TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 32

• 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

32
6.8.4
This command is provided by the Master to one or all the stepper-motors to move to the secure
position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If
SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled
and the GotoSecurePosition command is ignored.
Byte
0
1
6.8.5
This command is internally triggered when an electrical problem is detected in one or both coils,
leading to switch off the H-bridges. If this problem is detected while the motor is moving, the
<StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next
GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety
reasons.
Byte
0
1
6.8.6
This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order
to allow for an initialization of the stepper-motor position.
Hint: This command is ignored during motion. It has no effect during motion. The Status Flags
(section 5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Byte
0
1
GotoSecurePosition
HardStop
ResetPosition
Content
Slave Address
GotoSecurePositio
n
Content
Slave Address
HardStop
Slave Address
ResetPosition
Content
Structure
bit 7
1
1
bit 7
1
1
Structure
bit 7
1
1
bit 6
1
0
GotoSecurePosition command
bit 6
bit 6
1
0
1
0
ResetPosition command
HardStop command
bit 5
OTP3
0
OTP3
bit 5
bit 5
OTP3
0
0
TMC222 DATASHEET (V. 1.06 / March 15, 2007)
bit 4
OTP2
0
OTP2
bit 4
bit 4
OTP2
0
0
Structure
bit 3
OTP1
0
OTP1
bit 3
OTP1
0
bit 3
0
bit 2
OTP0
1
OTP0
bit 2
OTP0
1
bit 2
1
bit 1
HW
0
bit 1
HW
0
bit 1
HW
1
bit 0
0
1
bit 0
0
0
bit 0
0
0