TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 34

• 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

34
6.8.9
This command is provided to the circuit by the Master to set the values for the following stepper
motor parameters in RAM:
•
•
•
•
•
•
•
•
•
If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position is
disabled and the GotoSecurePosition command is ignored.
Note: N/A = not applicable
6.8.10 SetOTPParam
This command is provided to the circuit by the Master in order to zap the OTP memory. The OTPA
address (OTPA) addresses the OTP word (please refer section 5.2.3, page 21) within the OTP
Memory structure. The Pbit byte represents the bit pattern to be programmed, where a one programs
an un-programmed OTP bit. For example, if one wants to OTP the defaults to Irun := 0xD and Ihold =
0x5, one has to execute the SetOTPParam with OTPA = 0x03 and Pbit := 0xD5. Those OTP bits that
are un-programmed can be programmed to '1' by corresponding Pbit chosen as '1' . For OTP the
supply voltage Vbat has to be within the valid range specified as VbbOTP within Table 21, page 45.
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
2
3
4
5
coil peak current value (Irun)
coil hold current value (Ihold)
maximum velocity for the Stepper-motor (Vmax)
minimum velocity for the Stepper-motor (Vmin)
acceleration shape (AccShape)
stepping mode (StepMode)
direction of the Stepper-motor motion (Shaft)
acceleration (deceleration) for the Stepper-motor (Acc)
secure position for the Stepper-motor (SecPos)
SetOTPParam
Slave Address
SetMotorParam
SetMotorParam
OTP Address
Slave Address
Vmax & Vmin
Irun & I hold
SecurePos
StepMode
Content
Content
Status
Pbit
N/A
N/A
N/A
N/A
bit 7
bit 7
1
1
1
1
1
1
1
1
1
SecPos(10:8)
bit 6
1
0
1
1
SetMotorParam command
SetOTPParam command
bit 6
Vmax(3:0)
1
0
1
1
1
Irun(3:0)
OTP3
bit 5
0
1
1
OTP3
bit 5
0
1
1
1
TMC222 DATASHEET (V. 1.06 / March 15, 2007)
AccShape
OTP2
Shaft
bit 4
OTP2
SecPos(7:0)
bit 4
Structure
0
1
1
Pbit(7:0)
Structure
1
1
1
1
OTP1
bit 3
OTP1
StepMode[1:0]
bit 3
0
1
1
1
1
1
1
OTP0
bit 2
OTP0
bit 2
0
1
1
0
1
1
Vmin(3:0)
Ihold(3:0)
Acc(3:0)
OTPA(2:0)
bit 1
HW
bit 1
HW
0
1
1
0
1
1
bit 0
bit 0
0
0
1
1
0
1
1
1