TMC4361A PID control

Question

In TMC4361A's REFERENCE_CONF register, I set STOP_LEFT_EN and STOP_RIGHT_EN and POL_STOP_RIGHT and POL_STOP_LEFT to 1. I found when in open loop control status the Motor could stop by STOP signal, by when I changed to PID closed control, the STOP signal does not work. Is it support STOP motor by STOP signal in PID control method?

BernhardDwersteg · Accepted Answer

Hi, 
 the stop input only relates to the motion controller. So, the target position will become frozen in any case when hitting the stop button. When you are in closed loop mode, this also will work, as long as no major deviation has build up. In case the motor has not been able to follow, however, it will try to continue motion to match the motion controller position. To solve, trigger an interrupt when a stop is detected and disable closed loop.)

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TMC4361A PID control