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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
6.8.7 ResetToDefault
This command is provided to the circuit by the Master in order to reset the whole slave node into the
initial state. ResetToDefault will for instance overload the RAM with the reset state of the register
parameters. This is another way for the Master to initialize a slave node in case of emergency, or
simply to refresh the RAM content.
Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos
register in order to avoid an attempt to position the motor to ‘0’.
ResetToDefault 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
ResetToDefault
OTP2
0
1
0
1
6.8.8 RunInit
This command is provided to the circuit by the Master in order to initialize positioning of the motor by
seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on
page 15. It leads to a sequence of the following commands:
•
•
•
•
•
•
SetMotorParam(Vmax, Vmin);
SetPosition(Pos1);
SetMotorParam(Vmin, Vmin);
SetPosition(Pos2);
ResetPosition
GotoSecurePosition
Once the RunInit command is started it can not be interrupted by any other command except when a
condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a
HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of
-1024) the final travel to the secure position is omitted.
The master has to ensure that the target position of the first motion is not equal to the actual position
of the stepper motor and that the target positions of the first and second motion are different, too. This
is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state
only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave the
deadlock state.
RunInit command
Byte
Content
Structure
bit 4 bit 3
OTP3 OTP2 OTP1 OTP0
bit 7
1
bit 6
bit 5
bit 2
bit 1
HW
0
bit 0
0
0
1
2
3
4
5
6
7
8
Slave Address
RunInit
N/A
1
1
0
0
1
1
0
1
1
1
1
1
0
1
1
0
1
1
1
1
N/A
1
1
Vmax(3:0)
1
1
Vmax Vmin
Position1 byte 1
Position1 byte 2
Position2 byte 1
Position2 byte 2
Vmin(3:0)
TagPos1(15:8)
TagPos1(7:0)
TagPos2(15:8)
TagPos2(7:0)
Note: N/A = not applicable
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
