20
TMC223 DATASHEET (V. 1.05 / March 7, 2011)
7
<Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set to
‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.
While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest
priority, meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions.
If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos
register whatever the state) and motion to secure position is forbidden. Other commands like RunInit or ResetPosition
will be executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command.
8
9
5.2 RAM and OTP Memory
Some RAM registers (e.g. Ihold, Irun) are initialized with the content of the OTP (One Time
Programmable) memory. The content of RAM registers that are initialized via OTP can be changed
afterwards. This allows user initialization default values, whereas the default values are one time
programmable by the user. Some OTP bits are address bits of the TMC223.
5.2.1 RAM Registers
Register
Mnemonic
Length
(bit)
Related commands
Comment
Reset
State
Actual Position
Target Position
ActPos
TagPos
16
GetFullStatus2
ResetPosition
SetPosition
Actual Position of the Stepper Motor. 16-bit
signed
16
Target Position of the Stepper Motor. 16-bit
signed
GetFullStatus2
ResetPosition
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
GetFullStatus1
SetMotorParam
ResetToDefault
0x0000
Acceleration
Shape
AccShape
Irun
1
4
0 = Acceleration with Acc Parameter.
1 = Velocity set to Vmin, without
acceleration
Coil Peak Current
Coil Hold Current
Minimum Velocity
Maximum Velocity
Shaft
Coil current when motion is ongoing
(Table 12: Irun / Ihold Settings)
Ihold
4
Coil current when motor stands still
(Table 12: Irun / Ihold Settings)
Vmin
4
Start Velocity of the stepper motor
(Table 4: Vmin )
Vmax
Shaft
4
Target Velocity of the stepper motor
(Table 3: Vmax Parameter)
OTP
Memory
1
Direction of motion
Acceleration /
Deceleration
Acc
4
Parameter for acceleration
(Table 5: Acc Parameter)
Secure Position
Stepping Mode
SecPos
StepMode
11
2
Target Position for GotoSecurePosition
command (6.8.4 GotoSecurePosition); 11
MSBs of 16-bit position (LSBs fixed to ‘0’)
Micro stepping mode
GetFullStatus2
ResetToDefault
GetFullStatus1
GetFullStatus2
ResetToDefault
(5.1.1 Stepping Modes)
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