TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 18

• Manufacturer Part Number: TMC222-SI
• Description: IC, MOTOR CTRL/DRVR, STEPPER, SOIC-20
• Manufacturer: TRINAMIC

Specifications of TMC222-SI

• Motor Type: Stepper
• No. Of Outputs: 4
• Output Current: 800mA
• Supply Voltage Range: 8V To 29V
• Driver Case Style: SOIC
• No. Of Pins: 20
• Operating Temperature Range: -40°C To +125°C
• Device Type: Motor
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

<UV2> or <ElDef>) =
GetFullStatus1
ResetToDefault
[ActPos and TagPos
GotoSecurePosi
Color code:
SetMotorParam
ResetPosition
[ <TSD> = ‘1’ ]
about proper update]
GetActualPos
[
[Master takes care
Thermal shutdown
<TSD> and <HS>
GetOTPParam
SetPosition
‘1’
[attempt to clear
Motion finished
are not altered]
18
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Command
HardStop
SoftStop
HardStop
RunInit
(<CPFail> or
Notes:
1
2
3
4
5
6
tion
<HS> = ‘1’ ]
flags]
After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after a GetFullStatus1 command
(so that the Master could read the <VddReset> flag).
A RunInit sequence runs with a separate set of RAM registers. The parameters which are not specified in a RunInit
command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced to ‘1’
during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case AccShape at
‘0’ will be taken into account after the RunInit sequence.
Vmax and Vmin stored in RAM.
Shutdown state can be left only when <TSD> and <HS> flags are reset.
Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided the physical
conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect).
A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and Vmin
values. This can be done during a RunInit sequence since this motion uses its own parameters, the new parameters will be
taken into account at the next SetPosition command.
<SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 =
“100 0000 0000”)
Command ignored
Transition to another state
Master is responsible for proper update (see note 5)
State
TagPos updated;
If <SecEn> = ‘1’
then TagPos =
SecPos;
AccShape reset
motor stopped,
OTP to RAM;
ActPos reset
GotoPos
GotoPos
OTP refresh;
OTP refresh;
Ihold in coils
RAM update
TagPos and
I²C in-frame
I²C in-frame
I²C in-frame
Stopped
response
response
Shutdown
Shutdown
RunInit
n.a.
If <SecEn> = ‘1’
then TagPos =
SecPos
TagPos updated
AccShape reset
<StepLoss> =
OTP to RAM;
motor motion
OTP refresh;
OTP refresh;
RAM update
I²C in-frame
I²C in-frame
I²C in-frame
GotoPos
response
response
HardStop;
ongoing
HardStop
SoftStop
SoftStop
Stopped
‘1’
Table 8: Priority Encoder
If <SecEn> = ‘1’
then TagPos =
SecPos
TagPos updated
AccShape reset
<StepLoss> =
no influence on
OTP to RAM;
OTP refresh;
OTP refresh;
RAM update
I²C in-frame
I²C in-frame
I²C in-frame
RAM and
RunInit
response
response
HardStop;
A GetFullStatus1 command will return the default parameters for
TagPos
HardStop
(note 2)
SoftStop
Stopped
TMC222 DATASHEET (V. 1.06 / March 15, 2007)
‘1’
AccShape reset
<StepLoss> =
OTP to RAM;
OTP refresh;
OTP refresh;
RAM update
decelerating
I²C in-frame
I²C in-frame
I²C in-frame
SoftStop
=ActPos
response
response
HardStop;
TagPos
HardStop
Stopped;
motor
‘1’
AccShape reset
motor forced to
OTP to RAM;
OTP refresh;
OTP refresh;
RAM update
HardStop
I²C in-frame
I²C in-frame
I²C in-frame
=ActPos
response
response
TagPos
Stopped;
stop
H-bridges in Hi-Z
I²C in-frame
response;
if (<TSD> or
<HS>) = ‘1’
then
AccShape reset
motor stopped,
ActPos reset
OTP to RAM;
OTP refresh;
OTP refresh;
ShutDown
TagPos and
RAM update
I²C in-frame
I²C in-frame
response
n.a.
Stopped