TMC211 DATASHEET (V. 1.04 / January 7, 2005)
19
4
The <Sleep>flag is set to ‘1’ when a LIN timeout or a Sleepcommand occurs. It is reset by the next LIN command
(<Sleep>is cancelled if not activated yet).
5
6
Shutdown state can be left only when <TSD>and <HS>flags are reset.
Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and
provided the physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge
pump defect).
7
A SetMotorParamcommand sent while a motion is ongoing (state GotoPos) should not attempt to modify Accand
Vmin values. This can be done during a RunInit sequence since this motion uses its own parameters, the new
parameters will be taken into account at the next SetPositionor SetPositionShortcommand.
Some transitions like GotoPos → Sleep are actually done via several states: GotoPos → SoftStop → Stopped →
Sleep (see diagram below).
8
9
Two transitions are possible from state Stopped when <Sleep>= ‘1’:
1) Transition to state Sleep if (<SecEn>= ‘0’) or ((<SecEn>= ‘1’) and (ActPos= SecPos)) or <Stop>= ‘1’
2) Otherwise transition to state GotoPos, with TagPos= SecPos
10 <SecEn>= ‘1’ when register SecPosis loaded with a value different from the most negative value (i.e. different from
0x400 = “100 0000 0000”)
11 <Stop>flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop>is set
to ‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.
12 Command for dynamic assignment of IDs is decoded in all states except Sleep and has not effect on the current state
13
While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest
priority, meaning that <Sleep>, <Stop>, <TSD>, etc. are first evaluated for possible transitions.
14 If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are
ignored (they will not modify TagPosregister whatever the state), and motion to secure position is forbidden after a
Sleep command or a LIN timeout (the circuit will go into Sleep state immediately, without positioning to secure
position). Other command like RunInit or ResetPosition will be executed if allowed by current state.
<StepLoss>can only be cleared by a GetStatusor GetFullStatuscommand.
5.2 RAM and OTP Memory
5.2.1 RAM Registers
Register
Mnemonic Length
(bit)
Related
Comment
Reset
State
commands
Actual
Position
Target
ActPos
16
GetFullStatus
ResetPosition
SetPosition
Actual Position of the Stepper Motor. 16-bit signed
Target Position of the Stepper Motor. 16-bit signed
TagPos
16
Position
GetFullStatus
ResetPosition
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
SetMotorParam
ResetToDefault
GetFullStatus
ResetToDefault
0x0000
Acceleration AccShape
Shape
1
4
0 = Acceleration with Acc Parameter.
1 = Velocity set to Vmin, without acceleration
Coil Peak
Current
Irun
Coil current when motion is ongoing
(Table 12: Irun / Ihold Settings)
Coil Hold
Current
Ihold
4
Coil current when motor stands still
(Table 12: Irun / Ihold Settings)
Minimum
Velocity
Vmin
4
Start Velocity of the stepper motor
(Table 4: Vmin )
Maximum
Velocity
Vmax
Shaft
4
Target Velocity of the stepper motor
(Table 3: Vmax Parameter)
OTP
Memory
Shaft
1
Direction of motion
Acceleration
Deceleration
Acc
4
Parameter for acceleration
(Table 5: Acc Parameter)
Secure
SecPos
StepMode
11
2
Target Position for GotoSecurePosition command
(6.11.5 GotoSecurePosition) or when LIN connection
fails; 11 MSBs of 16-bit position (LSBs fixed to ‘0’)
Micro stepping mode
Position
Stepping
Mode
GetFullStatus
ResetToDefault
(5.1.1 Stepping Modes)
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
