TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 35

• 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)
6.8.11 SetPosition
This command is provided to the circuit by the Master to drive the motor to a given position relative to
the zero position, defined in number of half or micro steps, according to StepMode[1:0] value.
SetPosition will not be performed if one of the following flags is set to one:
•
•
•
•
Note: N/A = not applicable
6.8.12 SoftStop
If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate
deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in
the following cases:
•
•
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Byte
Byte
0
1
2
3
4
5
0
1
temperature shutdown <TSD>
under voltage <UV2>
step loss <StepLoss>
electrical defect <ElDef>
The chip temperature rises above the Thermal shutdown threshold.
The Master requests a SoftStop.
Slave Address
Position byte1
Position byte2
Slave Address
SetPosition
Content
SoftStop
Content
N/A
N/A
bit 7
bit 7
1
1
1
1
1
1
bit 6
1
0
bit 6
SetPosition command
1
0
1
1
SoftStop command
OTP3
bit 5
0
OTP3
bit 5
0
1
1
OTP2
bit 4
TagPos(15:8)
OTP2
TagPos(7:0)
0
bit 4
Structure
Structure
0
1
1
OTP1
bit 3
OTP1
bit 3
1
1
1
1
OTP0
OTP0
bit 2
bit 2
1
0
1
1
bit 1
HW
bit 1
HW
1
1
1
1
bit 0
bit 0
0
1
0
1
1
1
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