4
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.9.6
6.9.7
6.9.8
6.9.9
Reading Frames ............................................................................................................ 31
Reading Frame Type#5 (2, 4 or 8 bytes) ....................................................................... 31
Reading Frame Type#6 (8 bytes) .................................................................................. 31
Reading Frame Type#7 (Preparing frame).................................................................... 32
6.9.10 Reading Frame Type#8 (Preparing frame).................................................................... 32
6.10
6.11
APPLICATION COMMANDS OVERVIEW ................................................................................... 33
COMMAND DESCRIPTION...................................................................................................... 34
6.11.1 GetActualPos ................................................................................................................. 34
6.11.2 GetFullStatus ................................................................................................................. 36
6.11.3 GetOTPParam ............................................................................................................... 38
6.11.4 GetStatus ....................................................................................................................... 39
6.11.5 GotoSecurePosition ....................................................................................................... 39
6.11.6 HardStop........................................................................................................................ 39
6.11.7 ResetPosition................................................................................................................. 40
6.11.8 ResetToDefault.............................................................................................................. 40
6.11.9 RunInit............................................................................................................................ 41
6.11.10
6.11.11
6.11.12
6.11.13
6.11.14
6.11.15
SetMotorParam .......................................................................................................... 42
SetOTPParam ............................................................................................................ 42
SetPosition ................................................................................................................. 43
SetPositionShort......................................................................................................... 44
SoftStop...................................................................................................................... 45
Sleep Mode ................................................................................................................ 45
6.12 POSITIONING TASK EXAMPLE ............................................................................................... 46
FREQUENTLY ASKED QUESTIONS ......................................................................................... 48
7
7.1
USING THE BUS INTERFACE...................................................................................................... 48
GENERAL PROBLEMS WHEN GETTING STARTED......................................................................... 48
USING THE DEVICE .................................................................................................................. 49
FINDING THE REFERENCE POSITION.......................................................................................... 50
7.2
7.3
7.4
8
PACKAGE OUTLINE................................................................................................................... 51
8.1
SOIC-20 ................................................................................................................................ 51
9
PACKAGE THERMAL RESISTANCE AND LAYOUT CONSIDERATIONS............................... 52
9.1
SOIC-20 PACKAGE................................................................................................................. 52
10
ELECTRICAL CHARACTERISTICS........................................................................................ 53
10.1
ABSOLUTE MAXIMUM RATINGS ............................................................................................. 53
OPERATING RANGES ........................................................................................................... 53
DC PARAMETERS ................................................................................................................ 53
AC PARAMETERS ................................................................................................................ 55
10.2
10.3
10.4
11
REVISION HISTORY................................................................................................................ 56
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
