TMC223 DATASHEET (V. 1.05 / March 7, 2011)
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6.8 Command Description
There are data fields labeled as "N/A = not applicable". Within the command description tables, the
contend is normally given as '1'. Data fields labeled by N/A might be reserved for later variants of the
TMC223 and the content should be ignored for the TMC223.
Concerning response datagrams, the byte 0 is the slave address that is applied for addressing, where
the byte 1 is the slave address that is sent back within the response data frame.
6.8.1 GetFullStatus1
This command is provided to the circuit by the Master to get a complete status of the circuit and of the
stepper-motor. The parameters sent via the two wire serial bus to the Master are:
•
•
•
•
•
•
•
coil peak and hold current values (Irun and Ihold)
maximum and minimum velocities for the stepper-motor (Vmax and Vmin)
direction of motion clockwise / counterclockwise (Shaft)
stepping mode (StepMode) (Table 11: StepMode on page 22)
acceleration (deceleration) for the Stepper motor (Acc)
acceleration shape (AccShape)
status information:
•
•
•
•
•
•
•
•
•
•
•
•
motion status <Motion [2:0]>
over current flags for coil A <OVC1> and coil B <OVC2>
digital supply reset <VddReset>
charge pump status <CPFail>
external switch status <ESW>
step loss <StepLoss>
electrical defect <ElDef>
under voltage <UV2>
temperature information <Tinfo>
temperature warning <TW>
temperature shutdown <TSD>
stall detection threshold parameters <AbsThr> and <DelThr>
GetFullStatus1 command
Byte
Content
Structure
bit 7
1
bit 6
1
bit 5
OTP3
0
bit 4
bit 3
OTP1
0
bit 2
OTP0
0
bit 1
HW
0
bit 0
0
0
1
Slave Address
GetFullStatus1
OTP2
0
1
0
1
GetFullStatus1 command (Response)
Structure
Byte
Content
bit 7
1
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
HW
bit 0
1
0
1
2
3
4
5
6
7
8
Slave Address
Address
Irun & Ihold
Vmax & Vmin
Status 1
Status 2
Status 3
N/A
1
OTP3 OTP2 OTP1 OTP0
OTP3 OTP2 OTP1
1
1
1
OTP0
HW
Irun (3:0)
Vmax (3:0)
StepMode(1:0)
Ihold (3:0)
Vmin (3:0)
ACC(3:0)
AccShape
Shaft
UV2
ESW
1
VddReset StepLoss ElDef
Motion(2:0)
TSD TW
OVC1 OVC2
Tinfo(1:0)
1
CPFail
1
1
1
AbsThr[3:0]
1
1
1
DelThr[3:0]
1
N/A
Note: Slave Address is the address sent to device, but it will not be sent back - Address is sent back
Note: N/A = not applicable
Copyright © 2007-2011 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
