TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 21

• 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)
5.2.3
The table below shows where the OTP parameters are stored in the OTP memory.
Note: If the OTP memory has not been programmed, or if the RAM has not been programmed by a
SetMotorParam command, or if anyhow <VddReset> = ‘1’, any positioning command will be ignored, in
order to avoid any consequence due to unwanted RAM content. Please check that the correct supply
voltage is applied to the circuit before zapping the OTP (See: Table 25: DC Parameters Supply and
Voltage regulator on page 54), otherwise the circuit will be destroyed.
Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP
memory at circuit delivery, they correspond to the calibration of the circuit and are just documented
here as an indication. Each OPT bit is at ‘0’ when not zapped. Zapping a bit will set it to ‘1’. Thus only
bits having to be at ‘1’ must be zapped. Zapping of a bit already at ‘1’ is disabled, to avoid any damage
of the Zener diode. It is important to note that only one single OTP byte can be programmed at the
same time (see command SetOTPParam).
Once OTP programming is completed, bit LOCKBG can be zapped, to disable unwanted future
zapping, otherwise any OTP bit at ‘0’ could still be zapped.
The command used to load the application parameters via the LIN bus into the RAM prior to an OTP
memory programming is SetMotorParam. This allows for a functional verification before using a
SetOTPParam command to program and zap separately one OTP memory byte. A GetOTPParam
command issued after each SetOTPParam command allows to verify the correct byte zapping.
5.3 Stepper Motor Driver
The StepMode parameter in SetMotorParam command (6.11.10 SetMotorParam on page 42) is used
to select different stepping modes. Following modes are available:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Address
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
OTP
OTP Memory Structure
EnableLIN
SecPos10
SecPos7
Vmax3
OSC3
Irun3
ADM
7
LOCKBT
SecPos9
SecPos6
Vmax2
OSC2
TSD2
Irun2
6
StepMode parameter
(zapped before delivery)
LOCKBG
Lock bit
SecPos8
SecPos5
Table 9: OTP Memory Structure
Vmax1
OSC1
TSD1
Irun1
5
00
01
10
11
Table 10: OTP Lock bits
Table 11: StepMode
SecPos4
Vmax0
OSC0
TSD0
Irun0
Shaft
4
OTP Bit Order
StepMode1
SecPos3
IREF3
Vmin3
Ihold3
1/16 µStepping
Acc3
1/8 µStepping
BG3
AD3
Half Stepping
¼ µStepping
3
Mode
Protected byte
0x00 to 0x01
0x02 to 0x07
StepMode0
SecPos2
IREF2
Vmin2
Ihold2
Acc2
BG2
AD2
2
SecPos1
LOCKBT
Vmin1
IREF1
Ihold1
Acc1
BG1
AD1
1
LOCKBG
SecPos0
IREF0
Vmin0
Ihold0
Acc0
BG0
AD0
0
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