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TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11 Command Description
6.11.1 GetActualPos
This command is provided to the circuit by the LIN master to get the actual position of the stepper
motor. GetActualPos provides also a quick status of the circuit and of the stepper motor, identical to
that obtained by command GetFullStatus. The GetActualPos will not attempt to reset any flags. This
command can be sent using direct or indirect ID:
1. Direct ID (immediate in-frame slave response):
GetActualPos direct ID reading frame(type#5)
Source Byte
Content
Structure
bit 7
*
bit 6
bit 5 bit 4
bit 3 bit 2
bit 1 bit 0
ID1 ID0
Master
Slave
Note:
0
1
2
3
4
Identifier
*
1
0
ID3
ID2
Slave Address
Actual Position
ESW
AD [6:0]
ActPos [15:8]
ActPos [7:0]
VddReset StepLoss
Status
ElDef
UV2
TSD
TW
Tinfo [1:0]
* according to parity calculation
ID [3:0]: Dynamically allocated identifier to GetActualPos command.
Or:
2. Indirect ID (preparing frame followed by indirect ID reading frame):
The master sends either type#7 or type#8 preparing frame:
GetActualPos preparing frame (type#7)
Source Byte
Content
Structure
bit 7 bit 6
bit 5 bit 4 bit 3
bit 2 bit 1 bit 0
0
1
2
Identifier
Command
*
*
0
ID4
ID3
ID2 ID1
ID0
Master
1
1
CMD [6:0] = 0x00
AD [6:0]
Slave Address
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to type#7 preparing frame.
GetActualPos preparing frame (type#8)
Source Byte
Content
Structure
bit 7 bit 6
bit 5 bit 4 bit 3
bit 2 bit 1 bit 0
0
1
2
3
Identifier
0
0
1
1
1
1
0
0
AppCMD
Command
Slave Address
Data4
AppCMD = 0x80
1
1
CMD [6:0] = 0x00
AD [6:0]
0xFF
Master
4
5
6
7
8
Data5
0xFF
Data6
0xFF
Data7
Data8
0xFF
0xFF
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
