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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
6.8.2 GetFullStatus2
This command is provided to the circuit by the Master to get the actual position of the stepper-motor.
The position is provided by the circuit in 16-bit format, with the 3 LSBs at ‘0’ when in half stepping
mode (StepMode = “00”). Furthermore programmed target position and secure position are also
provided.
GetFullStatus2 command
Byte
Content
Structure
bit 7
1
bit 6
1
bit 5
OTP3
1
bit 4
bit 3
OTP1
1
bit 2
OTP0
1
bit 1
HW
0
bit 0
0
0
1
Slave Address
GetFullStatus2
OTP2
1
1
1
0
GetFullStatus2 command (Response)
Structure
Byte
Content
bit 7
1
bit 6
1
bit 5
bit 4
bit 3
bit 2
bit 1
HW
bit 0
1
0
1
2
3
4
5
6
Slave Address
Address
OTP3 OTP2 OTP1 OTP0
1
1
1
OTP3 OTP2 OTP1
ActPos(15:8)
ActPos(7:0)
OTP0
HW
Actual Position 1
Actual Position 2
Target Position 1
Target Position 2
Secure Position
Stall Detection /
Secure Position
Stall Detection
TagPos(15:8)
TagPos(7:0)
SecPos(7:0)
7
8
FS2StallEn[2:0]
1
DC100
SecPos(10:8)
AbsStall
DelStallLo
DelStallHi
MinSamples[2:0]
DC100StEn PWMJEn
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
6.8.3 GetOTPParam
This command is provided to the circuit by the master to read the content of the OTP Memory. For
more information refer to Table 9: OTP Memory Structure on page 22.
GetOTPParam 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
1
bit 0
0
0
1
Slave Address
GetOTPParam
OTP2
0
1
0
0
GetOTPParam command (Response)
Structure
Byte
Content
bit 7
1
bit 6
1
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
OTP byte 0
OTP byte 1
OTP byte 2
OTP byte 3
OTP byte 4
OTP byte 5
OTP byte 6
OTP byte 7
OTP3 OTP2 OTP1 OTP0
OTP@0x00
OTP@0x01
OTP@0x02
OTP@0x03
OTP@0x04
OTP@0x05
OTP@0x06
OTP@0x07
Note: Slave Address is the address sent to device, but it will not be sent back - Address is sent back
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