TMC223 DATASHEET (V. 1.05 / March 7, 2011)
37
6.8.12 SetPosition
This command is provided to the circuit by the Master to drive the motor to a given position relative to
the zero position, defined in number of half or micro steps, according to StepMode[1:0] value.
SetPosition will not be performed if one of the following flags is set to one:
•
•
•
•
temperature shutdown <TSD>
under voltage <UV2>
step loss <StepLoss>
electrical defect <ElDef>
SetPosition command
Structure
bit 4 bit 3
OTP3 OTP2 OTP1 OTP0
Byte
Content
bit 7
1
bit 6
1
bit 5
bit 2
bit 1
HW
1
bit 0
0
0
1
2
3
4
5
Slave Address
SetPosition
N/A
1
0
0
1
1
0
1
1
1
1
1
0
1
1
1
1
1
1
1
N/A
Position byte1
Position byte2
1
1
1
1
TagPos(15:8)
TagPos(7:0)
Note: N/A = not applicable
6.8.13 SoftStop
If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate
deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in
the following cases:
•
•
The chip temperature rises above the Thermal shutdown threshold.
The Master requests a SoftStop.
SoftStop command
Byte
Content
Structure
bit 7
1
bit 6
1
bit 5
OTP3
0
bit 4
bit 3
OTP1
1
bit 2
OTP0
1
bit 1
HW
1
bit 0
0
0
1
Slave Address
SoftStop
OTP2
0
1
0
1
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