TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 33

• 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)
6.10 Application Commands Overview
Communications between the TMC211 and a LIN Master takes place via a set of commands.
Reading commands are used to:
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Writing commands are used to:
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Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
GetActualPos
GetFullStatus
GetOTPParam
GetStatus
GotoSecurePosition
HardStop
ResetPosition
ResetToDefault
RunInit
SetMotorParam
SetPosition
SetPositionShort (1 Motor)
SetPositionShort (2 Motors)
SetPositionShort (4 Motors)
SoftStop
SetOTPParam
Sleep
Command Mnemonic
etc.)
Get actual status information, e.g. error flags
Get actual position of the Stepper Motor
Verify the right programming and configuration of the TMC211
Program the OTP Memory
Configure the TMC211 with motion parameters (e.g. max/min speed, acceleration, stepping mode,
Provide target positions to the Stepper motor
Returns actual position of the motor
Returns actual, target and secure position and also the complete
status of the circuit
Returns OTP memory content
Returns quick status of the circuit
Drives motor to secure position
Immediate full stop
Actual and target position becomes zero
Overwrites the chip RAM with OTP contents
Reference Search
Sets motor parameter
Drives the motor to the target position
Drives the motor to the target position (Half stepping mode only)
Drives 2 motors to the target position (Half stepping mode only)
Drives 4 motors to the target position (Half stepping mode only)
Stops the motor with deceleration phase
Programs the selected byte of OTP memory
Causes circuit to go into sleep mode
Table 16: Command Overview
Function
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