNOTPROPERLYSCALED. DUE TOTHEHIGHGAININVELOCITYCONTROLLOOP,THEPOSITIONCONTROLLERGAINSHOULDBE RESPECTIVELYLOW.4HE0&ACTORNORMALIZATIONOF18.8DOESNOTMATCHTHESENEEDS. 4HISWILLBECHANGEDINAFUTUREVERSIONOFTHECHIPTOADI ﬀERENT1FORMAT. 4HISCHANGEWILLNEEDCHANGESINTHEUSER ’SAPPLICATIONCONTROLLERSOFTWARE.7E RECOMMENDTOUSETHECLASSICAL0 ICONTROLSTRUCTUREIFPERFORMANCEISNOTSU ZCIENT. 4.8.4 0ICONTROLLER-CLIPPING 4HELIMITINGOFTARGETVALUESFOR0 ICONTROLLERSANDOUTPUTVALUESOF0 ICONTROLLERSISPROGRAMMABLE.0ER POWERONDEFAULTTHESELIMITSARESETTOMAXIMUMVALUES.DURINGINITIALIZATION,THESELIMITSSHOULDBESET PROPERLYFORCORRECTOPERATIONANDCLIPPING. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 45/157 4HETARGETINPUTISCLIPPEDTO8?4A2G%4?, I-I4.4HEOUTPUTOFA0 ICONTROLLERISNAMEDD8D4BECAUSEITGIVES THEDESIREDDERIVATIVED/DTASATARGETVALUETOTHEFOLLOWINGSTAGE:4HEPOSITION(X)CONTROLLERGIVESVELOCITY (DX/DT).4HEOUTPUTOFTHE0I#ONTROLLERISCLIPPEDTOD8D4?, I-I4.4HEERRORINTEGRALOF(20)ISCLIPPEDTO D8D4?,I-I4/IINTHECLASSICCONTROLLERSTRUCTURE,ANDTHEINTEGRATOROUTPUTISCLIPPEDTOD8D4?OUTPUT?LIMIT INTHEADVANCEDCONTROLLERSTRUCTURE. &IGURE25:0ICONTROLLERSFORPOSITION,VELOCITYANDCURRENT 4.8.5 0I&LUX&0 I4ORqUECONTROLLER 4HE0PARTISREPRESENTEDASQ8.8AND IISTHE IPARTREPRESENTEDASQ0.15. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 46/157 4.8.6 0I6ELOCITYCONTROLLER 4HE0PARTISREPRESENTEDASQ8.8AND IISTHE IPARTREPRESENTEDASQ0.15. 4.8.7 00OSITIONCONTROLLER &ORTHEPOSITIONREGULATOR,THE0PARTISREPRESENTEDASQ4.12TOBECOMPATIBLEWITHTHEHIGHRESOLUTION POSITIONS-ONESINGLEROTATIONISHANDLEDASANS16.&ORTHEADVANCEDCONTROLLERSTRUCTURETHE0PARTIS REPRESENTEDBYQ8.8. 4.8.8INNER&/CCONTROL,OOP-&LUX&4ORqUE 4HEINNER&/#LOOP( 1GURE26)CONTROLSTHE 2UXCURRENTTOTHE 2UXTARGETVALUEANDTHETORQUECURRENTTO THEDESIREDTORQUETARGET.4HEINNER&/#LOOPPERFORMSTHEDESIREDTRANSFORMATIONSACCORDINGTO 1GURE27 FOR3-PHASEMOTORS(&/#3).&OR2-PHASEMOTORS(&/#2)BOTH#LARKE(#,A2+%)TRANSFORMATIONANDINVERSE #LARKE(I#,A2+%)AREBYPASSED.&ORCONTROLOFD#MOTORS,TRANSFORMATIONSAREBYPASSEDANDONLYTHE 1RST FULLBRIDGE(CONNECTEDTO81AND82)ISUSED. 4HEINNER&/#CONTROLLOOPGETSATARGETTORQUEVALUE( I?1?4A2G%4)WHICHREPRESENTSACCELERATION,THEROTOR POSITION,ANDTHEMEASUREDCURRENTSASINPUTDATA.4OGETHERWITHTHEPROGRAMMED0AND IPARAMETERS, THEINNER&/#LOOPCALCULATESTHETARGETVOLTAGEVALUESASINPUTFORTHE07-ENGINE. &IGURE26:INNER&/CCONTROL,OOP 4.8.9 &/C4RANSFORMATIONSAND0I(D)FORCONTROLOF&LUX&4ORqUE 4HE#LARKETRANSFORMATION(#,A2+%)MAPSTHREEMOTORPHASECURRENTS( IU,IV,IW)TOATWO-DIMENSIONAL COORDINATESYSTEMWITHTWOCURRENTS( Iα,Iβ).BASEDONTHEACTUALROTORANGLEDETERMINEDBYANENCODER ORVIASENSORLESSTECHNIQUES,THE0ARKTRANSFORMATION(0A2+)MAPSTHESETWOCURRENTSTOAQUASI-STATIC COORDINATESYSTEMWITHTWOCURRENTS( ID,IQ).4HECURRENTID REPRESENTS2UXANDTHECURRENT IQ REPRESENTS TORQUE.4HE2UXJUSTPULLSONTHEROTORBUTDOESNOTA ﬀECTTORQUE.4HETORQUEISA ﬀECTEDBY IQ.4WO0I CONTROLLERSDETERMINETWOVOLTAGES( UD,UQ)TODRIVEDESIREDCURRENTSFORATARGETTORQUEANDATARGET 2UX. 4HEDETERMINEDVOLTAGES(UD,UQ)ARERE-TRANSFORMEDINTOTHESTATORSYSTEMBYTHEINVERSE0ARK TRANSFORMATION(I0A2+).4HEINVERSE#LARKE4RANSFORMATION(I#,A2+%)TRANSFORMSTHESETWOCURRENTSINTO THREEVOLTAGES(UU,UV,UW).4HESESTHREEVOLTAGEARETHEINPUTOFTHE07-ENGINETODRIVETHEPOWER STAGE. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 47/157 INCASEOFTHE&/#2,#LARKETRANSFORMATION#,A2+%ANDINVERSE#LARKE4RANSFORMATIONI#,A2+%ARESKIPPED. &IGURE27:&/C34RANSFORMATIONS(&/C2jUSTSKIPSC,A2K%ANDIC,A2K%) 4.8.10 -OTION-ODES 4HEUSERCANOPERATETHE4-#4671INSEVERALMOTIONMODES.3TANDARDMOTIONMODESAREPOSITIONCONTROL, VELOCITYCONTROLANDTORQUECONTROL,WHERETARGETVALUESAREFEDINTOTHECONTROLLERSVIAREGISTERACCESS.4HE MOTIONMODE5D?51?%84%2.ALLOWSTHEUSERTOSETVOLTAGESFOROPEN-LOOPOPERATIONANDFORTESTSDURING SETUP. &IGURE28:3TANDARD-OTION-ODES h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 48/157 INPOSITIONCONTROLMODE,THEUSERCANFEEDTHESTEPANDDIRECTIONINTERFACETOGENERATEAPOSITIONTARGET VALUEFORTHECONTROLLERCASCADE.ADDITIONALMOTIONMODESARETHEMOTIONMODEFORENCODERINITIALISATION (%.#/D%2?I.I4?-I.I?-/6%),ANDMOTIONMODESWHERETARGETVALUESAREFEDINTOTHE4-#4671VIA07- INTERFACE(0IN:07-?I.)ORANALOGINPUTVIAPINAG0 I?A. 4HEREAREADDITIONALMOTIONMODES,WHICHAREUSINGINPUTFROMTHE07-? IINPUTORTHEAG0 I?AINPUT. INPUTSIGNALSCANBESCALEDVIAASTANDARDSCALERPROVIDINGO ﬀSETANDGAINCORRECTION.4HEINTERFACECAN BECON1GUREDVIATHEREGISTERS3 I.G,%?0I.?I&?/&&3%4?3#A,%AND3 I.G,%?0I.?I&?34A453?#&G,WHERETHE STATUSOFTHEINTERFACECANBEMONITOREDASWELL.07-INPUTSIGNALSWHICHAREOUTOFFREQUENCYRANGECAN BENEGLECTED.INCASEOFWRONGINPUTDATA,LASTCORRECTPOSITIONISUSEDORVELOCITYANDTORQUEARESETTO ZERO. .UMBER -OTION-ODE DESCRIPTION 0 3TOPPED-ODE DISABLINGALLCONTROLLERS 1 4ORQUE-ODE 3TANDARD4ORQUE#ONTROL-ODE 2 6ELOCITY-ODE 3TANDARD6ELOCITY#ONTROL-ODE 3 0OSITION-ODE 3TANDARD0OSITION#ONTROL-ODE 4 02B3&LUX-ODE 02B36ALUEISUSEDAS4ARGET&LUX6ALUEFOR IDENT. 5 02B34ORQUE-ODE 02B36ALUEISUSEDAS4ARGET4ORQUE6ALUEFOR IDENT. 6 02B36ELOCITY-ODE 02B36ALUEISUSEDAS4ARGET6ELOCITY6ALUEFOR IDENT. 7 02B30OSITION-ODE 02B36ALUEISUSEDAS4ARGET0OSITION6ALUEFOR IDENT. 8 515D%XT-ODE 6OLTAGECONTROLMODE(3OFTWARE-ODE) 9 %NCODERINIT-INI-OVE-ODE %NCODERINITIALIZATIONBYMINIMALMOVEMENTOFTHEROTOR. 10 AG0I?A4ORQUE-ODE AG0I?AUSEDAS4ARGET4ORQUEVALUE 11 AG0I?A6ELOCITY-ODE AG0I?AUSEDAS4ARGET6ELOCITYVALUE 12 AG0I?A0OSITION-ODE AG0I?AUSEDAS4ARGET0OSITIONVALUE 13 07-?I4ORQUE-ODE 07-?IUSEDAS4ARGET4ORQUEVALUE 14 07-?I6ELOCITY-ODE 07-?IUSEDAS4ARGET6ELOCITYVALUE 15 07-?I0OSITION-ODE 07-?IUSEDAS4ARGET0OSITIONVALUE 4ABLE16:-OTION-ODES

4.8.11 BRAKECHOPPER

DURINGREGENERATIVEBRAKINGOFTHEMOTOR,CURRENTISDRIVENINTOTHED#LINK. IFTHEPOWERFRONTENDISNOT ACTIVELYCONTROLLED,THED#LINKVOLTAGEWILLRISE.4HEBRAKECHOPPEROUTPUTPIN(B2A+%)CANBEUSEDFOR CONTROLOFANEXTERNALBRAKECHOPPER,WHICHBURNSENERGYOVERABRAKERESISTOR.4HEB2A+%PINISSETTO HIGHFORACOMPLETE07-CYCLEIFMEASUREDVOLTAGEISHIGHERTHENAD#?6-?, I-I4?(IG(./NCEACTIVEITWILL BEDEACTIVATEDWHENVOLTAGEDROPSBELOWAD#?6-?, I-I4?,/7.4HISACTSLIKEAHYSTERESIS.B2A+%CANBE DEACTIVATEDBYSETTINGBOTHREGISTERSTO:ERO.BYSETTINGPROPERVALUESINTHEREGISTERSITISAUTOMATICALLY ENABLED. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 49/157 4.9 &ILTERINGAND&EED-&ORWARDCONTROL 4HE4-#4671USESDIﬀERENT1LTERSFORCERTAINTARGETANDACTUALVALUES. 7HENUSINGSTANDARDVELOCITY METER,ASTANDARDVELOCITY 1LTERISUSEDWHICHISOPTIMIZEDFORVELOCITYSIGNALSFROM(ALLSENSORS.ADDITIONAL BIQUAD1LTERSCANBEUSEDTOSUPPRESSMEASUREMENTNOISEORDAMPRESONANCES.

