42
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.10 SetMotorParam
This command is provided to the circuit by the Master to set the values for the Stepper motor
parameters in RAM. Note: it is not recommended to change Vmax, Vmin or Acc while a motion is
ongoing, otherwise correct positioning is not guaranteed. The following parameter values are set in
RAM:
•
•
•
•
•
•
•
•
•
coil peak current value (Irun)
coil hold current value (Ihold)
maximum velocity for the Stepper-motor (Vmax)
minimum velocity for the Stepper-motor (Vmin)
acceleration shape (AccShape)
stepping mode (StepMode)
indicator of the Stepper-motor moving direction (Shaft)
acceleration (deceleration) for the Stepper-motor (Acc)
secure position for the Stepper-motor (SecPos)
If <Broad> is set to zero all stepper motors connected to the LIN bus will set the parameters in their
RAMs. If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position
is disabled and the GotoSecurePosition command is ignored.
SetMotorParam 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
0
1
2
3
Identifier
0
0
1
1
1
1
0
AppCMD
AppCMD = 0x80
Command
1
CMD [6:0] = 0x09
AD [6:0]
Slave Address
Irun + Ihold
Broad
4
5
6
7
Irun [3:0]
Vmax [3:0]
Ihold [3:0]
Vmin [3:0]
Acc [3:0]
Master
Vmax + Vmin
SecPos + Acc
Secure Position2
SecPos [10:8]
Shaft
SecPos [7:0]
Acc
StepMode [1:0]
8
Status
1
1
1
1
1
Shape
6.11.11 SetOTPParam
This command is provided to the circuit by the Master in order to zap the OTP memory. If <Broad> is
set to zero all circuits connected to the LIN bus will zap their OTP memories. Please refer to Table 25:
DC Parameters Supply and Voltage regulator on page 54 to ensure that the correct supply voltage is
applied to the chip, otherwise the circuit will be damaged.
SetOTPParam with reserved ID (type#4)
Source Byte
Content
Structure
bit 7
bit 6
bit 5 Bit 4 bit 3 bit 2 bit 1
bit 0
0
0
1
2
3
Identifier
0
0
1
1
1
1
0
AppCMD
AppCMD = 0x80
Command
1
Broad
1
CMD [6:0] = 0x10
Slave Address
OTP Address
OTP Data
AD [6:0]
1
Master
4
5
6
7
8
1
1
1
OTPA [2:0]
Data [7 :0]
0xFF
Do not care
Do not care
Do not care
0xFF
0xFF
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
