TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 19

• 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)
5.2 RAM and OTP Memory
5.2.1
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Deceleration
Acceleration
Acceleration
Maximum
Coil Peak
Coil Hold
Minimum
Register
Stepping
10
11
12
13
14
Position
Position
Velocity
Velocity
Position
Current
Current
Secure
Actual
Target
Shape
4
5
6
7
8
9
Mode
Shaft
The <Sleep> flag is set to ‘1’ when a LIN timeout or a Sleep command occurs. It is reset by the next LIN command
(<Sleep> is cancelled if not activated yet).
Shutdown state can be left only when <TSD> and <HS> flags are reset.
Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and
provided the physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge
pump defect).
A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and
Vmin values. This can be done during a RunInit sequence since this motion uses its own parameters, the new
parameters will be taken into account at the next SetPosition or SetPositionShort command.
Some transitions like GotoPos → Sleep are actually done via several states: GotoPos → SoftStop → Stopped →
Sleep (see diagram below).
Two transitions are possible from state Stopped when <Sleep> = ‘1’:
<SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from
0x400 = “100 0000 0000”)
<Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set
to ‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.
Command for dynamic assignment of IDs is decoded in all states except Sleep and has not effect on the current state
While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest
priority, meaning that <Sleep>, <Stop>, <TSD>, etc. are first evaluated for possible transitions.
If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are
ignored (they will not modify TagPos register whatever the state), and motion to secure position is forbidden after a
Sleep command or a LIN timeout (the circuit will go into Sleep state immediately, without positioning to secure
position). Other command like RunInit or ResetPosition will be executed if allowed by current state.
<StepLoss> can only be cleared by a GetStatus or GetFullStatus command.
RAM Registers
1)
2)
Mnemonic
AccShape
StepMode
TagPos
SecPos
ActPos
Transition to state Sleep if (<SecEn> = ‘0’) or ((<SecEn> = ‘1’) and (ActPos = SecPos)) or <Stop> = ‘1’
Otherwise transition to state GotoPos, with TagPos = SecPos
Vmax
Vmin
Shaft
Ihold
Irun
Acc
Length
(bit)
16
16
11
1
4
4
4
4
1
4
2
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
ResetToDefault
ResetToDefault
ResetPosition
ResetPosition
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
GetFullStatus
commands
SetPosition
Related
Actual Position of the Stepper Motor. 16-bit signed
Target Position of the Stepper Motor. 16-bit signed
0 = Acceleration with Acc Parameter.
1 = Velocity set to Vmin, without acceleration
Coil current when motion is ongoing
(Table 12: Irun / Ihold Settings)
Coil current when motor stands still
(Table 12: Irun / Ihold Settings)
Start Velocity of the stepper motor
(Table 4: Vmin )
Target Velocity of the stepper motor
(Table 3: Vmax Parameter)
Direction of motion
Parameter for acceleration
(Table 5: Acc Parameter)
Target Position for GotoSecurePosition command
(6.11.5 GotoSecurePosition) or when LIN connection
fails; 11 MSBs of 16-bit position (LSBs fixed to ‘0’)
Micro stepping mode
(5.1.1 Stepping Modes)
Comment
Reset
State
Memory
0x0000
OTP
19