4.9.1 BIqUAD&ILTERS

4HE4-#4671USESSTANDARDBIQUAD 1LTERS(STANDARDII21LTEROFSECONDORDER)INTHEFOLLOWINGSTRUCTURE. INTHISEQUATION8(N)ISTHEACTUALINPUTSAMPLE,WHILE9(N-1)ISTHE 1LTEROUTPUTOFTHELASTCYCLE. ALL COEZCIENTSARE332VALUESANDARENORMALIZEDTOA13.29FORMAT. 5SERSMUSTTAKECAREOFCORRECT PARAMETRIZATIONOFTHE 1LTER.4HEREISNOBUILT-INPLAUSIBILITYORSTABILITYCHECK.ALL 1LTERSCANBEDISABLEDOR ENABLEDVIAREGISTERACCESS.BIQUADSTATEVARIABLESARERESETWHENPARAMETERSARECHANGED.4HE42 I.A-I# ID%SUPPORTSPARAMETRIZATIONWITHWIZARDS. ASTANDARDBIQUAD 1LTERHASTHEFOLLOWINGTRANSFERFUNCTIONINTHE,APLACE-DOMAIN: G(S)= B?2?CONT·s2 + B?1?CONT·S+ B?0?CONT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 50/157 4HETRANSFERFUNCTIONNEEDSTOBETRANSFORMEDTOTIMEDISCRETEDOMAINBY:-4RANSFORMATIONANDCOE Z- CIENTSNEEDTOBENORMALIZED.4HISISDONEBYTHEFOLLOWINGEQUATIONS. b?0 = round(b?0?z·229) (31) b?1 = round(b?1?z·229) (32) b?2 = round(b?2?z·229) (33) a?1 = round(−a?1?z·229) (34) a?2 = round(−a?2?z·229) (35) WHILE4ISTHESAMPLINGTIMEACCORDINGTO07-?-A8?#/5.4 ·10NSANDVARIABLESWITHINDEXZAREAUXILIARY VARIABLES. 4HEREAREFOURBIQUAD 1LTERSINTHECONTROLSTRUCTURE.&IGURE29ILLUSTRATESTHEIRPLACEMENTINTHECONTROL STRUCTURE. &IGURE29:BIQUAD&ILTERS 4HEBIQUAD 1LTERFORTHEPOSITIONTARGETVALUEISINTENDEDTOBEUSEDASALOW-PASS 1LTERFORSMOOTHENING POSITIONINPUTTOTHECONTROLSTRUCTURE. ITISEVALUATEDINEVERY07-CYCLE,ORDOWN-SAMPLEDACCORDINGTO THEDOWN-SAMPLINGFACTORFORTHEVELOCITYANDPOSITIONCONTROLLERS.AFTERPOWERINGONITISDISABLED. 4HEBIQUAD 1LTERFORTHE 2UXTARGETVALUEISALSOINTENDEDTOBEUSEDASALOW-PASS 1LTERFORINPUTVALUES FROMTHEUSER ’SMICROCONTROLLER.3AMPLINGFREQUENCYIS 1XEDTOTHE07-FREQUENCY. 4HEBIQUAD 1LTERFORTHETORQUETARGETVALUECANBEUSEDASALOW-PASS 1LTERFORBANDWIDTHLIMITATION ANDNOISESUPPRESSION.-OREOVER,ITCANBEDESIGNEDTOSUPPRESSARESONANCEORANTI-RESONANCE.3AME h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 51/157 STATEMENTSARECORRECTFORTHEVELOCITYBIQUAD 1LTER. BOTH1LTERS’SAMPLINGTIMESARE 1XEDTOTHE07- PERIOD. 4HEVELOCITYTARGETVALUEBIQUADISCON 1GUREDASASECONDORDERLOW-PASSWITHACUTO ﬀ FREQUENCYAT200(Z -BYDEFAULTATASAMPLINGFREQUENCYOF25K(Z.BIQUAD 1LTERSCANBEACTIVATEDSEPARATELY. 4.9.2 3TANDARD6ELOCITY&ILTER BYUSINGTHESTANDARDVELOCITYMEASUREMENTALGORITHM,THEDEFAULTVELOCITY 1LTERISENABLEDANDCANNOTBE SWITCHEDOﬀ.4HESTANDARDVELOCITY 1LTERISALOW-PASS1LTERWITHACUTO ﬀ FREQUENCYOF20(Z(SLOPEOF-20 DB/DECADE).INTHISCON 1GURATION,ANEWVELOCITYISCALCULATEDATASAMPLERATEOFAPPROX.4369.067(Z. 4HISCON1GURATIONISINTENDEDTOBEUSEDINLOW-PERFORMANCEAPPLICATIONSWITHASIMPLEPOSITIONFEEDBACK SYSTEMLIKEDIGITAL(ALLSENSORS. 4.9.3 &EED-&ORWARDCONTROL3TRUCTURE 4HE4-#4671PROVIDESAFEED-FORWARDCONTROLSTRUCTUREFORTORQUETARGETVALUEANDVELOCITYTARGETVALUE. 4HESTRUCTUREISINTENDEDTOSUPPORTCONTROLLERSATHIGHDYNAMICINPUTPRO 1LES.ITCANBESWITCHEDONWHEN USINGTHEADVANCED0 ICONTROLLERSTRUCTURE.4HEFEED-FORWARDVALUEISCALCULATEDWITHAD41(30)ELEMENT. %ACHD41ELEMENTCANBEPARAMETRIZEDWITHTWOPARAMETERS. &IGURE30:D41%LEMENT3TRUCTURE %QUATIONS: E= 8−INT?VAL (36) INT?VAL= EDT (37) 9= B?1·E (38) 4HECOEZCIENTSA?0ANDB?1AREREPRESENTEDIN12.30FORMAT.2EGISTERSFORPARAMETRIZATIONOFFEED-FORWARD CONTROLSTRUCTUREAREFEED?FORWARD?VELOCITY?GAIN,FEED?FORWARD?VELOCITY?1LTER?CONSTANT,FEED?FORWARD?TORQUE?GAIN, ANDFEED?FORWARD?TORQUE?1LTER?CONSTANT. 4HEINPUTTARGETVALUETOTHEVELOCITYFEED-FORWARDENTITYISTHE 1LTEREDPOSITIONTARGETVALUE.&ORTHETORQUE FEED-FORWARDENTITYTHEOUTPUTOFTHEVELOCITYFEED-FORWARDENTITYISUSED.3AMPLINGTIMEFORBOTHENTITIES ’ INTEGRATORSIS 1XEDTOTHE07-FREQUENCY. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 52/157 4HEFEED-FORWARDCONTROLSTRUCTURECANBEACTIVATEDVIAREGISTER-/D%?&&.7ITH-/D%?&&SETTO:ERO,THE CONTROLSTRUCTUREISDEACTIVATED,VALUE1ACTIVATESFEED-FORWARDCONTROLFROMPOSITIONTARGETTOVELOCITYTARGET ANDVALUE2ACTIVATESADDITIONALLYTHETORQUEFEED-FORWARDPATH.2EGISTERS&&?6%,/# I49AND&&?4/215% DISPLAYINTERNALLYCALCULATEDFEED-FORWARDVALUES. 4.10 07-ENGINE 4HE07-ENGINETAKESCAREOFCONVERTINGVOLTAGEVECTORSTOPULSEWIDTHMODULATED(07-)CONTROLSIGNALS. 4HESEDIGITAL07-SIGNALSCONTROLTHEGATEDRIVERSOFTHEPOWERSTAGE.&ORADETAILEDDESCRIPTIONOFTHE 07-CONTROLREGISTERSAND07-REGISTERCONTROLBITSPLS.REFERSECTION6PAGE56. 4HEEASE-OF-USE07-ENGINEREQUIRESJUSTACOUPLEOFPARAMETERSETTINGS.0RIMARILY,THEPOLARITIESFORTHE GATECONTROLSIGNALOFHIGH-SIDEANDLOW-SIDEMUSTBESET.4HEPOWERONDEFAULT07-MODEIS0,MEANING 07-=/&&.&OROPERATION,THECENTERED07-MODEMUSTBESWITCHEDONBYSETTINGTHE07-MODETO7. ASINGLEBITSWITCHESTHESPACEVECTOR07-(3607-)ON.&OR3-PHASE0-3-,THE3607-=/.GIVESMORE EﬀECTIVEVOLTAGE..EVERTHELESS,FORSOMEAPPLICATIONSITMAKESSENSETOSWITCHTHE3607-=/&&TOKEEP THESTARPOINTVOLTAGEOFAMOTORALMOSTATREST. 4.10.1 07-0OLARITIES 4HE07-POLARITIESREGISTER(07-?0/,A2 I4I%3)CONTROLSTHEPOLARITIESOFTHECONTROLSIGNALS. 0OSITIVE POLARITYFORGATECONTROLMEANS1REPRESENTS/.AND0REPRESENTS/&&.4HEGATECONTROLSIGNALPOLARITIES AREINDIVIDUALLYPROGRAMMABLEFORLOW-SIDEGATECONTROLANDFORHIGH-SIDEGATECONTROL.4HE07-POLARITIES REGISTERCONTROLSTHEPOLARITYOFOTHERCONTROLSIGNALSASWELL. 4.10.2 07-&REqUENCY 4HE07-COUNTERMAXIMUMLENGTHREGISTER07-?-A8#.4CONTROLSTHE07-FREQUENCY. &ORACLOCK FREQUENCYF#,+=25-(Z,THE07-FREQUENCYF07-;(Z==(4.0 ·F#,+;(Z=)/(07-?-A8#.4+1).7ITH F#,+=25-(ZANDPOWER-ONRESET(0/2)DEFAULTOF07-?-A8#.4=3999,THE07-FREQUENCYF07-= 25K(Z.4HE07-FREQUENCYF07-ISRECOMMENDEDTOBEINTHERANGEOF25K(ZTO100K(ZBYSETTING 07-?-A8#.4BETWEEN3999TO999. Note 4HE07-FREQUENCYISTHEFUNDAMENTALFREQUENCYOFTHECONTROLSYSTEM. ITCANBE CHANGEDATANYTIME,ALSODURINGMOTIONFORTHECLASSIC0 ICONTROLLERSTRUCTURE.4HE ADVANCED0ICONTROLLERSTRUCTUREISTIEDTOTHE07-FREQUENCYANDINTEGRATORGAINS HAVETOBECHANGED.0LEASEMAKESURETOSETCURRENTMEASUREMENTDECIMATION RATESTO 1T07-PERIODINHIGHPERFORMANCEAPPLICATIONS. INfo 0LEASEBEINFORMEDTHATLATERVERSIONSOFTHECHIPWILLSUPPORTLOWER07-FRE- QUENCIES.4HISMIGHTAﬀECTTHEUSER ’SSOFTWARE. 4.10.3 07-2ESOLUTION 4HEBASERESOLUTIONOFTHE07-IS12BITINTERNALLYMAPPEDTO16BITRANGE.4HEMINIMAL07-INCREMENT IS20NSDUETOTHESYMMETRICAL07-WITH100-(ZCOUNTERFREQUENCY.-A8?07-#.4=4095GIVESTHE FULLRESOLUTIONOF12BITWITH ≈25K(ZW/F#,+=25-(Z.-A8?07-#.4=2047RESULTSIN11BITRESOLUTION, BUTWITH ≈50K(ZW/F#,+=25-(Z.3OTHE07-?-A8#.4DE 1NESTHE07-FREQUENCY,BUTALSOA ﬀECTSTHE RESOLUTIONOFTHE07-. INfo 4HE07-RESOLUTIONMIGHTBEINCREASEDINAFUTUREVERSIONOFTHECHIP. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 53/157 4.10.4 07--ODES 4HEPOWER-ONRESET(0/2)DEFAULTOFTHE07-IS/&&.4HESTANDARD07-SCHEMEISTHECENTERED07-. 0ASSIVEBRAKINGANDFREEWHEELINGMODESAREAVAILABLEONDEMAND.0LEASEREFERTOSECTION6CONCERNING THESETTINGS. INfo 4HE07-MODESMIGHTBECHANGEDINAFUTUREVERSIONOFTHECHIPTOSUPPORT SO-CALLEDTWO-SWITCHMODULATIONOR2AT-BOTTOMMODULATION.

