TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 32

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

32
6.9.9
A preparing frame prepares a particular slave node, that it has to answer after the next reading frame.
Preparing frames are needed when using indirect ID. Type#7 preparing frame consists of a
dynamically assigned identifier, the command indicating which kind of information is to provide to the
master and the physical address of the slave.
6.9.10 Reading Frame Type#8 (Preparing frame)
Type#8 preparing frame uses the reserved identifier 0x3C, followed by the application command 0x80,
then the particular reading command and the physical address is provided to the slave.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Identifier
ID [7:0]
0x3C
ID
Reading Frame Type#7 (Preparing frame)
AppCMD [7:0]
AppCMD
Data1
0x80
CMD [6:0]
Command
Identifier
ID [7:0]
Data2
ID
CMD [6:0]
Command
Data1
AD [6:0]
Address
Data3
Slave
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
Physical
Address
AD [6:0]
Data2
Data4
0xFF
Data 4...8 = 0xFF
0xFF
Data8
0xFF