Problem: I can not read the encoder. tmcm323

[poggi]

My Hardware is:
BB-323-02 v1.4
TMCM-323 v1.0
tMCM-342 v1.1.

firmware tmc342 is : tmcm-342-V4.17

question:

TMCM-342 support TMCM-323 ?
Clock SPI is correct ?

my demo program:
SGP 74, 0, 1
WAIT TICKS, 0, 100
ROR 1, 100
WAIT TICKS, 0, 100
MST 1
SAP 210, 1, 2048
SAP 209, 1, 300000
GAP 209, 1
AAP 0, 1
AAP 1, 1
STOP
GAP 0, 1 (direct mode)

[Olav Kahlbaum (TRINAMIC)]

The SGP 74, 0, 1 should not be included in the program, but executed just once in direct mode to configure the TMCM-342 (or 341 or 343) module for use with the TMCM-323. This setting will automatically be stored permanently in the EEPROM of the module. After this command has been executed the module must be reset (e.g. by switching off and then on again). Setting parameter 74 to 1 is correct when used together with the BB-323. The module firmware supports the TMCM-323 from rev. 4.08 on, so there is no need for a firmware upgrade.
The rest of your program seems to be correct.

[poggi]

I followed the recommendations that I have suggested but still can not read the encoder.
The result of the last direct control (GAP 0,1) is always = 0.
Can you have a demo that I definitely tested and running can be ruled out hardware problems?.

[Olav Kahlbaum (TRINAMIC)]

To read the encoder please use GAP 209, <axis> and not GAP 0, <axis> (as this will not read the encoder but the target position of the motor which hasn't got anything to do with the encoder).
For testing the connection between the TMCM-323 and the TMCM-342 you can also try to write something to the encoder position registers and then read it back. For example, try the following commands in direct mode:
SAP 209, 0, 111111
SAP 209, 1, 222222
SAP 209, 2, 333333

Then, also in direct mode, try GAP 209, 0 then GAP 209, 1 and then GAP 209,2. With these commands you should get back the numbers you have put into the encoder position registers in the first step.

[Olav Kahlbaum (TRINAMIC)]

Please check also if the firmware revision of the TMCM-342 (or also TMCM-341 and TMCM-343) and upgrade it if it should be older than 4.08. Otherwise the interface to the TMCM-323 will not work.