TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 34

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

34
6.11 Command Description
6.11.1 GetActualPos
This command is provided to the circuit by the LIN master to get the actual position of the stepper
motor. GetActualPos provides also a quick status of the circuit and of the stepper motor, identical to
that obtained by command GetFullStatus. The GetActualPos will not attempt to reset any flags. This
command can be sent using direct or indirect ID:
1. Direct ID (immediate in-frame slave response):
Note:
Or:
2. Indirect ID (preparing frame followed by indirect ID reading frame):
Note:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Source
Master
Master
Master
Slave
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to type#7 preparing frame.
* according to parity calculation
ID [3:0]: Dynamically allocated identifier to GetActualPos command.
The master sends either type#7 or type#8 preparing frame:
Byte
Byte
Byte
0
1
2
3
4
0
1
2
0
1
2
3
4
5
6
7
8
Identifier
Slave Address
Actual Position
Status
Identifier
Command
Slave Address
Identifier
AppCMD
Command
Slave Address
Data4
Data5
Data6
Data7
Data8
Content
Content
Content
GetActualPos direct ID reading frame(type#5)
GetActualPos preparing frame (type#7)
GetActualPos preparing frame (type#8)
VddReset
ESW
bit 7
*
bit 7
bit 7
1
1
0
1
1
*
StepLoss
bit 6
bit 6
bit 6
*
0
*
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
ElDef
bit 5
bit 5
bit 5
1
0
1
ActPos [15:8]
ActPos [7:0]
AppCMD = 0x80
Structure
bit 4
bit 4
bit 4
UV2
ID4
Structure
Structure
CMD [6:0] = 0x00
CMD [6:0] = 0x00
0
1
0xFF
0xFF
0xFF
0xFF
0xFF
AD [6:0]
AD [6:0]
AD [6:0]
bit 3
TSD
bit 3
bit 3
ID3
ID3
1
bit 2
bit 2
bit 2
TW
ID2
ID2
1
ID1
bit 1
bit 1
bit 1
ID1
Tinfo [1:0]
0
bit 0
bit 0
bit 0
ID0
ID0
0