TMC223 DATASHEET (V. 1.05 / March 7, 2011)
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6.8.4 GotoSecurePosition
This command is provided by the Master to one or all the stepper-motors to move to the secure
position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If
SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled
and the GotoSecurePosition command is ignored.
GotoSecurePosition command
Byte
Content
Structure
bit 7
1
bit 6
bit 5
OTP3
0
bit 4
OTP2
0
bit 3
OTP1
0
bit 2
OTP0
1
bit 1
HW
0
bit 0
0
0
1
Slave Address
1
0
GotoSecurePosition 1
0
6.8.5 HardStop
This command is internally triggered when an electrical problem is detected in one or both coils,
leading to switch off the H-bridges. If this problem is detected while the motor is moving, the
<StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next
GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety
reasons.
HardStop command
Byte
Content
Structure
bit 7
1
bit 6
1
bit 5
OTP3
0
bit 4
OTP2
0
bit 3
OTP1
0
bit 2
OTP0
1
bit 1
HW
0
bit 0
0
0
1
Slave Address
HardStop
1
0
1
6.8.6 ResetPosition
This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order
to allow for an initialization of the stepper-motor position.
Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section
5.2.2, page 21) named 'Motion Status' indicate if the motor is at rest (velocity=0).
ResetPosition command
Byte
Content
Structure
bit 7
1
bit 6
1
bit 5
OTP3
0
bit 4
bit 3
OTP1
0
bit 2
OTP0
1
bit 1
HW
1
bit 0
0
0
1
Slave Address
ResetPosition
OTP2
0
1
0
0
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