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TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.13 SetPositionShort
This command is provided to the circuit by the LIN master to drive one, two or four motors to a given
absolute position. This command is valid for half stepping mode (<StepMode> = “00”) and is ignored
for other stepping modes. If <Broad> is set to zero all circuits connected to the LIN bus will go to the
desired position (only valid for SetPositionShort (1 Motor)).
The physical address is coded on 4 bits, hence SetPositionShort can only be used within a network
implementing a maximum of 16 slave nodes. These 4 bits are normally corresponding to the bits
PA [3:0] in OTP memory (Address 0x00), while bits AD [6:4] must be at ‘1’. Two different cases must in
fact be considered, depending on the programmed value of bit ADM in the OTP memory. See 5.2.3
OTP Memory Structure on page 21.
ADM
AD[3]
Pin HW0
Pin HW1
Pin HW2
Bit PA0 in
OTP memory
0
1
1
X
0
1
Tied to Vbat
Tied to Gnd
Tied to Vbat
AD[0]
Tied to Vdd
1
1
Table 17: ADM bit in SetPositionShort Command
SetPositionShort (1 Motor) with dynamic ID (type#2)
Source Byte
Content
Structure
bit 7
*
bit 6
*
Pos [10:8]
bit 5 Bit 4 bit 3 Bit 2 bit 1
bit 0
ID0
0
1
2
Identifier
0
ID4
ID3
ID2
ID1
Master
Slave Address
Target Position
Broad
Pos [7:0]
AD [3:0]
Note:
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to SetPositionShort command with 2 data bytes.
SetPositionShort (2 Motors) with dynamic ID (type#2)
Source Byte
Content
Structure
bit 7
*
Bit 6
*
Pos1 [10:8]
bit 5 Bit 4 bit 3 bit 2 bit 1
bit 0
ID0
0
1
Identifier
1
0
1
ID3
ID2
ID1
Slave Address 1
Target Position 1
Slave Address 2
Target Position 2
AD1 [3:0]
Master
2
3
4
Pos1 [7:0]
1
Pos2 [10:8]
AD2 [3:0]
Pos2 [7:0]
SetPositionShort (4 Motors) with dynamic ID (type#2)
Source Byte
Content
Structure
bit 7
Bit 6
*
bit 5 Bit 4 bit 3 bit 2 bit 1
bit 0
ID0
0
1
2
3
4
5
6
7
8
Identifier
*
1
1
1
ID3
ID2
ID1
Slave Address 1
Target Position 1
Slave Address 2
Target Position 2
Slave Address 3
Target Position 3
Slave Address 4
Target Position 4
Pos1 [10:8]
AD1 [3:0]
Pos1 [7:0]
Pos2 [10:8]
Pos3[10:8]
Pos4[10:8]
1
AD2 [3:0]
AD3 [3:0]
AD4 [3:0]
Master
Pos2 [7:0]
1
Pos3 [7:0]
1
Pos4 [7:0]
Note:
* according to parity calculation
ID [3:0]: Dynamically allocated identifier to SetPositionShort command with 8 data bytes.
ADn [3:0]: Motor #n physical address least significant bits
Posn [10:0]: Unsigned 11-bit position set point for Motor #n
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
