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TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.2 GetFullStatus
This command is provided to the circuit by the Master to get a complete status of the circuit and of the
Stepper-motor. The parameters sent via LIN interface to the master are:
•
•
•
•
•
•
•
coil peak and hold currents value (Irun and Ihold)
maximum and minimum velocities for the Stepper-motor (Vmax and Vmin)
direction of motion clockwise / counterclockwise (Shaft)
stepping mode (StepMode) (Table 11: StepMode on page 21)
acceleration (deceleration) for the Stepper motor (Acc)
acceleration shape (AccShape)
status information (see further)
•
•
•
•
•
•
•
•
•
•
•
motion status <Motion [2:0]>
over current flags for coil #1 <OVC1> and coil #2 <OVC2>
digital supply reset <VddReset>
charge pump status <CPFail>
external switch status <ESW>
step loss <StepLoss>
electrical defect <ElDef>
under voltage <UV2>
temperature information <Tinfo>
temperature warning <TW>
temperature shutdown <TSD>
The following flags are attempt to reset:
<TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2> and <VddReset>
The master sends either type#7 or type#8 preparing frame:
GetFullStatus 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] = 0x01
AD [6:0]
Slave Address
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to type#7 preparing frame.
GetFullStatus 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] = 0x01
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. ]
