TMC211 DATASHEET (V. 1.04 / January 7, 2005)
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6.10 Application Commands Overview
Communications between the TMC211 and a LIN Master takes place via a set of commands.
Reading commands are used to:
•
•
•
Get actual status information, e.g. error flags
Get actual position of the Stepper Motor
Verify the right programming and configuration of the TMC211
Writing commands are used to:
•
•
Program the OTP Memory
Configure the TMC211 with motion parameters (e.g. max/min speed, acceleration, stepping mode,
etc.)
•
Provide target positions to the Stepper motor
Command Mnemonic
Function
GetActualPos
GetFullStatus
Returns actual position of the motor
Returns actual, target and secure position and also the complete
status of the circuit
GetOTPParam
GetStatus
Returns OTP memory content
Returns quick status of the circuit
Drives motor to secure position
GotoSecurePosition
HardStop
Immediate full stop
ResetPosition
ResetToDefault
RunInit
Actual and target position becomes zero
Overwrites the chip RAM with OTP contents
Reference Search
SetMotorParam
SetPosition
Sets motor parameter
Drives the motor to the target position
Drives the motor to the target position (Half stepping mode only)
SetPositionShort (1 Motor)
SetPositionShort (2 Motors) Drives 2 motors to the target position (Half stepping mode only)
SetPositionShort (4 Motors) Drives 4 motors to the target position (Half stepping mode only)
SoftStop
Stops the motor with deceleration phase
Programs the selected byte of OTP memory
Causes circuit to go into sleep mode
SetOTPParam
Sleep
Table 16: Command Overview
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