4.10.5 BREAK-BEFORE--AKE(BB-)

/NEREGISTERCONTROLSBB-TIMEFORTHEHIGHSIDE,ANOTHERREGISTERCONTROLSBB-TIMEFORTHELOWSIDE.4HE BB-TIMESAREPROGRAMMABLEIN10NSSTEPS.4HEBB-TIMECANBESETTOZEROFORGATEDRIVERSTHATHAVE THEIROWNINTEGRATEDBB-TIMERS. &IGURE31:BB-4IMING INfo -EASUREDBB-TIMESAT-/3-&%4GATESDI ﬀERFROMPROGRAMMEDBB-TIMESDUE TODRIVERDELAYSANDPOSSIBLEADDITIONALGATEDRIVERBB-TIMES.4HEPROGRAMMED BB-TIMESAREFORTHEDIGITALCONTROLSIGNALS. Note 4OOSHORTBB-TIMESCAUSEELECTRICALSHORTCUTSOFTHE-/3-&%4BRIDGES-SOCALLED SHOOTTHROUGH-THATSHORTTHEPOWERSUPPLYANDMIGHTDAMAGETHEPOWERSTAGE ANDTHEPOWERSUPPLY. INfo BB-TIMEREGISTERSMIGHTBECHANGEDINAFUTUREVERSIONOFTHISCHIPTOSUPPORT LONGERBB-TIMESTHEN2.55US. 4.10.6 3PACE6ECTOR07-(3607-) Note 4HE3PACE6ECTOR07-DOESNOTALLOWHIGHERVOLTAGEUTILIZATION.4HISWILLBE 1XED INNEXTVERSIONOFTHECHIP. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 54/157 ASINGLEBITENABLESTHE3PACE6ECTOR07-(3607-)..OFURTHERSETTINGSAREREQUIREDFORTHESPACEVECTOR 07--JUST/.OR/&&.4HEPOWERONDEFAULTFORTHE3607-IS/&&.3PACE6ECTOR07-CANBEENABLED TOMAXIMIZEVOLTAGEUTILIZATIONINTHECASEOFANISOLATEDSTARPOINTOFTHEMOTOR. IFTHESTARPOINTISNOT ISOLATED,UNINTENDEDCURRENT 2OWSTHROUGHTHESTARPOINT.3PACE6ECTOR07-ISONLYUSEDFORTHREE-PHASE MOTORS.&OROTHERMOTORSTHE3607-MUSTBESWITCHEDO ﬀ. 5 3AFETY&UNCTIONS DIﬀERENTSAFETYFUNCTIONSAREINTEGRATEDANDMAPPEDTOSTATUSBITS.APROGRAMMABLEMASKREGISTERSELECTS BITSFORACTIVATIONOFTHE34A453OUTPUT. INTERNALHARDWARELIMITERSFORREALTIMECLIPPINGANDMONITORINGOFINTERIMVALUESAREAVAILABLE., I-I4OR ,I-I43ISPARTOFREGISTERNAMESOFREGISTERSASSOCIATEDTOINTERNALLIMITERS.0LEASEREFERTOTABLE17. BIT 3OURCE 0 PID?X?TARGET?LIMIT 1 PID?X?TARGET?DDT?LIMIT 2 PID?X?ERRSUM?LIMIT 3 PID?X?OUTPUT?LIMIT 4 PID?V?TARGET?LIMIT 5 PID?V?TARGET?DDT?LIMIT 6 PID?V?ERRSUM?LIMIT 7 PID?V?OUTPUT?LIMIT 8 PID?ID?TARGET?LIMIT 9 PID?ID?TARGET?DDT?LIMIT 10 PID?ID?ERRSUM?LIMIT 11 PID?ID?OUTPUT?LIMIT 12 PID?IQ?TARGET?LIMIT 13 PID?IQ?TARGET?DDT?LIMIT 14 PID?IQ?ERRSUM?LIMIT 15 PID?IQ?OUTPUT?LIMIT 16 IPARK?CIRLIM?LIMIT?U?D 17 IPARK?CIRLIM?LIMIT?U?Q 18 IPARK?CIRLIM?LIMIT?U?R 19 NOT?0,,?LOCKED 20 REF?SW?R 21 REF?SW?H 22 REF?SW?L 23 —— - h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 55/157 24 PWM?MIN 25 PWM?MAX 26 ADC?I?CLIPPED 27 ADC?AENC?CLIPPED 28 %.#?. 29 %.#2?. 30 A%.#?. 31 WD?ERROR 4ABLE17:3TATUS&LAGS2EGISTER ALLCONTROLLERSHAVEINPUTLIMITERSASO ﬀSETSCANBEADDEDTOTARGETVALUESANDTHEYCANBELIMITEDTO REMAININCERTAINRANGES.ALSOALLCONTROLLEROUTPUTSCANBELIMITEDANDTHEINTEGRATINGPARTS(ERRORSUMS) OFTHE0 ICONTROLLERSAREALSOLIMITEDTOCONTROLLEROUTPUTS. IFD/DT-LIMITERSAREENABLEDTHEYAREALSOCAPABLE OFLIMITINGTARGETVALUES. IFONEOFTHESELIMITERSGETSACTIVE,THE 2AGWILLGOTOHIGHSTATE.4HISISUSUALLYANORMALOPERATION,WHEN CONTROLLERSAREWORKINGONTHEBORDERSOFTHEIRWORKINGAREA.7ITH34A453?-A3+REGISTERCORRESPONDING 2AGSCANBEACTIVATED. /THERSTATUS 2AGSGOTOHIGHSTATEWHETHERTHEVOLTAGELIMITATIONISREACHED(CIRCULARLIMITERINI0ARK TRANSFORMATION)OR07-ISSATURATED(PWM?MINANDPWM?MAX).4HISISALSOUSUALOPERATIONASTHECURRENT CONTROLLERHASTODEALWITHVOLTAGELIMITATIONATHIGHVELOCITYOPERATION. 4HEUSERCANALSOUSETHESTATUSOUTPUTTOGENERATEAN I21ONREFERENCESWITCHOR.-CHANNELOFENCODER. ALSOAD#CLIPPINGCANBEMONITOREDWHICHISAGOODINDICATOROFWRONGORFAULTYBEHAVIOUR. 2EMAININGWD?ERRORSTATUS 2AGINDICATESANERRORONTHECLOCKINPUTOFTHE4-#4671(SEEFOLLOWINGSECTION). 5.1 7ATCHDOG 4HE4-#4671USESANINTERNAL2#OSCILLATORTOMONITORTHECLOCKINPUTSIGNAL#,+. IFDURINGOPERATIONTHE #,+SIGNALISLOST,THEUSERCANPROGRAMTHE4-#4671FORDI ﬀERENTRESPONSESVIAREGISTER7A4#(D/G?#&G. 0OWERONDEFAULTACTIONIS:NOACTION,OTHERWISETHE%.AB,%?/54SIGNALCANBEREMOVEDTODISABLETHE POWERSTAGEORTHE4-#4671CANBERESET. INfo 4HERESETOPTIONDOESNOTWORKINTHE4-#4671-%3. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 56/157 6 2EGISTER-AP 4HE4-#4671HASANREGISTERADDRESSRANGEOF128ADDRESSESWITHREGISTERSUPTO32BITDATAWIDTH.3OME REGISTERSHOLD32BITDATA,SOMEHOLD2X16BITDATAANDOTHERHOLDCOMBINATIONSOFDATADE 1NEDBYDATA MASKS.4HISSECTIONDESCIBESTHEREGISTERBANKOFTHE4-#4671. 3ECTION6.1GIVESANOVERVIEWOVERALLREGISTERSANDSECTION6.2GIVESTHEDETAILEDDESCRIPTIONOFALLREGISTERS. 6.1 2EGISTER-AP/VERVIEW ADDRESS 2EGISTERNAME ACCESS 0X00H #(I0I.&/?DA4A 2 0X01H #(I0I.&/?ADD2 27 0X02H AD#?2A7?DA4A 2 0X03H AD#?2A7?ADD2 27 0X05H DSAD#?-#,+?A 27 0X06H DSAD#?-#,+?B 27 0X0AH AD#?I?3%,%#4 27 0X0BH AD#?I1?I0?%84 27 0X12H AD#?I79?I58 2 0X13H AD#?I6 2 0X15H A%.#?79?58 2 0X16H A%.#?6. 2 0X17H 07-?0/,A2I4I%3 27 0X19H 07-?BB-?(?BB-?, 27 0X1#H 0(I?%?%84 27 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 57/157 ADDRESS 2EGISTERNAME ACCESS 0X1DH 0(I?-?%84 27 0X24H 51?5D?%84 27 0X25H AB.?D%#/D%2?-/D% 27 0X26H AB.?D%#/D%2?002 27 0X2AH AB.?D%#/D%2?0(I?%?0(I?- 2 0X2#H AB.?2?D%#/D%2?-/D% 27 0X2DH AB.?2?D%#/D%2?002 27 0X31H AB.?2?D%#/D%2?0(I?- 2 0X33H (A,,?-/D% 27 0X38H (A,,?D0(I?-A8 27 0X3AH (A,,?0(I?- 2 0X3BH A%.#?D%#/D%2?-/D% 27 0X3DH A%.#?D%#/D%2?0(I?A?2A7 2 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 58/157 ADDRESS 2EGISTERNAME ACCESS 0X4DH #/.&IG?DA4A 27 0X4%H #/.&IG?ADD2 27 0X53H 0(I?% 2 0X5AH 0ID?0/3I4I/.?0?0/3I4I/.?I 27 0X5DH 0ID/54?51?5D?,I-I43 27 0X5&H 0ID?A##%,%2A4I/.?,I-I4 27 0X60H 0ID?6%,/#I49?,I-I4 27 0X61H 0ID?0/3I4I/.?,I-I4?,/7 27 0X62H 0ID?0/3I4I/.?,I-I4?(IG( 27 0X66H 0ID?6%,/#I49?4A2G%4 27 0X68H 0ID?0/3I4I/.?4A2G%4 27 0X6AH 0ID?6%,/#I49?A#45A, 2 0X6BH 0ID?0/3I4I/.?A#45A, 27 0X6#H 0ID?%22/2?DA4A 2 0X6DH 0ID?%22/2?ADD2 27 0X6%H I.4%2I-?DA4A 27 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 59/157 ADDRESS 2EGISTERNAME ACCESS 0X6&H I.4%2I-?ADD2 27 0X74H 7A4#(D/G?#&G 27 0X75H AD#?6-?,I-I43 27 0X76H 4-#4671?I.0543?2A7 2 0X77H 4-#4671?/540543?2A7 2 0X78H 34%0?7ID4( 27 0X79H 5A24?B03 27 0X7AH 5A24?ADD23 27 0X7BH G0I/?DSAD#I?#/.&IG 27 0X7#H 34A453?&,AG3 27 0X7DH 34A453?-A3+ 27 4ABLE18:4-C46712EGISTERS h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 60/157 6.2 2EGISTER-AP&ULL 2EGISTER-APFOR4-#4671 ADDRESS 2EGISTERNAME ACCESS 0X00H #(I0I.&/?DA4A 2 6ARIANT0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 (ARDWARETYPE(A3#II). 6ARIANT1 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 (ARDWAREVERSION(U16.U16). 6ARIANT2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 (ARDWAREDATE(NIBBLEWISEDATESTAMPYYYYMMDD). 6ARIANT3 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 0 (ARDWARETIME(NIBBLEWISETIMESTAMP –HHMMSS) 6ARIANT4 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 6ARIANT5 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 61/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 4294967295 0 0X01H #(I0I.&/?ADD2 27 -ASK .AME 4YPE 0X000000&&H #(I0?I.&/?ADD2%33 #HOICE -IN -AX DEFAULT 5NIT 0 5 0 0:3I?490% 1:3I?6%23I/. 2:3I?DA4% 3:3I?4I-% 4:3I?6A2IA.4 5:3I?B5I,D 0X02H AD#?2A7?DA4A 2 6ARIANT0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWPHASECURRENT I0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWPHASECURRENT I1 6ARIANT1 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 AWSUPPLYVOLTAGEVALUE. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 62/157 ADDRESS 2EGISTERNAME ACCESS 0 65535 0 2AWANALOGGPIAVALUE. 6ARIANT2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWANALOGGPIBVALUE. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWANALOGENCODERSIGNAL. 6ARIANT3 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWANALOGENCODERSIGNAL. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2AWANALOGENCODERSIGNAL. 0X03H AD#?2A7?ADD2 27 -ASK .AME 4YPE 0X000000&&H AD#?2A7?ADD2 #HOICE -IN -AX DEFAULT 5NIT 0 3 0 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 63/157 ADDRESS 2EGISTERNAME ACCESS 0X00000003H CFG?DSMODULATOR?A #HOICE -IN -AX DEFAULT 5NIT 0 3 0 0:INT.DS-/D 1:EXT.DS-/DWITH-#,+INPUT 2:EXT.DS-/DWITH-#,+OUTPUT 3:EXT.DS-/DWITHEXT.#-0 -ASK .AME 4YPE 0X00000004H MCLK?POLARITY?A BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:DATAISSAMPLEDONRISINGEDGE 1:DATAISSAMPLEDONFALLINGEDGE -ASK .AME 4YPE 0X00000008H MDAT?POLARITY?A BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:-DA4ISNOTINVERTED 1:-DA4ISINVERTED -ASK .AME 4YPE 0X00000010H SEL?NCLK?MCLK?I?A BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:-#,+ISUSED(DIVIDEDCLOCK) 1:#,+(100-(Z)ISUSED -ASK .AME 4YPE 0X000000&&00H BLANKING?A 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X00030000H CFG?DSMODULATOR?B #HOICE -IN -AX DEFAULT 5NIT 0 3 0 0:INT.DS-/D 1:EXT.DS-/DWITH-#,+INPUT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 64/157 ADDRESS 2EGISTERNAME ACCESS 2:EXT.DS-/DWITH-#,+OUTPUT 3:EXT.DS-/DWITHEXT.#-0 -ASK .AME 4YPE 0X00040000H MCLK?POLARITY?B BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:DATAISSAMPLEDONRISINGEDGE 1:DATAISSAMPLEDONFALLINGEDGE -ASK .AME 4YPE 0X00080000H MDAT?POLARITY?B BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:-DA4ISNOTINVERTED 1:-DA4ISINVERTED -ASK .AME 4YPE 0X00100000H SEL?NCLK?MCLK?I?B BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:-#,+ISUSED(DIVIDEDCLOCK) 1:#,+(100-(Z)ISUSED -ASK .AME 4YPE 0X&&000000H BLANKING?B 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 0X05H DSAD#?-#,+?A 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 214748365 0X06H DSAD#?-#,+?B 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 65/157 ADDRESS 2EGISTERNAME ACCESS 0 4294967295 214748365 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 256 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 256 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 /ﬀSETFORCURRENTAD#CHANNEL1. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 256 3CALINGFACTORFORCURRENTAD#CHANNEL1. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 /ﬀSETFORCURRENTAD#CHANNEL0. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 256 3CALINGFACTORFORCURRENTAD#CHANNEL0. 0X0AH AD#?I?3%,%#4 27 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 66/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 3 0 3ELECTINPUTFORRAWCURRENTAD#? I0?2A7. 0:AD#3D?I0?2A7(SIGMADELTAAD#) 1:AD#3D?I1?2A7(SIGMADELTAAD#) 2:AD#?I0?%84(FROMREGISTER) 3:AD#?I1?%84(FROMREGISTER) -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 3 1 3ELECTINPUTFORRAWCURRENTAD#? I1?2A7. 0:AD#3D?I0?2A7(SIGMADELTAAD#) 1:AD#3D?I1?2A7(SIGMADELTAAD#) 2:AD#?I0?%84(FROMREGISTER) 3:AD#?I1?%84(FROMREGISTER) -ASK .AME 4YPE 0X03000000H AD#?I?58?3%,%#4 #HOICE -IN -AX DEFAULT 5NIT 0 2 0 0:58=AD#? I0(DEFAULT) 1:58=AD#? I1 2:58=AD#? I2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 2 1 0:6=AD#? I0 1:6=AD#? I1(DEFAULT) 2:6=AD#? I2 -ASK .AME 4YPE 0X30000000H AD#?I?79?3%,%#4 #HOICE -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 67/157 ADDRESS 2EGISTERNAME ACCESS 0 2 2 0:79=AD#? I0 1:79=AD#? I1 2:79=AD#? I2(DEFAULT) 0X0BH AD#?I1?I0?%84 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2EGISTERFORWRITEOFAD#? I0VALUEFROMEXTERNALSOURCE(EG. #05). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 2EGISTERFORWRITEOFAD#? I1VALUEFROMEXTERNALSOURCE(EG. #05). -ASK .AME 4YPE 0X0000000&H AD#?I0 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X000000&0H AD#?I1 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 68/157 ADDRESS 2EGISTERNAME ACCESS 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X00000&00H AD#?6- #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X0000&000H AD#?AG0I?A #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X000&0000H AD#?AG0I?B #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 69/157 ADDRESS 2EGISTERNAME ACCESS 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X00&00000H AD#?A%.#?58 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X0&000000H AD#?A%.#?6. #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE 0X&0000000H AD#?A%.#?79 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 70/157 ADDRESS 2EGISTERNAME ACCESS 0:I.0VS.I.. 1:G.DVS.I.. 2:6DD/4 3:3*6DD/4 4:I.0VS.G.D 5:6DD/2 6:6DD/4 7:3*6DD/4 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 /ﬀSETFORANALOG%NCODERAD#CHANNEL0. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 256 3CALINGFACTORFORANALOG%NCODERAD#CHANNEL0. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 /ﬀSETFORANALOG%NCODERAD#CHANNEL1. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 256 3CALINGFACTORFORANALOG%NCODERAD#CHANNEL1. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 71/157 ADDRESS 2EGISTERNAME ACCESS /ﬀSETFORANALOG%NCODERAD#CHANNEL2. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 256 3CALINGFACTORFORANALOG%NCODERAD#CHANNEL2. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 2 0 3ELECTANALOGENCODERAD#CHANNELFORRAWANALOGENCODER SIGNALA%.#?0?2A7. 0:A%.#?58?2A7(DEFAULT) 1:A%.#?6.?2A7 2:A%.#?79?2A7 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 2 1 3ELECTANALOGENCODERAD#CHANNELFORRAWANALOGENCODER SIGNALA%.#?1?2A7. 0:A%.#?58?2A7 1:A%.#?6.?2A7(DEFAULT) 2:A%.#?79?2A7 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 2 2 3ELECTANALOGENCODERAD#CHANNELFORRAWANALOGENCODER SIGNALA%.#?2?2A7. 0:A%.#?58?2A7 1:A%.#?6.?2A7 2:A%.#?79?2A7(DEFAULT) 0X12H AD#?I79?I58 2 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 72/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 2EGISTEROFSCALEDCURRENTAD#VALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHE&/#. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2EGISTEROFSCALEDCURRENTAD#VALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHE&/#. 0X13H AD#?I6 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2EGISTEROFSCALEDCURRENTAD#VALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHE&/#. 0X15H A%.#?79?58 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2EGISTEROFSCALEDANALOGENCODERVALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHEINTERPOLATOR. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2EGISTEROFSCALEDANALOGENCODERVALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHEINTERPOLATOR. 0X16H A%.#?6. 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 73/157 ADDRESS 2EGISTERNAME ACCESS 2EGISTEROFSCALEDANALOGENCODERVALUEINCLUDINGSIGNEDADDED OﬀSETASINPUTFORTHEINTERPOLATOR. 0X17H 07-?0/,A2I4I%3 27 -ASK .AME 4YPE 0X00000001H 07-?0/,A2I4I%3;0= BOOL -IN -AX DEFAULT 5NIT 0 1 0 POLARITYOF,OW3IDE(,3)GATECONTROLSIGNAL 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H 07-?0/,A2I4I%3;1= BOOL -IN -AX DEFAULT 5NIT 0 1 0 POLARITYOF(IGH3IDE((3)GATECONTROLSIGNAL 0:Oﬀ 1:ON -ASK .AME 4YPE 0X0000&&&&H 07-?-A8#.4 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 3999 07- MAXIMUM (COUNT-1), 07- FREQUENCY IS F07-;(Z= = 0X19H 07-?BB-?(?BB-?, 27 -ASK .AME 4YPE 0X000000&&H 07-?BB-?, 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 20 BREAKBEFORE-AKETIMETBB-?,;10NS=FORLOWSIDE-/3-&%4 GATECONTROL -ASK .AME 4YPE 0X0000&&00H 07-?BB-?( 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 20 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 74/157 ADDRESS 2EGISTERNAME ACCESS BREAKBEFORE-AKETIMETBB-?(;10NS=FORHIGHSIDE-/3-&%4 GATECONTROL -ASK .AME 4YPE 0X000000&&H 07-?#(/0 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 07-CHOPPERMODE,DE 1NINGHOWTOCHOPPER 0:07-=/&&,FREERUNNING 1:07-=/&&,,OW3IDE(,3)PERMANENT=/. 2:07-=/&&,(IGH3IDE((3)PERMANENT=/. 3:07-Oﬀ,FREERUNNING 4:07-Oﬀ,FREERUNNING 5: 07-LOWSIDE(,3)CHOPPERONLY,HIGHSIDE((3)O ﬀ; NOT SUITABLEFOR&/# 6: 07-HIGHSIDE((3)CHOPPERONLY,LOWSIDE(,3)O ﬀ; NOT SUITABLEFOR&/# 7:CENTERED07-FOR&/# -ASK .AME 4YPE 0X00000100H 07-?36 BOOL -IN -AX DEFAULT 5NIT 0 1 0 USE3PACE6ECTOR07- 0:3PACE6ECTOR07-DISABLED 1:3PACE6ECTOR07-ENABLED -ASK .AME 4YPE 0X0000&&&&H .?0/,%?0AI23 5NSIGNED -IN -AX DEFAULT 5NIT 1 65535 1 .UMBERNOFPOLEPAIRSOFTHEMOTORFORCALCUALTIONPHI?E= PHI?M/.?0/,%?0AI23. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 3 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 75/157 ADDRESS 2EGISTERNAME ACCESS 0:.OMOTOR 1:3INGLEPHASED#MOTOR 2:4WOPHASE3TEPPERMOTOR 3:4HREEPHASEB,D#MOTOR 0X1#H 0(I?%?%84 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 %LECTRICALANGLEPHI?E?EXTFOREXTERNALWRITINGINTOTHISREGISTER. 0X1DH 0(I?-?%84 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ECHANICALANGLEPHI?M?EXTFOREXTERNALWRITINGINTOTHISREGIS- TER. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 -ECHANICAL(MULTITURN)POSITIONFOREXTERNALWRITINGINTOTHIS REGISTER. -ASK .AME 4YPE 0X00001000H /0%.,//0?0(I?DI2%#4I/. BOOL -IN -AX DEFAULT 5NIT 0 1 0 /PENLOOPPHIDIRECTION. 0:POSITIVE 1:NEGATIVE -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 76/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 4294967295 0 ACCELERATIONOFOPENLOOPPHI. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 4ARGETVELOCITYOFOPENLOOPPHI. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 ACTUALVELOCITYOFOPENLOOPGENERATOR. -ASK .AME 4YPE 0X0000&&&&H /0%.,//0?0(I 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 ANGLEPHIOPENLOOP(EITHERMAPPEDTOELECTRICALANGELPHI?E ORMECHANICALANGLEPHI?M). 0X24H 51?5D?%84 27 -ASK .AME 4YPE 0X0000&&&&H 5D?%84 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 %XTERNALWRITABLEPARAMETERFOROPENLOOPVOLTAGECONTROL MODE,USEFULLDURINGSYSTEMSETUP,5?DCOMPONENT. -ASK .AME 4YPE 0X&&&&0000H 51?%84 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 %XTERNALWRITABLEPARAMETERFOROPENLOOPVOLTAGECONTROL MODE,USEFULLDURINGSYSTEMSETUP,5?1COMPONENT. 0X25H AB.?D%#/D%2?-/D% 27 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 77/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE 0X00000001H APOL BOOL -IN -AX DEFAULT 5NIT 0 1 0 0OLARITYOFAPULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H BPOL BOOL -IN -AX DEFAULT 5NIT 0 1 0 0OLARITYOFBPULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000004H NPOL BOOL -IN -AX DEFAULT 5NIT 0 1 0 0OLARITYOF.PULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H USE?ABN?AS?N BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:IGNOREAANDBPOLARITYWITH.PULSE=.,1:.PULSE=.AND AANDB 0:IGNOREAANDBPOLARITYWITH.PULSE=. 1:.PULSE=.ANDAANDB -ASK .AME 4YPE 0X00000100H CLN BOOL -IN -AX DEFAULT 5NIT 0 1 0 #LEARWRITESAB.?D%#/D%2?#/5.4?.INTODECODERCOUNTAT .PULSE. 0:Oﬀ h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 78/157 ADDRESS 2EGISTERNAME ACCESS 1:ON -ASK .AME 4YPE 0X00001000H DIRECTION BOOL -IN -AX DEFAULT 5NIT 0 1 0 DECODERCOUNTDIRECTION. 0:POSITIVE 1:NEGATIVE 0X26H AB.?D%#/D%2?002 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 65536 DECODERPULESPERMECHANICALREVOLUTION. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 0 2AWDECODERCOUNT;THEDIGITALDECODERENGINECOUNTSMODULO (DECODER?PPR). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 0 DECODERCOUNTLATCHEDON.PULSE,WHEN.PULSECLEARSDE- CODER?COUNTALSODECODER?COUNT?NIS0. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 AB.?D%#/D%2?0(I?-?/&&3%4 TO SHIFT (ROTATE) ANGLE D%- #/D%2?0(I?-. -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 79/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 AB.?D%#/D%2?0(I?%?/&&3%4 TO SHIFT (ROTATE) ANGLE D%- #/D%2?0(I?%. 0X2AH AB.?D%#/D%2?0(I?%?0(I?- 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 0X2#H AB.?2?D%#/D%2?-/D% 27 -ASK .AME 4YPE 0X00000001H APOL BOOL -IN -AX DEFAULT 5NIT 0 1 0 0OLARITYOFAPULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H BPOL BOOL -IN -AX DEFAULT 5NIT 0 1 0 0OLARITYOFBPULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000004H NPOL BOOL -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 80/157 ADDRESS 2EGISTERNAME ACCESS 0 1 0 0OLARITYOF.PULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H USE?ABN?AS?N BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:IGNOREAANDBPOLARITYWITH.PULSE=.,1:.PULSE=.AND AANDB 0:IGNOREAANDBPOLARITYWITH.PULSE=. 1:.PULSE=.ANDAANDB -ASK .AME 4YPE 0X00000100H CLN BOOL -IN -AX DEFAULT 5NIT 0 1 0 #LEARWRITESAB.?2?D%#/D%2?#/5.4?.INTODECODERCOUNT AT.PULSE. 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00001000H DIRECTION BOOL -IN -AX DEFAULT 5NIT 0 1 0 DECODERCOUNTDIRECTION. 0:POSITIVE 1:NEGATIVE 0X2DH AB.?2?D%#/D%2?002 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 1 16777215 65536 DECODER?2PULESPERMECHANICALREVOLUTION. 