TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 18

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

SetPositionShor
GotoSecurePosit
<UV2> or <ElDef>) =
[ActPos and TagPos
[half-step mode only)]
Color code:
ResetToDefault
about proper update]
Thermal shutdown
GetFullStatus
SetMotorParam
ResetPosition
[ ⇒ <Sleep> = ‘1’,
command received
[Master takes care
[ ⇔ (<CPFail> or
GetActualPos
<TSD> and <HS>
‘1’ ⇒ <HS> = ‘1’ ]
Motion finished
GetOTPParam
SetPosition
or GetStatus
reset by any LIN
[attempt to clear
are not altered]
Sleep or LIN
[ <TSD> = ‘1’ ]
Command
HardStop
SoftStop
HardStop
RunInit
timeout
flags]
later ]
ion
18
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
↓ ↓ ↓ ↓
t
Notes:
State → → → →
1
2
3
Command ignored
Transition to another state
Master is responsible for proper update (see note 7)
Leaving Sleep state is equivalent to Power on reset.
After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after a GetStatus or a
GetFullStatus command (so that the Master could read the <VddReset> flag).
A RunInit sequence runs with a separate set of RAM registers. The parameters which are not specified in a RunInit
command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced
to ‘1’ during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case
AccShape at ‘0’ will be taken into account after the RunInit sequence.
TagPos updated;
→ → → → GotoPos
TagPos updated;
→ → → → GotoPos
If <SecEn> = ‘1’
then TagPos =
SecPos;
→ → → → GotoPos
AccShape reset
motor stopped,
ActPos reset
OTP to RAM;
→ → → → Shutdown
→ → → → Shutdown
OTP refresh;
OTP refresh;
Ihold in coils
LIN in-frame
LIN in-frame
LIN in-frame
RAM update
TagPos and
See note 9
Stopped
→ → → → RunInit
response
response
n.a.
If <SecEn> = ‘1’
then TagPos =
SecPos
If <SecEn> = ‘1’
then TagPos =
SecPos
else → SoftStop
TagPos updated TagPos updated
TagPos updated TagPos updated
AccShape reset
<StepLoss> =
motor motion
OTP to RAM;
OTP refresh;
OTP refresh;
→ → → → HardStop;
RAM update
LIN in-frame
LIN in-frame
LIN in-frame
→ → → → HardStop
→ → → → SoftStop
→ → → → SoftStop
→ → → → Stopped
GotoPos
response
response
ongoing
‘1’
Table 8: Priority Encoder
If <SecEn> = ‘1’
then TagPos =
SecPos
If <SecEn> = ‘1’
then TagPos =
SecPos;
will be evaluated
after RunInit
AccShape reset
<StepLoss> =
no influence on
OTP to RAM;
→ → → → HardStop;
OTP refresh;
OTP refresh;
LIN in-frame
LIN in-frame
LIN in-frame
RAM update
→ → → → HardStop
→ → → → SoftStop
→ → → → Stopped
RAM and
response
response
RunInit
TagPos
(note 3)
‘1’
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
No action;
<Sleep> flag will
be evaluated
when motor
stops
AccShape reset
<StepLoss> =
OTP to RAM;
OTP refresh;
OTP refresh;
→ → → → HardStop;
decelerating
LIN in-frame
LIN in-frame
LIN in-frame
RAM update
→ → → → HardStop
→ → → → Stopped;
SoftStop
response
response
=ActPos
TagPos
motor
‘1’
No action;
<Sleep> flag will
be evaluated
when motor
stops
AccShape reset
motor forced to
OTP to RAM;
OTP refresh;
OTP refresh;
LIN in-frame
LIN in-frame
LIN in-frame
RAM update
→ → → → Stopped;
HardStop
response
response
=ActPos
TagPos
stop
LIN in-frame
response;
if (<TSD> or
<HS>) = ‘1’
then
→ → → → Stopped
motor stopped,
ActPos reset
OTP to RAM;
OTP refresh;
OTP refresh;
ShutDown
LIN in-frame
LIN in-frame
RAM update
TagPos and
H-bridges in
AccShape
response
→ → → → Sleep
reset
Hi-Z
n.a.
(note 1)
Sleep
power
n.a.
no