30
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.9.2 Writing Frame Type#1 (2 or 4 bytes)
General purpose 2 or 4 data bytes writing frame with a dynamically assigned identifier. This type is
used to provide 2 or 4 bytes of data to the slave nodes. When <Broad> is set to zero, broadcasting is
active and the command is valid for all slave nodes. When <Broad> is one the command is only valid
for one slave node whose physical address corresponds to the one provided by the writing frame.
A writing frame of 2 bytes issues only a defined command to the slave node(s), e.g. HardStop
command. Whereas a writing frame of 4 bytes issues a command and 2 bytes of data to the slave
node(s), e.g. SetPosition command.
ID
ID [7:0]
Data1
CMD [6:0]
Data2
Data3
Data4
1
B
Physical
Address
Identifier
Command
Parameters
6.9.3 Writing Frame Type#2 (2, 4 or 8 bytes)
2, 4 or 8 data bytes writing frame with an identifier dynamically assigned to a particular application
command, regardless of the physical address of the circuit. e.g. SetPositionShort command.
ID
Data1
Data2
AD [3:0]
ID [5:0] pp
B
Dynamic
Identifier
physical
address
Parameter [10:0]
6.9.4 Writing Frame Type#3 (2 bytes)
2 data bytes writing frame with an identifier dynamically assigned to a particular slave node and
application command. This type of frame requires that there are as many dynamically assigned
identifiers as there are TMC211 circuits connected to the LIN bus using this command.
ID
Data1
Data2
ID [5:0] pp
Dynamic
Identifier
Parameter [15:0]
6.9.5 Writing Frame Type#4 (8 bytes)
8 data bytes writing frame with fixed identifier 0x3C. The structure is similar to type#1 but uses the
reserved identifier 0x3C. Using a reserved identifier followed by a particular application command will
expand the amount of possible LIN commands.
ID
0x3C
Data1
0x80
Data2
CMD [6:0]
Data3
Data4
Data5
Data6
Data7
Data8
00
1
B
physical
address
fixed identifier
AppCMD
Command
Parameters send from LIN master to LIN slave node
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