4HIS2NDAB. ENCODERINTERFACEISFORPOSITIONINGORVELOCITYCONTROLBUT./4 FORMOTORCOMMUTATION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 81/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 0 2AWDECODER?2COUNT;THEDIGITALDECODERENGINECOUNTSMOD- ULO(DECODER?2?PPR). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 16777215 0 DECODER?2COUNTLATCHEDON.PULSE,WHEN.PULSECLEARS DECODER?2?COUNTALSODECODER?2?COUNT?NIS0. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 AB.?2?D%#/D%2?0(I?-?/&&3%4TOSHIFT(ROTATE)ANGLED%- #/D%2?2?0(I?-. 0X31H AB.?2?D%#/D%2?0(I?- 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 0X33H (A,,?-/D% 27 -ASK .AME 4YPE 0X00000001H POLARITY BOOL -IN -AX DEFAULT 5NIT 0 1 0 POLARITY 0:Oﬀ 1:ON -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 82/157 ADDRESS 2EGISTERNAME ACCESS 0X00000100H INTERPOLATION BOOL -IN -AX DEFAULT 5NIT 0 1 0 INTERPOLATION 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00001000H DIRECTION BOOL -IN -AX DEFAULT 5NIT 0 1 0 DIRECTION 0:Oﬀ 1:ON -ASK .AME 4YPE 0X0&&&0000H (A,,?B,A.+ 5NSIGNED -IN -AX DEFAULT 5NIT 0 4095 0 TB,A.+=10NS*(A,,?B,A.+ -ASK .AME 4YPE 0X0000&&&&H (A,,?0/3I4I/.?000 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 S16HALLSENSORPOSITIONAT0o -ASK .AME 4YPE 0X&&&&0000H (A,,?0/3I4I/.?060 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 10922 S16HALLSENSORPOSITIONAT60o. -ASK .AME 4YPE 0X0000&&&&H (A,,?0/3I4I/.?120 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 21845 S16HALLSENSORPOSITIONAT120o. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 83/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE 0X&&&&0000H (A,,?0/3I4I/.?180 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 -32768 S16HALLSENSORPOSITIONAT180o. -ASK .AME 4YPE 0X0000&&&&H (A,,?0/3I4I/.?240 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 -21846 S16HALLSENSORPOSITIONAT240o. -ASK .AME 4YPE 0X&&&&0000H (A,,?0/3I4I/.?300 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 -10923 S16HALLSENSORPOSITIONAT300o. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /ﬀSETOFMECHANICALANGLEHALL?PHI?MOFHALLDECODER. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /ﬀSETFORELECTRICALANGLEHALL?PHI?EOFHALLDECODER. 0X38H (A,,?D0(I?-A8 27 -ASK .AME 4YPE 0X0000&&&&H (A,,?D0(I?-A8 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 10922 -AXIMUMDXFORINTERPOLATION(DEFAULTFORDIGITALHALL:U16/6). -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 84/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 2AWELECTRICALANGLEHALL?PHI?EOFHALLDECODER,SELECTIONPRO- GRAMMEDVIA(A,,?-/D%CONTROLBIT. -ASK .AME 4YPE 0X&&&&0000H (A,,?0(I?%?I.4%20/,A4%D 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 INTERPOLATEDELECTRICALANGLEHALL?PHI?E?INTERPOLATED,SELECTION PROGRAMMEDVIA(A,,?-/D%CONTROLBIT. 0X3AH (A,,?0(I?- 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ECHANICALANGLEHALL?PHI?MOFHALLDECODER. 0X3BH A%.#?D%#/D%2?-/D% 27 -ASK .AME 4YPE 0X00000001H A%.#?D%#/D%2?-/D%;0= BOOL -IN -AX DEFAULT 5NIT 0 1 0 N89?567:0:3IN#OS-ODE//1:0o120o240o-ODE 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00001000H A%.#?D%#/D%2?-/D%;12= BOOL -IN -AX DEFAULT 5NIT 0 1 0 DECODERCOUNTDIRECTION 0:POSITIVE 1:NEGATIVE -ASK .AME 4YPE 0X0000&&&&H A%.#?D%#/D%2?.?4(2%3(/,D 5NSIGNED h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 85/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 65535 0 4HRESHOLDFORGENERATINGOF.PULSEFROMANALOGA%.#?.SIGNAL (ONLYNEEDEDFORANALOG3IN#OSENCODERSWITHANALOG.SIGNAL). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /PTIONALPOSITIONMASK(POSITION)FORTHEANALOG.PULSEWITHIN PHI?APERIODTOBEAND-EDWITHTHEDIGITAL.PULSEGENERATED VIAAENC?DECODER?N?THRESHOLD. 0X3DH A%.#?D%#/D%2?0(I?A?2A7 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2AWANALOGANGLEPHICALCULATEDFROMANALOGA%.#INPUTS (ANALOGHALL,ANALOG3IN#OS,...). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /ﬀSETFORANGLEPHIFROMANALOGDECODER(ANALOGHALL,ANALOG 3IN#OS,...). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 2ESULTINGPHIAVAILABLEFORTHE&/#(PHI?EMIGHTNEEDTOBE CALCULATEDFROMTHISANGLEVIAAENC?DECODER?PPR,FORANALOG HALLSENSORSPHI?AMIGHTBEUSEDDIRECTLYASPHI?EDEPENDSON ANALOGHALLSIGNALTYPE). -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 86/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 1 .UMBEROFPERIODSPERREVOLUTIONALSOCALLEDLINESPERREVOLU- TION(DIﬀERENTNOMENCLATURCOMPAREDTODIGITALAB.ENCODERS). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 DECODERPOSITION,RAWUNSCALED. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 ,ATCHEDDECODERPOSITIONONANALOG.PULSEEVENT. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /ﬀSETFORMECHANICALANGLEPHI?M. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 /ﬀSETFORELECTRICALANGLEPHI?E. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 2ESULTINGANGLEPHI?M. -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 87/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 2ESULTINGANGLEPHI?E. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 -ULTI-TURNPOSITION. 0X4DH #/.&IG?DA4A 27 6ARIANT1 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT4 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT5 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT6 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 88/157 ADDRESS 2EGISTERNAME ACCESS 6ARIANT7 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON 6ARIANT9 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT10 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT12 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT13 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT14 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT15 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 89/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON 6ARIANT17 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT18 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT20 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT21 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT22 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT23 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 90/157 ADDRESS 2EGISTERNAME ACCESS 1:ON 6ARIANT25 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT26 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT28 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT29 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT30 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT31 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON 6ARIANT32 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 91/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT33 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT40 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT41 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT42 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT43 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT50 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT51 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 92/157 ADDRESS 2EGISTERNAME ACCESS 0X0000&&&&H REF?SWITCH?CON1G 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT52 -ASK .AME 4YPE 0X00000001H %NCODER?INIT?HALL?%NABLE BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON 6ARIANT60 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X&&&&0000H 3I.G,%?0I.?I&?34A453 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT61 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 /ﬀSETFORSCALINGOF3INGLEPIN INTERFACEINPUT -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32767 32767 0 GAINFACTOROF3INGLEPIN INTERFACEINPUT 0X4%H #/.&IG?ADD2 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 1 52 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 93/157 ADDRESS 2EGISTERNAME ACCESS 1:BIQUAD?X?A?1 2:BIQUAD?X?A?2 4:BIQUAD?X?B?0 5:BIQUAD?X?B?1 6:BIQUAD?X?B?2 7:BIQUAD?X?ENABLE 9:BIQUAD?V?A?1 10:BIQUAD?V?A?2 12:BIQUAD?V?B?0 13:BIQUAD?V?B?1 14:BIQUAD?V?B?2 15:BIQUAD?V?ENABLE 17:BIQUAD?T?A?1 18:BIQUAD?T?A?2 20:BIQUAD?T?B?0 21:BIQUAD?T?B?1 22:BIQUAD?T?B?2 23:BIQUAD?T?ENABLE 25:BIQUAD?F?A?1 26:BIQUAD?F?A?2 28:BIQUAD?F?B?0 29:BIQUAD?F?B?1 30:BIQUAD?F?B?2 31:BIQUAD?F?ENABLE 32:PRBS?AMPLITUDE 33:PRBS?DOWN?SAMPLING?RATIO 40:FEED?FORWARD?VELOCITY?GAIN 41:FEED?FORWARD?VELICITY?1LTER?CONSTANT 42:FEED?FORWARD?TORQUE?GAIN 43:FEED?FORWARD?TORGUE?1LTER?CONSTANT 51:REF?SWITCH?CON1G 52:%NCODER?INIT?HALL?%NABLE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 94/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 12 0 3ELECTSTHESOURCEOFTHEVELOCITYSOURCEFORVELOCITYMEASURE- MENT. 0:PHI?ESELECTEDVIA0( I?%?3%,%#4I/. 1:PHI?E?EXT 2:PHI?E?OPENLOOP 3:PHI?E?ABN 4:RESERVED 5:PHI?E?HAL 6:PHI?E?AENC 7:PHI?A?AENC 8:RESERVED 9:PHI?M?ABN 10:PHI?M?ABN?2 11:PHI?M?AENC 12:PHI?M?HAL -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 1 0 0:DEFAULTVELOCITYMETER(1XEDFREQUENCYSAMPLING) 1:ADVANCEDVELOCITYMETER(TIMEDIﬀERENCEMEASUREMENT) -ASK .AME 4YPE 0X000000&&H 0/3I4I/.?3%,%#4I/. #HOICE -IN -AX DEFAULT 5NIT 0 12 0 0:PHI?ESELECTEDVIA0( I?%?3%,%#4I/. 1:PHI?E?EXT 2:PHI?E?OPENLOOP 3:PHI?E?ABN h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 95/157 ADDRESS 2EGISTERNAME ACCESS 4:RESERVED 5:PHI?E?HAL 6:PHI?E?AENC 7:PHI?A?AENC 8:RESERVED 9:PHI?M?ABN 10:PHI?M?ABN?2 11:PHI?M?AENC 12:PHI?M?HAL -ASK .AME 4YPE 0X000000&&H 0(I?%?3%,%#4I/. #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:RESERVED 1:PHI?E?EXT 2:PHI?E?OPENLOOP 3:PHI?E?ABN 4:RESERVED 5:PHI?E?HAL 6:PHI?E?AENC 7:PHI?A?AENC 0X53H 0(I?% 2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 ANGLEUSEDFORTHEINNER&/#LOOP. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 96/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE 0X0000&&&&H 0ID?4/215%?I 3IGNED -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?4/215%?0 3IGNED -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 32767 0 0X5AH 0ID?0/3I4I/.?0?0/3I4I/.?I 27 -ASK .AME 4YPE 0X0000&&&&H 0ID?0/3I4I/.?I 3IGNED -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?0/3I4I/.?0 3IGNED -IN -AX DEFAULT 5NIT 0 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 32767 32767 ;1/US= h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 97/157 ADDRESS 2EGISTERNAME ACCESS ,IMITSOFCHANGEINTIME;D/DT=OFTHETARGETTORQUEANDTARGET 2UX. 0X5DH 0ID/54?51?5D?,I-I43 27 -ASK .AME 4YPE 0X0000&&&&H 0ID/54?51?5D?,I-I43 5NSIGNED -IN -AX DEFAULT 5NIT 0 32767 23169 4WODIMENSIONALCIRCULARLIMITERFORINPUTSOFI0ARK. -ASK .AME 4YPE 0X0000&&&&H 0ID?4/215%?&,58?,I-I43 5NSIGNED -IN -AX DEFAULT 5NIT 0 32767 32767 0IDTORQUELIMTAND0 ID2UXLIMIT,LIMITSTHETARGETVALUESCOM- INGFROMTHETARGETREGISTERS. 0X5&H 0ID?A##%,%2A4I/.?,I-I4 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 2147483647 ACCELERATIONLIMIT. 0X60H 0ID?6%,/#I49?,I-I4 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 2147483647 6ELOCITYLIMIT. 0X61H 0ID?0/3I4I/.?,I-I4?,/7 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -21474836482147483647-2147483647 0OSITIONLIMITLOW,PROGRAMMABLEPOSITONBARRIER. 0X62H 0ID?0/3I4I/.?,I-I4?(IG( 27 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 98/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -214748364821474836472147483647 0OSITIONLIMITHIGH,PROGRAMMABLEPOSITONBARRIER. -ASK .AME 4YPE 0X000000&&H -/D%?-/4I/. #HOICE -IN -AX DEFAULT 5NIT 0 15 0 0:STOPPED?MODE 1:TORQUE?MODE 2:VELOCITY?MODE 3:POSITION?MODE 4:PRBS?2UX?MODE 5:PRBS?TORQUE?MODE 6:PRBS?VELOCITY?MODE 7:PRBS?POSITION?MODE 8:UQ?UD?EXT 9:ENC?INIT?MINI?MOVE 10:AG0I?ATORQUE?MODE 11:AG0I?AVELOCITY?MODE 12:AG0I?APOSITION?MODE 13:07-?ITORQUE?MODE 14:07-?IVELOCITY?MODE 15:07-?IPOSITION?MODE -ASK .AME 4YPE 0X0000&&00H -/D%?2A-0 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:NOVELOCITYRAMPING 1:RESERVED 2:RESERVED 3:RESERVED 4:RESERVED 5:RESERVED h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 99/157 ADDRESS 2EGISTERNAME ACCESS 6:RESERVED 7:RESERVED -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 2 0 0:DISABLED 1:FEEDFORWARDVELOCITYCONTROL 2:FEEDFORWARDTORQUECONTROL -ASK .AME 4YPE 0X7&000000H -/D%?0ID?3-0, 5NSIGNED -IN -AX DEFAULT 5NIT 0 127 0 #ONTROLLERDOWNSAMPLINGFACTORFORADVANCEDVELOCITYANDPO- SITIONCONTROLLER -ASK .AME 4YPE 0X80000000H -/D%?0ID?490% #HOICE -IN -AX DEFAULT 5NIT 0 1 0 0:#LASSIC0IARCHITECTURE 1:ADVANCED0IARCHITECTURE -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?4/215%?4A2G%4 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 100/157 ADDRESS 2EGISTERNAME ACCESS &LUXOﬀSETFORFEEDFORWARDCONTROL. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 4ORQUEOﬀSETFORFEEDFORWARDCONTROL. 0X66H 0ID?6%,/#I49?4A2G%4 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 4ARGETVELOCITYREGISTER(FORVELOCITYMODE). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ELOCITYOﬀSETFORFEEDFORWARDCONTROL. 0X68H 0ID?0/3I4I/.?4A2G%4 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 4ARGETPOSITIONREGISTER(FORPOSITIONMODE). -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?4/215%?A#45A, 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 0X6AH 0ID?6%,/#I49?A#45A, 2 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 101/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -214748364821474836470 ACTUALVELOCITY. 0X6BH 0ID?0/3I4I/.?A#45A, 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 ACTUAL MULTI TURN POSITION FOR POSITIONING. 72 I4% ON 0ID?0/3I4I/.?A#45A, WRITES SAME VALUE INTO 0ID?0/3I4I/.?4A2G%4TOAVOIDUNWANTEDMOVE. 0X6#H 0ID?%22/2?DA4A 2 6ARIANT0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDTORQUEERROR. 6ARIANT1 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID2UXERROR. 6ARIANT2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDVELOCITYERROR. 6ARIANT3 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 102/157 ADDRESS 2EGISTERNAME ACCESS -214748364821474836470 0IDPOSITIONERROR. 6ARIANT4 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDTORQUEERROR. 6ARIANT5 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID2UXERRORSUM. 6ARIANT6 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDVELOCITYERRORSUM. 6ARIANT7 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDPOSITIONERRORSUM. 0X6DH 0ID?%22/2?ADD2 27 -ASK .AME 4YPE 0X000000&&H 0ID?%22/2?ADD2 #HOICE -IN -AX DEFAULT 5NIT 0 7 0 0:0ID?4/215%?%22/2 1:0ID?&,58?%22/2 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 103/157 ADDRESS 2EGISTERNAME ACCESS 0X6%H I.4%2I-?DA4A 27 6ARIANT0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDI.TARGETTORQUE. 6ARIANT1 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDI.TARGET 2UX. 6ARIANT2 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDI.TARGETVELOCITY. 6ARIANT3 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0IDI.TARGETPOSITION. 6ARIANT4 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID/54TARGETTORQUE. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 104/157 ADDRESS 2EGISTERNAME ACCESS 6ARIANT5 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID/54TARGET 2UX. 6ARIANT6 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID/54TARGETVELOCITY. 6ARIANT7 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 0ID/54TARGETPOSITION. 6ARIANT8 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT9 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT10 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 105/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT11 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT12 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT13 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT14 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 106/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT15 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT16 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT17 -ASK .AME 4YPE 0X0000&&&&H 07-?58 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 07-?79 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT18 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 107/157 ADDRESS 2EGISTERNAME ACCESS 6ARIANT19 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT20 -ASK .AME 4YPE 0X000000&&H 0ID?&,58?A#45A,?DI6256 3IGNED -IN -AX DEFAULT 5NIT -128 127 0 -ASK .AME 4YPE 0X0000&&00H 0ID?4/215%?A#45A,?DI6256 3IGNED -IN -AX DEFAULT 5NIT -128 127 0 -ASK .AME 4YPE 0X00&&0000H 0ID?&,58?4A2G%4?DI6256 3IGNED -IN -AX DEFAULT 5NIT -128 127 0 -ASK .AME 4YPE 0X&&000000H 0ID?4/215%?4A2G%4?DI6256 3IGNED -IN -AX DEFAULT 5NIT -128 127 0 6ARIANT21 -ASK .AME 4YPE 0X0000&&&&H 0ID?4/215%?A#45A, 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?4/215%?4A2G%4 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 108/157 ADDRESS 2EGISTERNAME ACCESS 6ARIANT22 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT23 -ASK .AME 4YPE 0X0000&&&&H 0ID?6%,/#I49?A#45A,?DI6256 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?6%,/#I49?4A2G%4?DI6256 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT24 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?6%,/#I49?4A2G%4?,3B 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT25 -ASK .AME 4YPE 0X0000&&&&H 0ID?0/3I4I/.?A#45A,?DI6256 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?0/3I4I/.?4A2G%4?DI6256 3IGNED -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 109/157 ADDRESS 2EGISTERNAME ACCESS -32768 32767 0 6ARIANT26 -ASK .AME 4YPE 0X0000&&&&H 0ID?0/3I4I/.?A#45A,?,3B 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H 0ID?0/3I4I/.?4A2G%4?,3B 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT28 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT29 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT30 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT31 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 110/157 ADDRESS 2EGISTERNAME ACCESS 6ARIANT32 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT33 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT34 -ASK .AME 4YPE 0X0000&&&&H %.#?I.I4?(A,,?34A453 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT35 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT36 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT37 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT40 -ASK .AME 4YPE 0X0000&&&&H %.#?I.I4?-I.I?-/6%?34A453 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 111/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT41 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT42 -ASK .AME 4YPE 0X0000&&&&H 3I.G,%?0I.?I&?4A2G%4?4/215% 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT43 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT44 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT192 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?0 3IGNED h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 112/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?1 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT193 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?2 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?3 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT194 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?4 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?5 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT195 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?6 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?7 3IGNED -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT196 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 113/157 ADDRESS 2EGISTERNAME ACCESS 0X0000&&&&H D%B5G?6A,5%?8 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?9 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT197 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?10 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?11 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT198 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?12 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?13 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT199 -ASK .AME 4YPE 0X0000&&&&H D%B5G?6A,5%?14 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H D%B5G?6A,5%?15 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT200 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 114/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT201 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT202 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT203 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 6ARIANT208 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 6ARIANT209 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 6ARIANT210 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 115/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT211 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -32768 32767 0 6ARIANT212 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 6ARIANT213 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 6ARIANT214 -ASK .AME 4YPE 0X0000&&&&H 34A453?0A2A-?0 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H 34A453?0A2A-?1 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 6ARIANT215 -ASK .AME 4YPE 0X0000&&&&H 34A453?0A2A-?2 5NSIGNED -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 116/157 ADDRESS 2EGISTERNAME ACCESS 0 65535 0 -ASK .AME 4YPE 0X&&&&0000H 34A453?0A2A-?3 5NSIGNED -IN -AX DEFAULT 5NIT 0 65535 0 0X6&H I.4%2I-?ADD2 27 -ASK .AME 4YPE 0X000000&&H I.4%2I-?ADD2 #HOICE -IN -AX DEFAULT 5NIT 0 215 0 1:0IDI.?4A2G%4?