TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 39

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

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.4 GetStatus
This command is provided to the circuit by the LIN master to get a quick status (compared to that of
GetFullStatus command) of the circuit and the stepper motor.
The following flags are attempt to reset:
Note:
6.11.5 GotoSecurePosition
This command is provided by the LIN master to one or all stepper motors to move to the secure
position SecPos[10:0]. It can also be triggered if the LIN communication is lost or at the end of a
RunInit initialization phase. If <Broad> is set to zero all stepper motors connected to the LIN bus will
reach their secure position. If SecPos[10:0] equals 0x400 (the most negative decimal value of –1024)
the secure position is disabled and the GotoSecurePosition command is ignored.
Note:
6.11.6 HardStop
This command is internally triggered when an electrical problem is detected in one or both coils,
leading to switching off of the H-bridges. If this problem is detected while the motor is moving, the
<StepLoss> flag is raised allowing to warn the Master with the next GetStatus command that steps
may have been lost. A HardStop command can also be issued by the Master for some safety reasons.
If <Broad> is set to zero all the stepper motors connected to the LIN bus will stop.
Note:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Source
Master
Master
Master
Slave
<TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2> and <VddReset>
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to GetStatus command.
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
Byte
Byte
Byte
0
1
2
0
1
2
0
1
2
Identifier
Slave Address
Status
Identifier
Command
Slave Address
Identifier
Command
Slave Address
GotoSecurePosition general purpose writing frame (type#1)
Content
Content
Content
HardStop general purpose writing frame (type#1)
GetStatus direct ID reading frame (type#5)
VddReset StepLoss
Broad
ESW
Bit 7
Broad
bit 7
bit 7
1
1
*
*
*
bit 6
bit 6
bit 6
*
*
*
ElDef
bit 5
bit 5
bit 5
0
0
0
Structure
Structure
Structure
Bit 4
Bit 4
Bit 4
UV2
ID4
ID4
ID4
CMD [6:0] = 0x04
CMD [6:0] = 0x05
AD [6:0]
AD [6:0]
AD [6:0]
bit 3
bit 3
bit 3
TSD
ID3
ID3
ID3
bit 2
bit 2
bit 2
TW
ID2
ID2
ID2
bit 1
bit 1
bit 1
ID1
ID1
ID1
Tinfo[1:0]
bit 0
bit 0
bit 0
ID0
ID0
ID0
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