TMC211 DATASHEET (V. 1.04 / January 7, 2005)
29
Command Mnemonic
Command Byte (CMD)
Dynamic ID
ROM pointer
(binary)
(binary; example)
binary
000000
000001
000010
000011
000100
000101
000110
000111
001000
001001
001011
001100
001101
001110
hex
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x0B
0x0C
0x0D
0x0E
GetActualPos
100xxx
Not used
Not used
000xxx
0010
GetFullStatus
GetOTPParam
GetStatus
0011
GotoSecurePosition
HardStop
Not used
Not used
Not used
Not used
Not used
Not used
010xxx
ResetPosition
ResetToDefault
RunInit
SetMotorParam
SetPosition
0100
0101
0110
0111
SetPositionShort (1 Motor)
SetPositionShort (2 Motors)
SetPositionShort (4 Motors)
Sleep
001001
101001
111001
Not used
Not used
Not used
Not used
Not used
011000
SoftStop
SetOTPParam
Dynamic ID assignment
General Purpose 2 Data Bytes
General Purpose 4 Data Bytes
Preparing Frame
001111
010000
010001
0x0F
0x10
0x11
0000
0001
1000
101000
011010
Table 15: Commands and Corresponding Dynamic IDs
Note: xxx allows to address physically a slave node. Therefore, these dynamic IDs cannot be used for more than 8 stepper
motors.
6.9 LIN Message Frames
As specified in LIN specification rev. 1.3 a LIN frame consists of an 8-bit identifier field, followed by 2, 4
or 8 data fields and a checksum field. A LIN frame can either be a writing frame, with one of the
following tasks:
•
•
Program the OTP memory
Provide motion parameters, e.g. velocity, position, torque to the TMC211
Or a LIN frame can be a reading frame which is used to:
•
•
Read actual position or status information of the stepper motor
Verify correct programming and configuration
6.9.1 Writing Frames
According to the LIN specification there is only a fixed amount of identifiers available. In order to
expand the amount of identifiers resp. the amount of commands different types of writing frames are
introduced. The TMC211 supports four different writing frames. The following figures illustrate the
differences.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