&,58 2:0IDI.?4A2G%4?6%,/#I49 3:0IDI.?4A2G%4?0/3I4I/. 7:0ID/54?4A2G%4?0/3I4I/. 8:&/#?I79?I58 9:&/#?I6 10:&/#?IB?IA 11:&/#?I1?ID 12:&/#?51?5D 14:&/#?5B?5A 15:&/#?579?558 16:&/#?56 17:07-?79?58 18:07-?56 19:AD#?I1?I0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 117/157 ADDRESS 2EGISTERNAME ACCESS 25:0ID?0/3I4I/.?4A2G%4?0/3I4I/.?A#45A,?DI6256 26:0ID?0/3I4I/.?4A2G%4?0/3I4I/.?A#45A, 27:&&?6%,/#I49 28:&&?4/215% 31:(/-%?0/3I4I/. 32:,%&4?0/3I4I/. 33:2IG(4?0/3I4I/. 40:ENC?INIT?MINI?MOVE?U?D?STATUS 44:3I.G,%?0I.?I&?4A2G%4?0/3I4I/. 200:D%B5G?6A,5%?16 201:D%B5G?6A,5%?17 202:D%B5G?6A,5%?18 203:D%B5G?6A,5%?19 208:#/.&IG?2%G?0 209:#/.&IG?2%G?1 210:#42,?0A2A-?10 211:#42,?0A2A-?32 212:34A453?2%G?0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 118/157 ADDRESS 2EGISTERNAME ACCESS 213:34A453?2%G?1 214:34A453?0A2A-?10 215:34A453?0A2A-?32 0X74H 7A4#(D/G?#&G 27 -ASK .AME 4YPE 0X00000003H 7A4#(D/G?#&G #HOICE -IN -AX DEFAULT 5NIT 0 3 0 0:.OACTIONONWATCHDOGERROR 1:07-ANDPOWERSTAGEDISABLEONWATCHDOGERROR 2:GLOBALRESETONWATCHDOGERROR 3:RESERVED 0X75H AD#?6-?,I-I43 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 65535 ,OWLIMITFORBRAKECHOPPEROUTPUTB2A+%?/54. -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 65535 65535 (IGHLIMITFORBRAKECHOPPEROUTPUTB2A+%?/54. 0X76H 4-#4671?I.0543?2A7 2 -ASK .AME 4YPE 0X00000001H AOFAB.?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 AOFAB.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H BOFAB.?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 119/157 ADDRESS 2EGISTERNAME ACCESS BOFAB.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000004H .OFAB.?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 .OFAB.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000010H AOFAB.?2?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 AOFAB.?2?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000020H BOFAB.?2?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 BOFAB.?2?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000040H .OFAB.?2?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 120/157 ADDRESS 2EGISTERNAME ACCESS .OFAB.?2?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000080H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000100H (A,,?58OF(A,,?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 (A,,?58OF(A,,?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000200H (A,,?6OF(A,,?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 (A,,?6OF(A,,?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000400H (A,,?79OF(A,,?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 (A,,?79OF(A,,?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000800H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 121/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00001000H 2%&?37?2?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 2%&?37?2?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00002000H 2%&?37?(?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 2%&?37?(?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00004000H 2%&?37?,?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 2%&?37?,?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00008000H %.AB,%?I.?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 %.AB,%?I.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00010000H 340OFD I2340?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 122/157 ADDRESS 2EGISTERNAME ACCESS 340OFD I2340?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00020000H DI2OFD I2340?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 DI2OFD I2340?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00040000H 07-?I.?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?I.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00080000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00100000H (A,,?58?&I,4 BOOL -IN -AX DEFAULT 5NIT 0 1 0 %3I?0OF%3 I?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00200000H (A,,?6?&I,4 BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 123/157 ADDRESS 2EGISTERNAME ACCESS %3I?1OF%3I?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00400000H (A,,?79?&I,4 BOOL -IN -AX DEFAULT 5NIT 0 1 0 %3I?2OF%3 I?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00800000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X01000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X02000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X04000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 124/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X08000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X10000000H 07-?ID,%?,?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?ID,%?,?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X20000000H 07-?ID,%?(?2A7 BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?ID,%?(?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X40000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 D26?%22?I.?2A7 0:Oﬀ 1:ON -ASK .AME 4YPE 0X80000000H - BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 125/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON 0X77H 4-#4671?/540543?2A7 2 -ASK .AME 4YPE 0X00000001H 4-#4671?/540543?2A7;0= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?581?, 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H 4-#4671?/540543?2A7;1= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?581?( 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000004H 4-#4671?/540543?2A7;2= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?682?, 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H 4-#4671?/540543?2A7;3= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?682?( 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000010H 4-#4671?/540543?2A7;4= BOOL -IN -AX DEFAULT 5NIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 126/157 ADDRESS 2EGISTERNAME ACCESS 0 1 0 07-?791?, 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000020H 4-#4671?/540543?2A7;5= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?791?( 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000040H 4-#4671?/540543?2A7;6= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?92?, 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000080H 4-#4671?/540543?2A7;7= BOOL -IN -AX DEFAULT 5NIT 0 1 0 07-?92?( 0:Oﬀ 1:ON 0X78H 34%0?7ID4( 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT -214748364821474836470 34%07ID4(=0=>340PULSESIGNORED,RESULTINGDIRECTION= DI28/2SIGN(34%0?7ID4(),EﬀECTS0ID?0/3I4I/.?4A2G%4 0X79H 5A24?B03 27 -ASK .AME 4YPE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 127/157 ADDRESS 2EGISTERNAME ACCESS -IN -AX DEFAULT 5NIT 0 16777215 9600 9600,115200,921600,3000000(DEFAULT=9600) 0X7AH 5A24?ADD23 27 -ASK .AME 4YPE 0X000000&&H ADD2?A 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X0000&&00H ADD2?B 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X00&&0000H ADD2?# 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X&&000000H ADD2?D 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 0X7BH G0I/?DSAD#I?#/.&IG 27 -ASK .AME 4YPE 0X00000001H G0I/?DSAD#I?#/.&IG;0= BOOL -IN -AX DEFAULT 5NIT 0 1 0 3%,?NDBG30I-?G0I/ 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H G0I/?DSAD#I?#/.&IG;1= BOOL -IN -AX DEFAULT 5NIT 0 1 0 3%,?NG0I/?DSAD#3?A 0:Oﬀ 1:ON h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 128/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE 0X00000004H G0I/?DSAD#I?#/.&IG;2= BOOL -IN -AX DEFAULT 5NIT 0 1 0 3%,?NG0I/?DSAD#3?B 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H G0I/?DSAD#I?#/.&IG;3= BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000010H G0I/?DSAD#I?#/.&IG;4= BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000020H G0I/?DSAD#I?#/.&IG;5= BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000040H G0I/?DSAD#I?#/.&IG;6= BOOL -IN -AX DEFAULT 5NIT 0 1 0 0:Oﬀ 1:ON h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 129/157 ADDRESS 2EGISTERNAME ACCESS -ASK .AME 4YPE 0X00&&0000H G0/ 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 -ASK .AME 4YPE 0X&&000000H G0I 5NSIGNED -IN -AX DEFAULT 5NIT 0 255 0 0X7#H 34A453?&,AG3 27 -ASK .AME 4YPE 0X00000001H 34A453?&,AG3;0= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?X?TARGET?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000002H 34A453?&,AG3;1= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?X?TARGET?DDT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000004H 34A453?&,AG3;2= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?X?ERRSUM?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000008H 34A453?&,AG3;3= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?X?OUTPUT?LIMIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 130/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000010H 34A453?&,AG3;4= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?V?TARGET?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000020H 34A453?&,AG3;5= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?V?TARGET?DDT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000040H 34A453?&,AG3;6= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?V?ERRSUM?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000080H 34A453?&,AG3;7= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?V?OUTPUT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000100H 34A453?&,AG3;8= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?ID?TARGET?LIMIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 131/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000200H 34A453?&,AG3;9= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?ID?TARGET?DDT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000400H 34A453?&,AG3;10= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?ID?ERRSUM?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00000800H 34A453?&,AG3;11= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?ID?OUTPUT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00001000H 34A453?&,AG3;12= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?IQ?TARGET?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00002000H 34A453?&,AG3;13= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?IQ?TARGET?DDT?LIMIT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 132/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00004000H 34A453?&,AG3;14= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?IQ?ERRSUM?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00008000H 34A453?&,AG3;15= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PID?IQ?OUTPUT?LIMIT 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00010000H 34A453?&,AG3;16= BOOL -IN -AX DEFAULT 5NIT 0 1 0 IPARK?CIRLIM?LIMIT?U?D 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00020000H 34A453?&,AG3;17= BOOL -IN -AX DEFAULT 5NIT 0 1 0 IPARK?CIRLIM?LIMIT?U?Q 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00040000H 34A453?&,AG3;18= BOOL -IN -AX DEFAULT 5NIT 0 1 0 IPARK?CIRLIM?LIMIT?U?R h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 133/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00080000H 34A453?&,AG3;19= BOOL -IN -AX DEFAULT 5NIT 0 1 0 NOT?0,,?LOCKED 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00100000H 34A453?&,AG3;20= BOOL -IN -AX DEFAULT 5NIT 0 1 0 REF?SW?R 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00200000H 34A453?&,AG3;21= BOOL -IN -AX DEFAULT 5NIT 0 1 0 REF?SW?H 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00400000H 34A453?&,AG3;22= BOOL -IN -AX DEFAULT 5NIT 0 1 0 REF?SW?L 0:Oﬀ 1:ON -ASK .AME 4YPE 0X00800000H 34A453?&,AG3;23= BOOL -IN -AX DEFAULT 5NIT 0 1 0 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 134/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X01000000H 34A453?&,AG3;24= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PWM?MIN 0:Oﬀ 1:ON -ASK .AME 4YPE 0X02000000H 34A453?&,AG3;25= BOOL -IN -AX DEFAULT 5NIT 0 1 0 PWM?MAX 0:Oﬀ 1:ON -ASK .AME 4YPE 0X04000000H 34A453?&,AG3;26= BOOL -IN -AX DEFAULT 5NIT 0 1 0 ADC?I?CLIPPED 0:Oﬀ 1:ON -ASK .AME 4YPE 0X08000000H 34A453?&,AG3;27= BOOL -IN -AX DEFAULT 5NIT 0 1 0 AENC?CLIPPED 0:Oﬀ 1:ON -ASK .AME 4YPE 0X10000000H 34A453?&,AG3;28= BOOL -IN -AX DEFAULT 5NIT 0 1 0 ENC?N h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 135/157 ADDRESS 2EGISTERNAME ACCESS 0:Oﬀ 1:ON -ASK .AME 4YPE 0X20000000H 34A453?&,AG3;29= BOOL -IN -AX DEFAULT 5NIT 0 1 0 ENC?2?N 0:Oﬀ 1:ON -ASK .AME 4YPE 0X40000000H 34A453?&,AG3;30= BOOL -IN -AX DEFAULT 5NIT 0 1 0 AENC?N 0:Oﬀ 1:ON -ASK .AME 4YPE 0X80000000H 34A453?&,AG3;31= BOOL -IN -AX DEFAULT 5NIT 0 1 0 WD?ERROR 0:Oﬀ 1:ON 0X7DH 34A453?-A3+ 27 -ASK .AME 4YPE -IN -AX DEFAULT 5NIT 0 4294967295 0 4ABLE19:2EGISTER-APFOR4-C4671 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 136/157 7 0INNING &IGURE32:4-C46710INOUTWITH3PHASE0OWERSTAGEANDB,DC-OTOR &IGURE33:4-C46710INOUTWITH3TEPPER-OTOR h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 137/157 &IGURE34:4-C46710INOUTWITHDC-OTOROR6OICECOIL INfo ALLPOWERSUPPLYPINS(6##,6##?#/2%)MUSTBECONNECTED. ANALOGINPUTS(AI)ARE56SINGLEENDEDORDI ﬀERENTIALINPUTS(INPUTRANGE:G.DA TO65).5SEVOLTAGEDIVIDERSOROPERATIONALAMPLI 1ERSTOSCALEDOWNHIGHERINPUT VOLTAGES. DIGITALINPUTS(I)RESP.(I/)ARE3.36SINGLEENDEDINPUTS. I/ DESCRIPTION AI ANALOGINPUT,3.36 I DIGITALINPUT,3.36 I/ DIGITALINPUTORDIGITALOUTPUT,DIRECTIONPROGRAMMABLE,3.36 / DIGITALOUTPUT,3.36 4ABLE20:0IN4YPEDE 1NITION h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 138/157 8 4-C46710IN4ABLE .AME 0IN I/ DESCRIPTION N234 50 I ACTIVELOWRESETINPUT #,+ 51 I CLOCKINPUT;NEEDSTOBE25-(ZFORCORRECTTIMING 4%34 54 I 4%34INPUT,MUSTBECONNECTEDTOG.D %.I 55 I ENABLEINPUT %./ 32 / ENABLEOUTPUT 34A453 12 / OUTPUTFORINTERRUPTOF#05(7ARNING&3TATUS #HANGE) 30I?N3#3 6 I 30IACTIVELOWCHIPSELECTINPUT 30I?3#+ 7 I 30ICLOCKINPUT 30I?-/3I 8 I 30IMASTEROUTSLAVEINPUT 30I?-I3/ 9 / 30IMASTERINSLAVEOUTPUT,HIGHIMPEDANCE,WHEN 30I?N3#3= ’1’ 5A24?28D 10 I 5A24RECEIVEDATA2XDFORIN-SYSTEM-USERCOMMU- NICATIONCHANNEL 5A24?48D 11 / 5A24TRANSMITDATA48DFORIN-SYSTEM-USERCOM- MUNICATIONCHANNEL 07-?I 58 I 07-INPUTFORTARGETVALUEGENERATION DI2 56 I DIRECTIONINPUTOFSTEP-DIRECTIONINTERFACE 340 57 I STEPPULSEINPUTFORSTEP-DIRECTIONINTERFACE (A,,?58 38 I DIGITALHALLINPUT(1FOR3-PHASE(5)OR2-PHASE(8) (A,,?6 37 I DIGITALHALLINPUT(2FOR3-PHASE(6) (A,,?79 36 I DIGITALHALLINPUT(3FOR3-PHASE(7)OR2-PHASE(9) %.#?A 35 I AINPUTOFINCREMENTALENCODER %.#?B 34 I BINPUTOFINCREMENTALENCODER %.#?. 33 I .INPUTOFINCREMENTALENCODER %.#2?A 64 I AINPUTOFINCREMENTALENCODER %.#2?B 65 I BINPUTOFINCREMENTALENCODER %.#2?. 66 I .INPUTOFINCREMENTALENCODER 2%&?, 67 I ,EFT(,)REFERENCESWITCH 2%&?( 68 I (OME(()REFERENCESWITCH 2%&?2 69 I 2IGHT(2)REFERENCESWITCH AD#?I0?0/3 16 AI POS.INPUTFORPHASECURRENTSIGNALMEASUREMENT I0(I?5,I?8) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 139/157 .AME 0IN I/ DESCRIPTION AD#?I0?.%G 17 AI NEG.INPUTFORPHASECURRENTSIGNALMEASUREMENT I0(I?5,I?8) AD#?I1?0/3 18 AI POS.INPUTFORPHASECURRENTSIGNALMEASUREMENT I1(I?6,I?7,I?9) AD#?I1?.%G 19 AI NEG.INPUTFORPHASECURRENTSIGNALMEASUREMENT I1(I?6,I?7,I?9) AD#?6- 20 AI ANALOGINPUTFORMOTORSUPPLYVOLTAGEDIVIDER(6-) MEASUREMENT AG0I?A 21 AI ANALOGGENERALPURPOSEINPUTA(ANALOGG0 I) AG0I?B 22 AI ANALOGGENERALPURPOSEINPUTB(ANALOGG0 I) A%.#?58?0/3 25 AI POS.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(5)OR2-PHASE(8(COS)) A%.#?58?.%G 26 AI NEG.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(5)OR2-PHASE(8(COS)) A%.#?6.?0/3 27 AI POS.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(6)OR2-PHASE(.) A%.#?6.?.%G 28 AI NEG.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(6)OR2-PHASE(.) A%.#?79?0/3 29 AI POS.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(7)OR2-PHASE(9(SIN)) A%.#?79?.%G 30 AI NEG.ANALOGINPUTFOR(ALLORANALOGENCODERSIGNAL, 3-PHASE(7)OR2-PHASE(9(SIN)) G0I/0/AD#?I0?-#D 70 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR AD#?I?0 G0I/1/AD#?I1?-#D 71 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR AD#?I?1 G0I/2/AD#?6-?-#D 74 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR AD#?6-?-#D G0I/3/AG0I?A?-#D/DBG30 I?N3#3 75 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR A%.#?58?-#D,30IDEBUGPORTPINDBG30 I?N3#3 G0I/4/AG0I?B?-#D/DBG30 I?3#+ 76 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR A%.#?6.?-#D,30IDEBUGPORTPINDBG30 I?3#+ G0I/5/A%.#?58?-#D/DBG30 I?-/3I 1 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR A%.#?79?-#D,30IDEBUGPORTPINDBG30 I?-/3I h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 140/157 .AME 0IN I/ DESCRIPTION G0I/6/A%.#?6.?-#D/DBG30 I?-I3/ 4 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR AG0I?A?-#D,30IDEBUGPORTPINDBG30 I?-I3/ G0I/7/A%.#?79?-#D/DBG30I?42G 5 I/ G0I/OR ∆Σ-DEMODULATORCLOCKINPUT-#,+I,CLOCK OUTPUT-#,+/,ORSINGLEBITDA#OUTPUT-DA#FOR AG0I?B?-#D,30IDEBUGPORTPINDBG30 I?42G 07-?ID,%?( 59 I IDLELEVELOFHIGHSIDEGATECONTROLSIGNALS 07-?ID,%?, 60 I IDLELEVELOFLOWSIDEGATECONTROLSIGNALS 07-?581?( 39 / HIGHSIDEGATECONTROLOUTPUT5(3-PHASE)RESP.81 (2-PHASE) 07-?581?, 40 / LOWSIDEGATECONTROLOUTPUT5(3-PHASE)RESP.81 (2-PHASE) 07-?682?( 41 / HIGHSIDEGATECONTROLOUTPUT6(3-PHASE)RESP.82 (2-PHASE) 07-?682?, 42 / LOWSIDEGATECONTROLOUTPUT6(3-PHASE)RESP.82 (2-PHASE) 07-?791?( 46 / HIGHSIDEGATECONTROLOUTPUT7(3-PHASE)RESP.91 (2-PHASE) 07-?791?, 47 / LOWSIDEGATECONTROLOUTPUT7(3-PHASE)RESP.91 (2-PHASE) 07-?92?( 48 / HIGHSIDEGATECONTROLOUTPUT92(2-PHASEONLY) 07-?92?, 49 / LOWSIDEGATECONTROLOUTPUT92(2-PHASEONLY) B2A+% 31 / BRAKECHOPPERCONTROLOUTPUTSIGNAL 4ABLE21:&UNCTIONAL0INDESCRIPTION h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 141/157 .AME 0IN I/ DESCRIPTION 6##I/1 2 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR 6##I/2 13 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR 6##I/3 43 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR 6##I/4 52 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR 6##I/5 61 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR 6##I/6 72 3.36 DIGITALI/SUPPLYVOLTAGE;USE100N&DECOUPLINGCAPACITOR G.DI/1 3 06 DIGITALI/GROUND G.DI/2 14 06 DIGITALI/GROUND G.DI/3 44 06 DIGITALI/GROUND G.DI/4 53 06 DIGITALI/GROUND G.DI/5 62 06 DIGITALI/GROUND G.DI/6 73 06 DIGITALI/GROUND 6###/2%1 15 1.86 DIGITALCORESUPPLYVOLTAGEOUTPUT;USE100N&DECOUPLINGCA- PACITOR 6###/2%2 45 1.86 DIGITALCORESUPPLYVOLTAGEOUTPUT;USE100N&DECOUPLINGCA- PACITOR 6###/2%3 63 1.86 DIGITALCORESUPPLYVOLTAGEOUTPUT;USE100N&DECOUPLINGCA- PACITOR 65 23 56 ANALOGREFERENCEVOLTAGE G.DA 24 06 ANALOGREFERENCEGROUND G.D0AD – 06 BOTTOMGROUNDPAD 4ABLE22:3UPPLY6OLTAGE0INSANDGROUND0INS h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 142/157

