TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 33

• 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

TMC222 DATASHEET (V. 1.06 / March 15, 2007)
6.8.7
This command is provided to the circuit by the Master in order to reset the whole slave node into the
initial state. ResetToDefault will for instance overload the RAM with the reset state of the register
parameters. This is another way for the Master to initialize a slave node in case of emergency, or
simply to refresh the RAM content.
Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos
register in order to avoid an attempt to position the motor to ‘0’.
6.8.8
This command is provided to the circuit by the Master in order to initialize positioning of the motor by
seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on
page 14. It leads to a sequence of the following commands:
•
•
•
•
•
•
Once the RunInit command is started it can not be interrupted by any other command except when a
condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a
HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of
-1024) the final travel to the secure position is omitted.
The master has to ensure that the target position of the first motion is not equal to the actual position
of the stepper motor and that the target positions of the first and second motion are different, too.
This is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock
state only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave
the deadlock state.
Note: N/A = not applicable
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Byte
Byte
0
1
2
3
4
5
6
7
8
0
1
SetMotorParam(Vmax, Vmin);
SetPosition(Pos1);
SetMotorParam(Vmin, Vmin);
SetPosition(Pos2);
ResetPosition
GotoSecurePosition
Position1 byte 1
Position1 byte 2
Position2 byte 1
Position2 byte 2
ResetToDefault
RunInit
Slave Address
ResetToDefault
Slave Address
Vmax Vmin
Content
RunInit
Content
N/A
N/A
bit 7
bit 7
1
1
1
1
1
1
bit 6
ResetToDefault command
1
0
bit 6
Vmax(3:0)
1
0
1
1
RunInit command
OTP3
bit 5
0
OTP3
bit 5
0
1
1
OTP2
bit 4
TagPos1(15:8)
TagPos2(15:8)
TagPos1(7:0)
TagPos2(7:0)
OTP2
0
bit 4
Structure
Structure
0
1
1
OTP1
bit 3
OTP1
bit 3
0
1
1
1
OTP0
OTP0
bit 2
bit 2
1
0
1
1
Vmin(3:0)
bit 1
HW
bit 1
HW
1
0
1
1
bit 0
bit 0
0
1
0
0
1
1
33