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TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.7 ResetPosition
This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order
to allow for an initialization of the Stepper-motor position. If <Broad> is set to zero all circuits connected
to the LIN bus will reset their ActPos and TagPos registers.
Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section
5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).
ResetPosition general purpose writing frame (type#1)
Source Byte
Content
Structure
bit 5 Bit 4 bit 3
ID4 ID3
bit 7
bit 6
*
bit 2
ID2
bit 1 bit 0
ID1 ID0
0
1
2
Identifier
*
1
0
Master
Command
CMD [6:0] = 0x06
AD [6:0]
Slave Address
Broad
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
6.11.8 ResetToDefault
This command is provided to the circuit by the Master in order to reset the whole Slave node into the
initial state. ResetToDefault for instance overloads the RAM contents with the reset state of the
parameters. This is another way for the Master to initialize a slave node in case of emergency, or
simply to refresh the RAM content.
Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos
register in order to avoid an attempt to position the motor to ‘0’. If <Broad> is set to zero all circuits
connected to the LIN bus will reset to default.
ResetToDefault general purpose writing frame (type#1)
Source Byte
Content
Structure
Bit 5 Bit 4 bit 3
ID4 ID3
bit 7
bit 6
*
bit 2
ID2
bit 1 bit 0
ID1 ID0
0
1
2
Identifier
*
1
0
Master
Command
CMD [6:0] = 0x07
AD [6:0]
Slave Address
Broad
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
