TMC211 DATASHEET (V. 1.04 / January 7, 2005)
37
After type#7 or type#8 preparing frame the master sends two successive LIN type#6 reading frames to
retrieve the circuit’s in-frame responses. It is not mandatory to send the second reading frame if
position information are not needed by the application.
GetFullStatus indirect ID reading frame 1 (type#6)
Source Byte
Content
Structure
bit 7
bit 6
Bit 5 bit 4
bit 3 bit 2
bit 1 bit 0
Master
0
1
2
3
4
5
6
7
Identifier
0
1
1
1
1
1
1
0
1
Slave Address
Irun + Ihold
Vmax + Vmin
Status + Acc
Status
AD [6:0]
Irun [3:0]
Ihold [3:0]
Vmin [3:0]
Acc [3:0]
Vmax [3:0]
Acc Shape
VddReset StepLoss
StepMode [1:0]
Shaft
ElDef UV2
Slave
TSD
TW
Tinfo [1:0]
CPFail
Status
Motion [2:0]
ESW OVC1 OVC2
1
LIN error
See Table 14: LIN Error Status Register on page 27
0xFF
status register
Do not care
8
GetFullStatus indirect ID reading frame 2 (type#6)
Source Byte
Content
Structure
bit 7
bit 6
Bit 5 bit 4
bit 3
1
bit 2
1
bit 1 bit 0
Master
0
1
2
3
4
5
6
7
8
Identifier
0
1
1
1
1
0
1
Slave Address
ActualPosition
AD [6:0]
ActPos [15:8]
ActPos [7:0]
TagPos [15:8]
TagPos [7:0]
SecPos [7:0]
TargetPosition
SecurePosition
Do not care
Slave
1
1
1
1
1
SecPos [10:8]
0xFF
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