9 ELECTRICALCHARACTERISTICS

9.1 ABSOLUTE-AXIMUM2ATINGS

4HEMAXIMUMRATINGSMAYNOTBEEXCEEDEDUNDERANYCIRCUMSTANCES./PERATINGTHECIRCUITATOR NEARMORETHANONEMAXIMUMRATINGATATIMEFOREXTENDEDPERIODSSHALLBEAVOIDEDBYAPPLICATIONDESIGN. 0ARAMETER 3YMBOL -IN -AX 5NIT DIGITALI//SUPPLYVOLTAGE 6##I/ 3.6 6 ,OGICINPUTVOLTAGE 6I 3.6 6 -AXIMUMCURRENTDRAWNON6## I/WITHNOLOADONPINS I?I/ 70 MA -AXIMUMCURRENTDRAWNON6## I/WITHNOLOADONPINSAND CLOCKOﬀ I?I/?0(Z 3 MA -AXIMUMCURRENTDRAWNON65ATF#,+=25-(Z I?65 25 MA -AXIMUMCURRENTTO/FROMDIGITALPINSANDANALOGLOWVOLTAGE I//S II/ 10 MA *UNCTIONTEMPERATURE 4* -40 125 o# 3TORAGETEMPERATURE 434G -55 150 o# %3D-0ROTECTIONFORINTERFACEPINS((UMANBODYMODEL,(B-) 6%3DA0 2 K6 %3D-0ROTECTIONFORHANDLING((UMANBODYMODEL,(B-) 6%3D1 2 K6 AD#INPUTVOLTAGE 6AI 0 5 6 4ABLE23:ABSOLUTE-AXIMUM2ATINGS 6###/2%ISGENERATEDINTERNALLYFROM6## I/ANDSHALLNOTBEOVERPOWEREDBYEXTERNALSUPPLY.

9.2 ELECTRICALCHARACTERISTICS

9.2.1 /PERATIONAL2ANGE 0ARAMETER 3YMBOL -IN -AX 5NIT *UNCTIONTEMPERATURE 4* -40 125 o# DIGITALI//3.36SUPPLYVOLTAGE 6I/36 3.153.45 6 #ORESUPPLYVOLTAGE 6##?#/2% 1.651.95 6 4ABLE24:/PERATIONAL2ANGE 4HE∆Σ AD#SCANOPERATEINDI ﬀERENTIALORSINGLEENDEDMODE. INDIﬀERENTIALMODETHEDI ﬀERENTIALINPUT VOLTAGERANGEMUSTBEINBETWEEN-2.56AND+2.56.(OWEVER,ITISRECOMMENDEDTOUSETHEINPUTVOLTAGE RANGEFROM-1.256TO1.256,DUETONON-LINEARITYOF∆Σ AD#S.IN3INGLEENDEDMODETHEOPERATIONALINPUT RANGEOFTHEPOSITIVEINPUTCHANNELSHOULDBEBETWEEN06AND2.56.2ECOMMENDEDMAXIMUMINPUT VOLTAGEIS1.256.AD#SHAVE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 143/157

9.2.2 DCCHARACTERISTICS

D#CHARACTERISTICSCONTAINTHESPREADOFVALUESGUARANTEEDWITHINTHESPECI 1EDSUPPLYVOLTAGERANGE UNLESSOTHERWISESPECI 1ED.4YPICALVALUESREPRESENTTHEAVERAGEVALUEOFALLPARTSMEASUREDAT+25 o#. 4EMPERATUREVARIATIONALSOCAUSESSTRAYTOSOMEVALUES.ADEVICEWITHTYPICALVALUESWILLNOTLEAVE-IN/-AX RANGEWITHINTHEFULLTEMPERATURERANGE. 0ARAMETER 3YMBOL #ONDITION -IN 4YP -AX 5NIT INPUTVOLTAGELOWLEVEL 6I., 6##I/=3.36 -0.3 0.8 6 INPUTVOLTAGEHIGHLEVEL 6I.( 6##I/=3.36 2.3 3.6 6 INPUTWITHPULL-DOWN 6I.=3.36 5 30 110 µA INPUTWITHPULL-UP 6I.=06 -110-30 -5 µA INPUTLOWCURRENT 6I.=06 -10 10 µA INPUTHIGHCURRENT 6I.=6## I/ -10 10 µA /UTPUTVOLTAGELOWLEVEL 6/54, 6##I/=3.36 0.4 6 /UTPUTVOLTAGEHIGHLEVEL 6/54( 6##I/=3.36 2.64 6 /UTPUTDRIVERSTRENGTHSTANDARD I/54?D26 4 MA INPUTIMPEDANCEOFANALOG INPUT 2?AD# 4*=25o# 85 100 115 KΩ 4ABLE25:DCCHARACTERISTICS ALLI//LINESINCLUDE3CHMITT-4RIGGERINPUTSTOENHANCENOISEMARGIN. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 144/157 10 3AMPLECIRCUITS 0LEASECONSIDERELECTRICALCHARACTERISTICSWHILEDESIGNINGELECTRICALCIRCUITRY.-OST3AMPLE#IRCUITSINTHIS CHAPTERWERETAKENFROMTHE%VALUTATIONBOARDFORTHE4-#4671(4-#4671-%6A,). 10.1 3UPPLY0INS 0LEASEPROVIDE6##I/AND65TOTHE4-#4671.6##?#/2%ISINTERNALLYGENERATEDANDNEEDSJUSTANEXTERNAL DECOUPLINGCAPACITOR.0LACEONE100N&DECOUPLINGCAPACITORATEVERYSUPPLYPIN.4ABLE26LISTSADDITIONAL NEEDEDDECOUPLINGCAPACITORS. 0IN.AME 3UPPLY6OLTAGE ADDITIONALCAP. 65 56 4.7U& 6###/2% 1.86 NONE 4ABLE26:ADDITIONALDECOUPLINGCAPACITORSFORSUPPLYVOLTAGES

10.2 CLOCKAND2ESETCIRCUITRY

4HE4-#4671NEEDSANEXTERNALOSCILLATORFORCORRECTOPERATIONAT25-(Z.,OWERFREQUENCYRESULTSIN RESPECTIVESCALINGOFTIMINGS. (IGHERFREQUENCYISNOTSUPPORTED. 4HEINTERNALLYGENERATEDACTIVELOW RESETCANBEEXTERNALLYOVERWRITTEN. IFUSERSWANTTOTOGGLETHERESET,APULSELENGTHOFATLEAST500NSIS RECOMMENDED.7HENNOTUSED,PLEASEAPPLYA10K0ULLUPRESISTORANDMAKESUREALLSUPPLYVOLTAGESARE STABLE.

