TMC211 DATASHEET (V. 1.04 / January 7, 2005)
43
6.11.12 SetPosition
This command is provided to the circuit by the Master to drive a motor to a given position relative to the
zero position, defined in number of half or micro steps, according to StepMode[1:0] value.
SetPosition will not be performed if one of the following flags is set to one:
•
•
•
•
temperature shutdown <TSD>
under voltage <UV2>
step loss <StepLoss>
electrical defect <ElDef>
This command can be sent using dynamic ID, general purpose ID or reserved ID:
1. Dynamic ID:
SetPosition dynamic ID writing frame (type#3)
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
TargetPosition
0
Master
TagPos [15:8]
TagPos [7:0]
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to SetPosition command for a specific slave.
2. General purpose ID:
SetPositon general purpose writing frame (type#1)
Content Structure
Source Byte
bit 7
bit 6
bit 5 Bit 4
bit 3
bit 2
ID2
bit 1 bit 0
ID1 ID0
0
1
2
3
4
Identifier
*
1
*
1
0
ID3
Command
CMD [6:0] = 0x0B
AD [6:0]
Master
Slave Address
Target Position
Broad
TagPos [15:8]
TagPos [7:0]
Note:
* according to parity calculation.
ID [3:0]: Dynamically allocated identifier to general purpose 4 data bytes writing frame
If <Broad> is set to zero all stepper motors connected to the LIN bus are going to TagPos.
3. Reserved ID (SetPosition for two motors):
SetPosition for 2 motors with reserved ID (type#4)
Source Byte
Content
Structure
bit 5 Bit 4 bit 3
bit 7
bit 6
0
bit 2
1
bit 1 bit 0
0
1
2
3
4
5
6
7
8
Identifier
0
1
1
1
0
0
AppCMD
AppCMD = 0x80
Command
Slave Address 1
Target Position 1
1
1
CMD [6:0] = 0x0B
AD1 [6:0]
TagPos1 [15:8]
TagPos1 [7:0]
AD2 [6:0]
Master
Slave Address 2
Target Position 2
1
TagPos2 [15:8]
TagPos2 [7:0]
Note:
ADn [6:0]: Motor #n physical address
TagPosn [15:0]: Signed 16-bit position set-point for motor #n.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
