TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 12

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

12
The amount of equivalent full steps during acceleration phase can be computed by the next equation:
5.1.7
Position information is coded by using two’s complement format. Depending on the stepping mode
(see 5.1.1) the position ranges are as listed in the following table:
Target positions can be programmed via LIN interface by using the SetPosition command (see
6.11.11). The actual motor position can be read by the GetActualPos command (see 6.11.1).
5.1.8
In case of emergency (communication loss) or GotoSecurePosition command (6.11.5) the motor
drives to the secure position. The secure position is programmable by the user. Secure position is
coded with 11 bits, therefore the resolution is lower than for normal positioning commands, as shown
in the following table.
5.1.9
Pin SWI will alternately attempt to source and sink current in/from the external switch (Figure 1:
TMC211 Typical Application on page 7). This is to check whether the external switch is open or closed,
resp. if the pin is connected to ground or Vbat. The status of the switch can be read by using the
GetFullStatus or the GetActualPos command. As long as the switch is open, the <ESW> flag is set to
zero.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Position Ranges
Secure Position
External Switch
1/16 micro-stepping
1/4 micro-stepping
1/8 micro-stepping
Stepping Mode
Half-stepping
1/16 micro stepping
1/4 micro stepping
1/8 micro stepping
Stepping Mode
Half-stepping
Table 7: Secure Position Resolution
Table 6: Position Ranges
N
-16384…+16383
-32768…+32767
step
Position Range
-4096…+4095
-8192…+8191
(-2
(-2
(-2
(-2
=
12
13
14
15
V
…+2
…+2
…+2
…+2
max
2
12
13
14
15
2
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
⋅
Secure Position Resolution
-1)
-1)
-1)
-1)
−
Acc
32 micro steps (1/16
V
16 micro steps (1/8
8 micro steps (1/4
min
2
4 half steps
Full range excursion
16384 micro-steps
32768 micro-steps
65536 micro-steps
8192 half-steps
th
th
)
th
)
2
2
2
2
)
13
14
15
16