10.3 DIGITALENCODER,(ALL3ENSORINTERFACEAND2EFERENCE3WITCHES

DIGITALENCODERS,(ALLSENSORSANDREFERENCESWITCHESUSUALLYOPERATEONASUPPLYVOLTAGEOF56.ASTHE 4-#4671ISUSUALLYOPERATEDATA6## I/6OLTAGEOF3.36,APROTECTIONCIRCUITFORTHE4-#4671INPUTPINIS NEEDED.IN1G.35ASAMPLECIRCUITFORTHE%.#?ASIGNALISSHOWN,WHICHCANBEREUSEDFORALLENCODERAND (ALLSIGNALSASWELLASFORREFERENCESWITCHSIGNALS.0ARAMETRIZATIONOFTHECOMPONENTSISGIVENINTABLE27 FORDIﬀERENTOPERATIONS. &IGURE35:3AMPLECIRCUITFOR INTERFACINGOFAN%NCODER3IGNAL h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 145/157 APPLICATION RPU RPD RLN CP 56%NCODERSIGNAL 4+7 N.C. 1002 100P& 4ABLE27:2EFERENCE6ALUESFORCIRCUITRYCOMPONENTS 4HERAWSIGNAL(%.#?A?2A7)ISDIVIDEDBYAVOLTAGEDIVIDERAND 1LTEREDBYALOWPASS 1LTER.APULLUPRESISTOR ISAPPLIEDFOROPENCOLLECTORENCODEROUTPUTSIGNALS.DIODESPROTECTTHEINPUTPIN(%.#?A)AGAINSTOVER- ANDUNDERVOLTAGE.4HECUTOﬀ-FREQUENCYOFTHELOWPASSIS: fc = 1 2 πRPDCP (39)

10.4 ANALOG&RONTEND

ANALOG%NCODERSAREENCODINGTHEMOTORPOSITIONINTOSINUSOIDALSIGNALS. 4HESESIGNALSNEEDTOBE DIGITALIZEDBYTHE4-#4671INORDERTODETERMINETHEROTORPOSITION.4HEINPUTVOLTAGERANGEDEPENDSON 65INPUT,WHICHISUSUALLY56ANDG.DA(USUALLY06).DUETONONLINEARITYISSUESOFTHEAD#NEARINPUTLIMITS, ANAD#INPUTVALUEFROM16TO46ISRECOMMENDED.&ORASINGLEENDEDAPPLICATION,THESAMPLECIRCUITFROM 1G.36CANBEUSED.ALLSINGLEENDEDANALOGINPUTPINS(AG0 I?A,AG0I?BANDAD#?6-)HAVETHEIRNEGATIVE INPUTVALUETIEDTOG.DAINTERNALLY,SOTHISSAMPLECIRCUITCANALSOBEUSEDFORTHEM. &IGURE36:3AMPLECIRCUITFOR INTERFACINGOFASINGLEENDEDANALOGSIGNAL IFTHEPOWERSTAGEANDTHE4-#4671SHAREACOMMONGROUND,THEAD#?6-INPUTSIGNALCANBEGENERATED BYAVOLTAGEDIVIDERTOSCALETHEVOLTAGEDOWNTOTHENEEDEDRANGE. IFTHEANALOGENCODERHASDI ﬀERENTIALOUTPUTSIGNALS,THESECANBEUSEDWITHOUTSIGNALCONDITIONING(NO/0 A-0S),WHENVOLTAGERANGEMATCHES.DI ﬀERENTIALANALOGINPUTSCANBEUSEDTODIGITIZEDI ﬀERENTIALANALOG INPUTSIGNALSWITHHIGHCOMMONMODEVOLTAGEERRORSUPPRESSION. 10.5 0HASECURRENT-EASUREMENT 4HE4-#4671REQUIRESTWOPHASECURRENTSOFA2OR3PHASEMOTORTOBEMEASURED.&ORAD#-OTORONLY ONECURRENTINTHEPHASENEEDSTOBEMEASURED(SEE&IG.38). INTHEAD#ENGINEMAPPINGOFCURRENTSIGNALS TOMOTORPHASESCANBECHANGED.DEFAULTSETTINGIS I0TOBETHECURRENTRUNNINGINTOTHEMOTORINPHASE5 FORA3PHASEMOTOR.2ESPECTIVELYTHECURRENTRUNNINGINTOTHEMOTORFROMHALF-BRIDGE81OFA2PHASE MOTOR.&IGS.37AND38ILLUSTRATESTHECURRENTSTOBEMEASUREDANDTHEIRPOSITIVEDIRECTION. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 146/157 &IGURE37:0HASECURRENTMEASUREMENT:CURRENTDIRECTIONSFOR2AND3PHASEMOTORS &IGURE38:0HASECURRENTMEASUREMENT:CURRENTDIRECTIONFORDCOR6OICECOIL-OTOR 4HEREARETWOMAINOPTIONSFORMEASURINGTHEPHASECURRENTSASDESCRIBEDABOVE.&IRSTOPTIONISTOUSE ASHUNTRESISTORANDASHUNTAMPLI 1ERLIKETHE,41999ORTHEAD8418A.4HEOTHEROPTIONISTOUSEAREAL CURRENTSENSOR,WHICHUSESTHE(ALLE ﬀECTOROTHERMAGNETICE ﬀECTSTOIMPLEMENTANISOLATEDCURRENT MEASUREMENT.3HUNTMEASUREMENTMIGHTBETHEMORECOST-E ﬀECTIVESOLUTIONFORLOWVOLTAGEAPPLICATIONS UPTO1006,WHILECURRENTSENSORSAREMOREUSEFULATHIGHERVOLTAGELEVELS. INGENERALTHESAMPLECIRCUITIN 1G. 39CANBEUSEDFORSHUNTMEASUREMENTCIRCUITRY. 0LEASECONSIDER DESIGNGUIDELINESOFSHUNTAMPLI 1ERSUPPLIERADDITIONALLY.42I.A-I#ALSOSUPPLIESPOWERSTAGEBOARDS WITHCURRENTSHUNTMEASUREMENTCIRCUITRY(4-#-50310A/706-%6A,).&ORCURRENTMEASUREMENTALSOCURRENT h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 147/157 SENSORSWITHVOLTAGEOUTPUTCANBEUSED.4HESECOULDUSETHE(ALLE ﬀECTOROTHERMAGNETICE ﬀECTS.-AIN CONCERNSTOTAKEABOUTISBANDWIDTH,ACCURACYANDMEASUREMENTRANGE. &IGURE39:CURRENT3HUNTAMPLI 1ER3AMPLECIRCUIT 10.6 0OWER3TAGEINTERFACE 4HE4-#4671ISEQUIPPEDWITHACON 1GURABLE07-ENGINEFORCONTROLOFVARIOUSGATEDRIVERS.GATEDRIVER SWITCHSIGNALSCANBEMATCHEDTOPOWERSTAGENEEDS.4HISINCLUDESSIGNALPOLARITIES,FREQUENCY,BB--TIMES FORLOWANDHIGHSIDESWITCHES,ANDANENABLESIGNAL.0LEASECONSIDERGATEDRIVERCIRCUITRY,WHENCONNECTING TOTHE4-#4671. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 148/157 11 3ETUPGUIDELINES &OREASYSETUPOFTHE4-#4671ONAGIVENHARDWAREPLATFORMLIKETHE4-#4671%VALUATION-+IT,THEUSER SHOULDFOLLOWTHESEGENERALGUIDELINESINORDERTOSAFELYSETUPTHESYSTEMFORVARIOUSMODESOFOPERATION. INfo 4HESEGUIDELINES 1TTOHARDWAREPLATFORMSWHICHARECOMPARABLETOTHE4-#4671- %VALUATION+IT.IFSYSTEMSTRUCTUREDI ﬀERS,CON1GURATIONHASTOBEADJUSTED. 0LEASEALSOMAKEUSEOFTHE24- IADAPTERANDTHE4-#, ID%TOSETUPTHESYSTEM ASITREDUCESCOMMISSIONINGTIMESIGNI 1CANTLY. 3TEP0:3ETUPOF30 ICOMMUNICATION ASA 1RSTSTEPOFTHECON 1GURATIONOFTHE4-#4671THE30 ICOMMUNICATIONSHOULDBETESTEDBYREADING ANDWRITINGFOREXAMPLETOTHE 1RSTREGISTERSFORIDENTI 1CATIONOFTHESILICON. IFCOMMUNICATIONFAILS,PLEASE CHECK#,+ANDN234SIGNALS.&OREASYSOFTWARESETUPTHE4-#A0 IPROVIDEDONTHE42 I.A-I#WEBSITECAN BEUSED. 3TEP1:CHECKCONNECTIONS 2EGISTER4-#?I.0543?2A7CANBEACCESSEDTOSEEIFALLCONNECTEDDIGITALINPUTSAREWORKINGCORRECTLYE.G. SENSORSIGNALSCANBECHECKEDBYTURNINGTHEMOTORMANUALLY. 3TEP2:3ETUPOF07-ANDGATEDRIVERCON 1GURATION 4HEUSERSHOULDCHOOSETHECONNECTEDMOTORANDTHENUMBEROFPOLEPAIRSBYSETTINGREGISTER-/- 4/2?490%?.?0/,%?0AI23.&ORAD#MOTORTHENUMBEROFPOLEPAIRSSHOULDBESETTOONE.4HE07-CAN BECON1GUREDWITHTHECORRESPONDINGREGISTERS07-?0/,A2 I4I%3(GATEDRIVER0OLARITIES),07-?-A8#.4 (07-&REQUENCY),07-?BB-?(?BB-?,(BB-TIMES),AND07-?36?#(/0(07-MODE).AFTERSETTINGTHE REGISTER07-?36?#(/0TO7THE07-ISONANDREADYTOUSE. 0LEASECHECK07-OUTPUTSAFTERTURNINGONTHE07-,IFYOUAREUSINGANEWHARDWAREDESIGN. 3TEP3:/PEN,OOP-ODE INTHE/PEN,OOP-ODETHEMOTORISTURNEDBYAPPLYINGVOLTAGETOTHEMOTOR.4HISMODEISUSEFULFOR TESTANDSETUPOFAD#SANDPOSITIONSENSORS. ITISACTIVATEDBYSETTINGTHECORRESPONDINGREGISTERSFOR 0(I?%?3%,%#4I/.,AND-/D%?-/4I/..7ITH5D?%84THEAPPLIEDVOLTAGECANBEREGULATEDUPWARDSUNTIL THEMOTORSTARTSTOTURN.ACCELERATIONANDTARGETVELOCITYCANBECHANGEDBYTHEIRRESPECTIVEREGISTERS. 3TEP4:3ETUPOFADCFORCURRENTMEASUREMENT 0LEASESETUPTHECURRENTMEASUREMENTBYCHOOSINGYOURAPPLICATIONSAD#CON 1GURATION.-AKESURETO MATCHDECIMATIONRATEOFTHEDELTA3IGMAAD#STOYOURCHOOSEN07-FREQUENCY. 7HENTHEMOTORTURNSIN/PEN,OOP-ODETHECURRENTMEASUREMENTCANBEEASILYCALIBRATED. 0LEASE MATCHOﬀSETANDGAINOFPHASECURRENTSIGNALSBYSETTINGTHECORRESPONDINGREGISTERS.0LEASEALSOMAKE SUREFORANEWHARDWARESETUP,THATCURRENTMEASUREMENTSAND07-CHANNELSAREMATCHED.4HISCAN BEDONEBYMATCHINGPHASEVOLTAGESANDPHASECURRENTS.2EGISTERAD#? I?3%,%#4CANBEUSEDTOSWITCH RELATIONS. 3TEP5:3ETUPOF&EEDBACK3YSTEMS IN/PEN,OOP-ODEALSOTHEFEEDBACKSYSTEMSCANBECHECKEDFORCORRECTOPERATION.0LEASECON 1GUREREG- ISTERSRELATEDTOUSEDPOSITIONSENSOR(S)ANDCOMPAREAGAINST/PEN,OOPANGLES.5SEENCODERINITIALIZATION ROUTINESTOSETANGLEO ﬀSETSFORRELATIVEPOSITIONENCODERSACCORDINGTOAPPLICATIONNEEDS. 3TEP6:3ETUPOF&/CCONTROLLERS 0LEASECON1GUREYOURAPPLICATION ’SFEEDBACKSYSTEMANDCON 1GUREPOSITIONANDVELOCITYSIGNALSWITCHES ACCORDINGLYINSIDETHE&/#.#ON 1GURECONTROLLEROUTPUTLIMITSACCORDINGTOYOUNEEDS. 3ETUP0ICONTROLLERPARAMETERSFORUSED&/#CONTROLLERS.3TARTWITHTHECURRENTCONTROLLER,FOLLOWEDBYTHE VELOCITYCONTROLLER,FOLLOWEDBYTHEPOSITIONCONTROLLER.3TOPCON 1GURATIONATYOURDESIREDCASCADELEVEL. 42I.A-I#RECOMMENDSTOSETTHE0 ICONTROLLERPARAMETERSBYSUPPORTOFTHE24- I,ASITSUPPORTSREALTIME ACCESSTOREGISTERSANDTHE4-#, ID%O ﬀERSTOOLSFORAUTOMATEDCONTROLLERTUNING. #ONTROLLERTUNING WITHOUTREALTIMEACCESSMIGHTLEADTOPOORPERFORMANCE. 0LEASECHOOSEAFTERWARDSYOURDESIRED-OTION-ODEANDFEEDINREFERENCEVALUES. 3TEP7:ADVANCED&UNCTIONS &ORPERFORMANCEIMPROVEMENTSBIQUAD 1LTERSANDFEEDFORWARDCONTROLCANBEAPPLIED. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 149/157 12 0ACKAGEDIMENSIONS &IGURE40:1&.760ACKAGE/UTLINE 1&.760ACKAGEDIMENSIONSINMM DESCRIPTION DIMENSION;MM= MIN. TYP. MAX. 4OTAL4HICKNESS A 0.80 0.85 0.90 3TAND/ﬀ A1 0.00 0.035 0.05 -OLD4HICKNESS A2 — 0.65 — ,/&4HICKNESS A3 0.2032%& ,EAD7IDTH B 0.15 0.2 0.25 BODY7IDTH D 10.5B3# BODY,ENGTH % 6.5B3# ,EAD0ITCH E 0.4B3# h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 150/157 1&.760ACKAGEDIMENSIONSINMM %03IZE * 8.9 9 9.1 %03IZE + 4.9 5 5.1 ,EAD,ENGTH , 0.35 0.40 0.45 ,EAD,ENGTH ,1 0.30 0.35 0.40 0ACKAGE%DGE4OLERANCE AAA 0.1 -OLD&LATNESS BBB 0.1 #OPLANARITY CCC 0.08 ,EAD/ﬀSET DDD 0.1 %XPOSED0AD/ ﬀSET EEE 0.1 4ABLE28:0ACKAGE/UTLINEDIMENSIONS &IGURE41SHOWSTHEPACKAGEFROMTOPVIEW.DECALSFORSOME#ADPROGRAMSAREAVAILABLEONTHEPRODUCT ’S WEBSITE. &IGURE41:0INOUTOF4-C4671(4OP6IEW) h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 151/157 13 3UPPLEMENTALDIRECTIVES 13.1 0RODUCERINFORMATION

13.2 COPYRIGHT

42I.A-I#OWNSTHECONTENTOFTHISUSERMANUALINITSENTIRETY,INCLUDINGBUTNOTLIMITEDTOPICTURES,LOGOS, TRADEMARKS,ANDRESOURCES.h#OPYRIGHT201842I.A-I#.ALLRIGHTSRESERVED.%LECTRONICALLYPUBLISHEDBY 42I.A-I#,GERMANY. 2EDISTRIBUTIONSOFSOURCEORDERIVEDFORMAT(FOREXAMPLE,0ORTABLEDOCUMENT&ORMATOR(YPERTEXT-ARKUP ,ANGUAGE)MUSTRETAINTHEABOVECOPYRIGHTNOTICE, ANDTHECOMPLETEDATASHEET5SER-ANUALDOCU- MENTATIONOFTHISPRODUCTINCLUDINGASSOCIATEDAPPLICATION.OTES;ANDAREFERENCETOOTHERAVAILABLE PRODUCT-RELATEDDOCUMENTATION. 13.3 4RADEMARKDESIGNATIONSAND3YMBOLS 4RADEMARKDESIGNATIONSANDSYMBOLSUSEDINTHISDOCUMENTATIONINDICATETHATAPRODUCTORFEATUREIS OWNEDANDREGISTEREDASTRADEMARKAND/ORPATENTEITHERBY42 I.A-I#ORBYOTHERMANUFACTURERS,WHOSE PRODUCTSAREUSEDORREFERREDTOINCOMBINATIONWITH42 I.A-I#’SPRODUCTSAND42 I.A-I#’SPRODUCTDOCU- MENTATION. 4HISDATASHEETISANON-COMMERCIALPUBLICATIONTHATSEEKSTOPROVIDECONCISESCIENTI 1CANDTECHNICALUSER INFORMATIONTOTHETARGETUSER.4HUS,TRADEMARKDESIGNATIONSANDSYMBOLSAREONLYENTEREDINTHE3HORT 3PECOFTHISDOCUMENTTHATINTRODUCESTHEPRODUCTATAQUICKGLANCE.4HETRADEMARKDESIGNATION/SYMBOLIS ALSOENTEREDWHENTHEPRODUCTORFEATURENAMEOCCURSFORTHE 1RSTTIMEINTHEDOCUMENT.ALLTRADEMARKS ANDBRANDNAMESUSEDAREPROPERTYOFTHEIRRESPECTIVEOWNERS. 13.4 4ARGET5SER 4HEDOCUMENTATIONPROVIDEDHERE,ISFORPROGRAMMERSANDENGINEERSONLY,WHOAREEQUIPPEDWITHTHE NECESSARYSKILLSANDHAVEBEENTRAINEDTOWORKWITHTHISTYPEOFPRODUCT. 4HE4ARGET5SERKNOWSHOWTORESPONSIBLYMAKEUSEOFTHISPRODUCTWITHOUTCAUSINGHARMTOHIMSELFOR OTHERS,ANDWITHOUTCAUSINGDAMAGETOSYSTEMSORDEVICES,INWHICHTHEUSERINCORPORATESTHEPRODUCT.

