TMC211 DATASHEET (V. 1.04 / January 7, 2005)
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6.11.14 SoftStop
If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate
deceleration to Vmin followed by a stop, regardless of the position reached. Once the motor is stopped
TagPos register is overwritten with the value in ActPos register to ensure keeping the stop position.
This command is executed if:
•
•
the chip temperature rises the Thermal shutdown threshold or
the Master sends a SoftStop command
If <Broad> is set to zero all the stepper motors connected to the LIN bus will stop with deceleration.
SoftStop 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] = 0x0F
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.
6.11.15 Sleep Mode
According to LIN specification rev. 1.3, sleep mode and stand-by mode (wake-up) are implemented.
The interface can work in one of the following modes (refer to Figure 14: LIN Physical Layer):
•
•
Normal mode: EN = ‘1’, Vdd = high, INH = ‘1’
Sleep mode: in the normal mode EN is set to ‘0’ to go to sleep mode after reception of a LIN Sleep
command or more than 25,000 bit times (1.30 seconds) of LIN bus inactivity. The interface current
consumption is limited to Isleep. Only the receiver is working.
•
Stand-by mode (wake-up): when a LIN message frame is received in sleep mode or when Vbb
goes high (power-on), INH is immediately activated. The initial state of INH signal is ensured by an
internal power-on-reset circuitry inside the wake-up control.
The TMC211 can be immediately forced to sleep mode to reduce current consumption down to Isleep
by sending the sleep mode command depicted below:
Sleep Mode Command with reserved ID (type#4)
Source Byte
Content
Structure
bit 7
bit 6
0
bit 5 Bit 4 bit 3 bit 2 bit 1
bit 0
0
0
1
2
3
Identifier
Sleep
0
1
1
1
1
0
0x00
0xFF
0xFF
0xFF
0xFF
0xFF
0xFF
0xFF
Master
4
5
6
7
8
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
