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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
6.7 Application Commands Overview
Communications between the TMC223 and a Two Wire Serial Bus Master takes place via a set of
commands.
Reading commands are used to:
•
•
•
Get actual status information, e.g. error flags
Get actual position of the Stepper Motor
Verify the right programming and configuration of the TMC223
Writing commands are used to:
•
•
Program the OTP Memory
Configure the TMC223 with motion parameters (e.g. max/min speed, acceleration, stepping mode,
etc.)
•
Provide target positions to the Stepper motor
Command
Mnemonic
Command Byte
(hexadecimal)
0x81
Function
GetFullStatus1
GetFullStatus2
GetOTPParam
Returns complete status of the chip
Returns actual, target and secure position
Returns OTP parameter
0xFC
0x82
GotoSecurePosition Drives motor to secure position
HardStop
0x84
0x85
Immediate full stop
Sets actual position to zero
ResetPosition
ResetToDefault
0x86
0x87
Overwrites the chip RAM with OTP contents
pre-programmed motion sequence to move
to a mechanical limit
RunInit
0x88
SetMotorParam
SetOTP
Sets motor parameter
Zaps the OTP memory
0x89
0x90
0x8B
0x96
0x8F
SetPosition
SetStallParam
SoftStop
Programmers a target and secure position
Set Stall Detection Parameters
Motor stopping with deceleration phase
Outputs BEMF voltage on pin SWI (for
debugging purposes only)
TestBEMF
0x9F
Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
