TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 17

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5.1.15 Internal handling of commands and flags
Due to the sleep mode, the internal handling of commands and flags differs. Commands are handled
with different priorities depending on the current state and the current status of internal flags, see figure
below. Details can be found in Table 8: Priority Encoder.
Note: A HardStop command is sent by the master or triggered internally in case of an electrical defect
or over temperature.
A description of the available commands can be found in 6.11 Command Description. A list of the
internal flags can be found in 5.2.2 Status Flags.
As an example: When the circuit drives the motor to its programmed target position, state “GotoPos” is
entered. There are three events which can cause to leave this state: HardStop command received,
SoftStop command received or target position reached. If all three events occur at the same time the
HardStop command is executed since it has the highest priority. The Motion finished event (target
position reached) has the lowest priority and thus will only cause transition to “Stopped” state when
both other events do not occur.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
<Sleep>
or LIN timeout
Power On
Reset
ShutDown
Sleep
Any LIN command
GetFullStatus
AND <TSD> + <HS> = 0
HardStop
Thermal Shutdown
<Sleep> AND (not <SecEn>)
OR <SecEn> AND ActPos== SecPos
OR <Stop>
Figure 7: Internal handling of commands and flags
Motion finished
Stopped
RunInit
RunInit
HardStop
Motion finished
GotoSecurePosition
Thermal Shutdown
Motion finished
Motion finished
HardStop
SetPosition
HardStop
HardStop
SoftStop
GotoPos
Thermal Shutdown
SoftStop
Priorities
17
High
Low