TMC211 DATASHEET (V. 1.04 / January 7, 2005)
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5.1.15 Internal handling of commands and flags
Due to the sleep mode, the internal handling of commands and flags differs. Commands are handled
with different priorities depending on the current state and the current status of internal flags, see figure
below. Details can be found in Table 8: Priority Encoder.
Note: A HardStop command is sent by the master or triggered internally in case of an electrical defect
or over temperature.
A description of the available commands can be found in 6.11 Command Description. A list of the
internal flags can be found in 5.2.2 Status Flags.
As an example: When the circuit drives the motor to its programmed target position, state “GotoPos” is
entered. There are three events which can cause to leave this state: HardStop command received,
SoftStop command received or target position reached. If all three events occur at the same time the
HardStop command is executed since it has the highest priority. The Motion finished event (target
position reached) has the lowest priority and thus will only cause transition to “Stopped” state when
both other events do not occur.
Thermal Shutdown
RunInit
SoftStop
HardStop
HardStop
Thermal Shutdown
SoftStop
Motion finished
RunInit
HardStop
Power On
Reset
HardStop
Motion finished
HardStop
Thermal Shutdown
GotoSecurePosition
SetPosition
ShutDown
Stopped
GotoPos
Priorities
Motion finished
GetFullStatus
AND <TSD> + <HS> = 0
High
Low
<Sleep>
or LIN timeout
Any LIN command
Motion finished
Sleep
<Sleep> AND (not <SecEn>)
OR <SecEn> AND ActPos== SecPos
OR <Stop>
Figure 7: Internal handling of commands and flags
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