13.5 DISCLAIMER:,IFE3UPPORT3YSTEMS

42I.A-I#-OTION#ONTROLGMB(&#O.+GDOESNOTAUTHORIZEORWARRANTANYOFITSPRODUCTSFORUSEINLIFE SUPPORTSYSTEMS,WITHOUTTHESPECI 1CWRITTENCONSENTOF42 I.A-I#-OTION#ONTROLGMB(&#O.+G. ,IFESUPPORTSYSTEMSAREEQUIPMENTINTENDEDTOSUPPORTORSUSTAINLIFE,ANDWHOSEFAILURETOPERFORM, WHENPROPERLYUSEDINACCORDANCEWITHINSTRUCTIONSPROVIDED,CANBEREASONABLYEXPECTEDTORESULTIN PERSONALINJURYORDEATH. INFORMATIONGIVENINTHISDOCUMENTISBELIEVEDTOBEACCURATEANDRELIABLE.(OWEVER,NORESPONSIBILITY ISASSUMEDFORTHECONSEQUENCESOFITSUSENORFORANYINFRINGEMENTOFPATENTSOROTHERRIGHTSOFTHIRD PARTIESWHICHMAYRESULTFROMITSUSE.3PECI 1CATIONSARESUBJECTTOCHANGEWITHOUTNOTICE.

13.6 DISCLAIMER:INTENDED5SE

4HEDATASPECI 1EDINTHISUSERMANUALISINTENDEDSOLELYFORTHEPURPOSEOFPRODUCTDESCRIPTION..OREPRE- SENTATIONSORWARRANTIES,EITHEREXPRESSORIMPLIED,OFMERCHANTABILITY, 1TNESSFORAPARTICULARPURPOSE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 152/157 OROFANYOTHERNATUREAREMADEHEREUNDERWITHRESPECTTOINFORMATION/SPECI 1CATIONORTHEPRODUCTSTO WHICHINFORMATIONREFERSANDNOGUARANTEEWITHRESPECTTOCOMPLIANCETOTHEINTENDEDUSEISGIVEN. INPARTICULAR,THISALSOAPPLIESTOTHESTATEDPOSSIBLEAPPLICATIONSORAREASOFAPPLICATIONSOFTHEPRODUCT. 42I.A-I#PRODUCTSARENOTDESIGNEDFORANDMUSTNOTBEUSEDINCONNECTIONWITHANYAPPLICATIONSWHERE THEFAILUREOFSUCHPRODUCTSWOULDREASONABLYBEEXPECTEDTORESULTINSIGNI 1CANTPERSONALINJURYORDEATH (SAFETY-#RITICALAPPLICATIONS)WITHOUT42I.A-I#’SSPECI1CWRITTENCONSENT. 42I.A-I#PRODUCTSARENOTDESIGNEDNORINTENDEDFORUSEINMILITARYORAEROSPACEAPPLICATIONSORENVIRON- MENTSORINAUTOMOTIVEAPPLICATIONSUNLESSSPECI 1CALLYDESIGNATEDFORSUCHUSEBY42 I.A-I#.42I.A-I# CONVEYSNOPATENT,COPYRIGHT,MASKWORKRIGHTOROTHERTRADEMARKRIGHTTOTHISPRODUCT.42 I.A-I#ASSUMES NOLIABILITYFORANYPATENTAND/OROTHERTRADEMARKRIGHTSOFATHIRDPARTYRESULTINGFROMPROCESSINGOR HANDLINGOFTHEPRODUCTAND/ORANYOTHERUSEOFTHEPRODUCT.

13.7 COLLATERALDOCUMENTS&4OOLS

4HISPRODUCTDOCUMENTATIONISRELATEDAND/ORASSOCIATEDWITHADDITIONALTOOLKITS, 1RMWAREANDOTHER ITEMS,ASPROVIDEDONTHEPRODUCTPAGEAT:WWW.TRINAMIC.COM. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 153/157

14 ERRATA

4HE%RRATAOFTHE4-#4671-%3ARELISTEDHEREANDINTHEPARTICULARDESCRIPTIONSTHEYAPPLYTO. 1. 30I3LAVEINTERFACE 4HE30I3LAVEINTERFACEINTHE4-#4671-%3SHOWSFOLLOWINGERROR.DURINGTRANSACTIONOF-3BOFREAD DATAMIGHTGETCORRUPTED.4HISSHOWSINTWODI ﬀERENTWAYS.&IRSTONEISA40NSPULSE(POSITIVEOR NEGATIVE)ON- I3/ATTHEBEGINNINGOFTRANSFEROFTHATPARTICULARBIT.4HISPULSECANCORRUPTTHE-3B OFREADDATAANDTHISERRORCANBEAVOIDEDWHEN30 ICLOCKFREQUENCYISSETTO1-(Z.3ECONDERROR ALSOCORRUPTS-3BOFREADDATAWHEN-3BOFREGSITERISUNSTABLE.&OREXAMPLECURRENTMEASUREMENT NOISEAROUNDZERO.INTHISCASE-3BSHOULDBEIGNOREDWHENPOSSIBLE.0LEASEALSOMAKESURETHATE.G. ACTUALTORQUEVALUECANBEREADFROMREGISTER0 ID?4/215%?&,58?A#45A,ORFROM I.4%2I-?DA4A REGISTER,WHEREITISSHOWINGUPINTHELOWER16BITS.4HESEERRORSWILLBE 1XEDINNEXT I#VERSION.30I WRITEACCESSISNOTA ﬀECTEDANDCANBEPERFORMEDAT8-(ZCLOCKFREQUENCY. 2. 2EALTIME-ONITORINGINTERFACE 4HE42I.A-I#2EALTIME-ONITORING INTERFACECANNOTBEUSEDWITHGALVANICISOLATIONASTIMINGOF30 I COMMUNICATIONISTOOSTRICT.4HISWILLBE 1XEDINFUTUREVERSIONSOGALVANICISOLATIONOF30 ISIGNALSWILL BEPOSSIBLEWITHDE 1NEDLATENCYOFISOLATORS. 3. 0I#ONTROLLERS 4HE0&ACTORINTHEADVANCEDPOSITIONCONTROLLERISNOTPROPERLYSCALED.DUETOTHEHIGHGAININ6ELOCITY CONTROLLOOP,THEPOSITIONCONTROLLERGAINSHOULDBERESPECTIVELYLOW.4HE0&ACTORNORMALIZATIONOF 18.8DOESNOTMATCHTHESENEEDS.4HISWILLBECHANGEDINAFUTUREVERSIONOFTHECHIPTOADI ﬀERENT1 &ORMAT.4HISCHANGEWILLCAUSECHANGESINUSER ’SAPPLICATIONCONTROLLERSOFTWARE.7ERECOMMENDTO USETHECLASSICAL0 ICONTROLSTRUCTUREIFPERFORMANCEISNOTSU ZCIENT. 4HEINTEGRATORINTHEADVANCED0 ICONTROLLERISNOTRESETWHEN0OR IPARAMETERSARESETTOZERO.ASA WORKAROUNDCONTROLLERCANBEDISABLEDBYSWITCHINGTOSTOPPEDMODEORTOALOWERCASCADELEVELAND THEREBYTHEINTEGRATORISRESET.4HISBEHAVIOURWILLBECHANGEDINTHENEXT I#VERSION. 4.INBUILTAD#S 4HEINBUILTDELTA3IGMAAD#SSHOWANERROR,WHEREBOTHGROUPSAREDISTURBINGEACHOTHER.7HEN ONEGROUPISDEACTIVATED,EVERYTHINGIS 1NE,BUTWITHBOTHGROUPSBEINGACTIVEAD#DATAMIGHT BECORRUPTED.4HISERROROCCURSIFCLOCKSIGNALSOFBOTHGROUPSARENOTINPHASE.#LOCKPHASECAN BECHANGEDBYTOGGLINGTHEDSAD#?-#,+?BTOANON-ROUND 1GURELIKE0X30000001ANDBACKTO 0X20000000.4HISTOGGLINGHASTOBEREPEATEDUNTILMEASUREMENTISCLEAN. IFTHESECONDAD#GROUPISNOTNEEDED, ITCANBESHUTDOWNBYSETTINGDSAD#?-#,+?BTO0. 4HEDISTORTIONCANBEDETECTEDBYMONITORINGMEASUREMENTATREFERENCEVOLTAGE. 5SEREGISTER D3?A.A,/G?I.054?34AG%?#&GTOSWITCHONTHEREFERENCEVOLTAGEFORMONITORING. 5. 0INS07-?ID,%?(AND07-? ID,%?,WITHOUTFUNCTION 0INS07-?ID,%?(AND07-? ID,%?,AREINTENDEDTODETERMINE0OWERON2ESETGATEDRIVER0OLARITY. 4HISFEATUREISNOTWORKINGPROPERLYASTHEGATEDRIVERPOLARITYALWAYSPOWERSUPTO,OW3IDE0OLARITY TOBEACTIVE,OWAND(IGH3IDE0OLARITYTOBEACTIVEHIGH.4HISWILLBECORRECTEDINTHENEXTVERSIONOF THECHIP. 6. 3PACE6ECTOR07-DOESNOTALLOWHIGHERVOLTAGEUTILIZATION 4HE3PACEVECTOR07-DOESNOTALLOWHIGHERVOLTAGEUTILIZATION.4HISWILLBE 1XEDINNEXTVERSIONOF THECHIP. 7. 3TEPDIRECTION#OUNTERNOTUSEDAS4ARGET0OSITION 4HESTEPDIRECTIONINTERFACECORRECTLYCOUNTSUPANDDOWNTHETARGETPOSITION,BUTTHESTEPDIRECTION COUNTERPOSITIONISNOTUSEDASTHETARGETPOSITIONFORPOSITIONINGASINTENDED. 4HE4-#4671-%3 ALWAYSUSESTHETARGETPOSITIONWRITTENVIA30 I,24-I,OR5A24INTOTHEREGISTERBANKASTHETARGET POSITIONFORPOSITIONING.ASAWORKAROUNDFOREVALUATIONOFSTEPDIRECTIONTARGETPOSITIONCONTROL, THEUSERCANREADOUTTHETARGETPOSITIONPERIODICALLYANDWRITEITBACKTOTHEREGISTERBANKASTHE h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 154/157 TARGETPOSITION. BUTSTEPLOSSCANOCCURINTHISCON 1GURATIONASTHESTEPDIRECTIONCOUNTERISALSO OVERWRITTEN.4HISWILLBE 1XEDINNEXTVERSIONOFTHECHIP. h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 155/157 15 &IGURESINDEX 2 0 IDARCHITECTURESAND-OTION-ODES 9 3 /RIENTATIONS567(&/#3)AND89(&/#2) 13 4 #OMPASS-OTOR-ODELW/30HASES 567 (&/#3) AND #OMPASS -OTOR 5 (ARDWARE&/#APPLICATIONDIAGRAM . 14 9 #ONNECTORFOR2EAL-4IME-ONITORING INTERFACE (#ONNECTOR 4YPE: (IROSE 10 5A242EADDATAGRAM(4-#4671REGIS- 11 5A247RITEDATAGRAM(4-#4671REGIS- 12 .?0/,%?0AI23-.UMBEROF0OLE0AIRS

13 INTEGER2EPRESENTATIONOFANGLESAS16

BITSIGNED(S16)RESP.16BITUNSIGNED

14 DELTA 3IGMA AD# #ON 1GURATIONS

DSAD#?#/.&IG (A.A,/G (INTERNAL), 15 ∆Σ AD# #ON1GURATIONS - -DA# (#OMPARATOR-2-#-2AS∆Σ--ODULATOR) 29

16 AD#3ELECTORAND3CALERWITH/ ﬀSET

17 AB.INCREMENTAL%NCODER.0ULSEANY- 20 ANALOG%NCODER(A%.#)SIGNALWAVE- 21 ANALOG %NCODER (A%.#) 3ELECTOR & 22 %NCODER INITIALIZATION BY MINIMAL 24 ADVANCED0 I#ONTROLLER3TRUCTURE. . . 44 25 0I#ONTROLLERSFORPOSITION,VELOCITYAND 29 BIQUAD&ILTERSIN#ONTROL3TRUCTURE . . 50 32 4-#46710INOUTWITH3PHASE0OWER 33 4-#46710INOUTWITH3TEPPER-OTOR 136 34 4-#4671 0INOUT WITH D# -OTOR OR 35 3AMPLE#IRCUITFOR INTERFACINGOFAN%N- 36 3AMPLE#IRCUITFOR INTERFACINGOFASIN- 37 0HASECURRENTMEASUREMENT:#URRENT DIRECTIONSFOR2AND3PHASEMOTORS . 146 38 0HASECURRENTMEASUREMENT:#URRENT DIRECTIONFORD#OR6OICE#OIL-OTOR . 146 39 #URRENT3HUNTAMPLI 1ER3AMPLE#IRCUIT147 41 0INOUTOF4-#4671(4OP6IEW) . . . . 150 h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 156/157 16 4ABLESINDEX 3 3INGLE0IN INTERFACE-OTION-ODES . . 19 5 %XAMPLESOFU16,S16,Q8.8,Q4.12 . . 21 8 2EGISTERSFORDELTA3IGMA#ON 1GURATION 26 9 DELTA3IGMA-#,+#ON 1GURATIONS . . 26 10 2ECOMMENDEDDECIMATION0ARAME- 11 2ECOMMENDED INPUT VOLTAGE RANGE FROM6?-I.25%;6=TO6?-A875%;6= FORINTERNALDELTA3IGMA-ODULATORS; 6?3500,9;6==56ISRECOMMENDEDFOR THEANALOGPARTOFTHE4-#4671. . . . 28

12 DELTA3IGMAINPUTVOLTAGEMAPPINGOF

INTERNALDELTA3IGMA-ODULATORS . . . 28

13 DELTA3IGMA2-#-2-#-0#ON1GURATIONS 30

14 DELTA3IGMAINPUTVOLTAGEMAPPINGOF

15 %XAMPLE0ARAMETERSFORAD#?GA I. . 32 22 3UPPLY6OLTAGE0INSANDGROUND0INS 141

26 ADDITIONALDECOUPLINGCAPACITORSFOR

27 2EFERENCE6ALUESFORCIRCUITRYCOMPO- h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

4-#4671DATASHEET•I#6ERSION61.00|DOCUMENT2EVISION61.04•2018-DEC-11 157/157 17 2EVISION(ISTORY 17.1IC2EVISION 6ERSION DATE AUTHOR DESCRIPTION 4ABLE29:IC2EVISION

17.2 DOCUMENT2EVISION

6ERSION DATE AUTHOR DESCRIPTION 60.9 2017-3%0-29,,,/- 0RE-LIMINARY4-#4671-%3DATASHEET. 60.91 2018-*A.-30/- #HANGEDSOMETYPOSANDADDEDSOMENOTES. 60.92 2018-&%B-28/- #HANGEDREGISTERDESCRIPTIONS. 60.93 2018--A2-07/- #HANGEDSOMETYPOSANDBUGSINGRAPHICS. 60.94 2018--A2-14/- ADDED%RRATA3ECTION. 60.95 2018--A9-08/- 0REPARATIONSFORLAUNCH. 61.00 2018-*5.-28,, %RRATA3ECTIONUPDATEDCONCERNING3TEP/DIR. 61.01 2018-*5,-19/- ADDEDDESCRIPTIONFOR3TATUS&LAGS 61.02 2018-*5,-31/- ADDEDDESCRIPTIONFOR&EED&ORWARD#ONTROL3TRUCTURE 61.03 2018-3%0-06/- DESCRIPTIONOFSINGLEPININTERFACEANDMOTIONMODESADDED 61.04 2018-D%#-11/- 2EGISTERMAPANDPICTURESOF0 ICONTROLLERSCORRECTED 4ABLE30:DOCUMENT2EVISION h201842I.A-I#-OTION#ONTROLGMB(&#O.+G,(AMBURG,GERMANY 4ERMSOFDELIVERYANDRIGHTSTOTECHNICALCHANGERESERVED. DOWNLOADNEWESTVERSIONATWWW.TRINAMIC.COM

Product Information

TMC-UPS-10A70V-EVAL specifications and overview.

Summary

Encoder Engine: Hall analog/digital, Encoder analog/digital

Description

Encoder Engine: Hall analog/digital, Encoder analog/digital

Source title TMC-UPS-10A70V-EVAL Datasheet(PDF) - TRINAMIC Motion Control GmbH & Co. KG.

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