TMC211 DATASHEET (V. 1.04 / January 7, 2005)
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5.2.3 OTP Memory Structure
The table below shows where the OTP parameters are stored in the OTP memory.
Note: If the OTP memory has not been programmed, or if the RAM has not been programmed by a
SetMotorParam command, or if anyhow <VddReset> = ‘1’, any positioning command will be ignored, in
order to avoid any consequence due to unwanted RAM content. Please check that the correct supply
voltage is applied to the circuit before zapping the OTP (See: Table 25: DC Parameters Supply and
Voltage regulator on page 54), otherwise the circuit will be destroyed.
OTP
OTP Bit Order
Address
7
6
5
4
3
2
1
0
OSC3
EnableLIN
ADM
OSC2
TSD2
OSC1
TSD1
OSC0
TSD0
IREF3
BG3
AD3
IREF2
BG2
IREF1
BG1
IREF0
BG0
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
AD2
AD1
AD0
Irun3
Vmax3
Irun2
Vmax2
Irun1
Vmax1
Irun0
Vmax0
Shaft
Ihold3
Vmin3
Acc3
Ihold2
Vmin2
Acc2
Ihold1
Vmin1
Acc1
SecPos1
LOCKBT
Ihold0
Vmin0
Acc0
SecPos0
LOCKBG
SecPos10 SecPos9 SecPos8
SecPos7 SecPos6 SecPos5 SecPos4
SecPos3
SecPos2
StepMode1 StepMode0
Table 9: OTP Memory Structure
Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP
memory at circuit delivery, they correspond to the calibration of the circuit and are just documented
here as an indication. Each OPT bit is at ‘0’ when not zapped. Zapping a bit will set it to ‘1’. Thus only
bits having to be at ‘1’ must be zapped. Zapping of a bit already at ‘1’ is disabled, to avoid any damage
of the Zener diode. It is important to note that only one single OTP byte can be programmed at the
same time (see command SetOTPParam).
Once OTP programming is completed, bit LOCKBG can be zapped, to disable unwanted future
zapping, otherwise any OTP bit at ‘0’ could still be zapped.
Lock bit
Protected byte
LOCKBT (zapped
before delivery)
LOCKBG
0x02 to 0x07
Table 10: OTP Lock bits
The command used to load the application parameters via the LIN bus into the RAM prior to an OTP
memory programming is SetMotorParam. This allows for a functional verification before using a
SetOTPParam command to program and zap separately one OTP memory byte. A GetOTPParam
command issued after each SetOTPParam command allows to verify the correct byte zapping.
5.3 Stepper Motor Driver
The StepMode parameter in SetMotorParam command (6.11.10 SetMotorParam on page 42) is used
to select different stepping modes. Following modes are available:
StepMode parameter
Mode
00
01
10
11
Half Stepping
¼ µStepping
1/8 µStepping
1/16 µStepping
Table 11: StepMode
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
