TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 29

• 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)
GetActualPos
GetFullStatus
GetOTPParam
GetStatus
GotoSecurePosition
HardStop
ResetPosition
ResetToDefault
RunInit
SetMotorParam
SetPosition
SetPositionShort (1 Motor)
SetPositionShort (2 Motors)
SetPositionShort (4 Motors)
Sleep
SoftStop
SetOTPParam
Dynamic ID assignment
General Purpose 2 Data Bytes
General Purpose 4 Data Bytes
Preparing Frame
Note: xxx allows to address physically a slave node. Therefore, these dynamic IDs cannot be used for more than 8 stepper
motors.
6.9 LIN Message Frames
As specified in LIN specification rev. 1.3 a LIN frame consists of an 8-bit identifier field, followed by 2, 4
or 8 data fields and a checksum field. A LIN frame can either be a writing frame, with one of the
following tasks:
•
•
Or a LIN frame can be a reading frame which is used to:
•
•
6.9.1
According to the LIN specification there is only a fixed amount of identifiers available. In order to
expand the amount of identifiers resp. the amount of commands different types of writing frames are
introduced. The TMC211 supports four different writing frames. The following figures illustrate the
differences.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Command Mnemonic
Program the OTP memory
Provide motion parameters, e.g. velocity, position, torque to the TMC211
Read actual position or status information of the stepper motor
Verify correct programming and configuration
Writing Frames
Table 15: Commands and Corresponding Dynamic IDs
000000
000011
000101
000111
001000
001011
010001
000001
000010
000100
000110
001001
001100
001101
001110
001111
010000
binary
Command Byte (CMD)
Not used
0x0C
0x0D
0x0B
0x0E
0x0F
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09
0x10
0x11
hex
(binary; example)
Dynamic ID
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
Not used
001001
101001
111001
011000
101000
011010
100xxx
000xxx
010xxx
ROM pointer
(binary)
0010
0011
0100
0101
0110
0111
0000
0001
1000
29