TMC223 DATASHEET (V. 1.05 / March 7, 2011)
35
6.8.9 SetMotorParam
This command is provided to the circuit by the Master to set the values for the following stepper motor
parameters in RAM:
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coil peak current value (Irun)
coil hold current value (Ihold)
maximum velocity for the Stepper-motor (Vmax)
minimum velocity for the Stepper-motor (Vmin)
acceleration shape (AccShape)
stepping mode (StepMode)
direction of the Stepper-motor motion (Shaft)
acceleration (deceleration) for the Stepper-motor (Acc)
secure position for the Stepper-motor (SecPos)
PWM frequency selection (PWMfreq)
PWM jitter enable (PWMJEn) for low EMI
If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position is
disabled and the GotoSecurePosition command is ignored.
SetMotorParam command
Byte
Content
Structure
bit 4 bit 3
OTP1 OTP0
bit 7
1
bit 6
1
bit 5
bit 2
bit 1
HW
0
bit 0
0
0
1
2
3
4
5
6
7
8
Slave Address
SetMotorParam
N/A
OTP3
0
OTP2
1
0
0
1
1
1
1
1
0
1
1
1
1
1
1
1
1
1
N/A
1
1
1
1
Irun & I hold
Vmax & Vmin
Status
Irun(3:0)
Vmax(3:0)
Ihold(3:0)
Vmin(3:0)
Acc(3:0)
SecPos(10:8)
Shaft
SecPos(7:0)
AccShape StepMode[1:0]
SecurePos
StepMode etc.
PWMfreq
PWMJEn
1
1
1
Note: N/A = not applicable
6.8.10 SetStallParam
This command sets the relevant parameters for the sensorless stall detection. A description with an
example, how to find a set of parameters for stall detection is given in section 7, page 39.
SetStallParam command
Byte
Content
Structure
bit 4 bit 3
OTP1 OTP0
bit 7
1
bit 6
1
bit 5
bit 2
bit 1
HW
1
bit 0
0
0
1
2
3
4
5
6
7
8
Slave Address
SetStallParam
N/A
OTP3
0
OTP2
1
0
1
1
1
0
1
1
1
1
1
0
1
1
1
1
1
1
N/A
Irun & I hold
Vmax & Vmin
1
1
1
1
Irun(3:0)
Vmax(3:0)
Ihold(3:0)
Vmin(3:0)
Acc(3:0)
MinSamples(2:0)
AbsThr(3:0)
FS2StallEN(2:0)
Shaft
DelThr(3:0)
DC100En PWMJEn
StepMode
AccShape StepMode[1:0]
Note: The PWMfreq selection bit set via SetMotorParam has to be taken into account for MinSamples
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
