TMC211 DATASHEET (V. 1.04 / January 7, 2005)
41
6.11.9 RunInit
This command is provided to the circuit by the Master in order to initialize positioning of the motor by
seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on
page 14. It leads to a sequence of the following commands:
•
•
•
•
•
•
SetMotorParam(Vmax, Vmin);
SetPosition(Pos1);
SetMotorParam(Vmin, Vmin);
SetPosition(Pos2);
ResetPosition
GotoSecurePosition
Once the RunInit command is started it can not be interrupted by any other command. Except a
condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a
HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of
-1024) the final travel to the secure position is omitted.
The master has to ensure that the target position of the first motion is not equal to the actual position
of the stepper motor and that the target positions of the first and second motion are different, too. This
is very important, otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state
only a HardStop command followed by a GetFullStatus command will cause the circuit to leave the
deadlock state. If <Broad> is set to zero all circuits connected to the LIN bus will run the init sequence.
RunInit reserved ID writing frame (type#4)
Source Byte
Content
Structure
Bit 5 Bit 4 bit 3
bit 7
bit 6
bit 2
bit 1 bit 0
0
1
2
3
4
5
6
7
8
Identifier
0
0
1
1
1
1
0
0
AppCMD
AppCMD = 0x80
Command
1
CMD [6:0] = 0x08
AD [6:0]
Slave Address
Vmax + Vmin
Target Position 1
Broad
Master
Vmax [3:0]
Vmin [3:0]
Pos1 [15:8]
Pos1 [7:0]
Pos2 [15:8]
Pos2 [7:0]
Target Position 2
Note:
Vmax [3:0]: Maximum Velocity for first motion of the run
Vmin [3:0]: Minimum Velocity for first motion and maximum velocity for the second motion of the run
Pos1 [15:0]: First target position to be reached during the init run.
Pos2 [15:0]: Second target position to be reached during the init run.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
