TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 37

• 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)
After type#7 or type#8 preparing frame the master sends two successive LIN type#6 reading frames to
retrieve the circuit’s in-frame responses. It is not mandatory to send the second reading frame if
position information are not needed by the application.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Master
Master
Slave
Slave
Byte
Byte
0
0
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
Identifier
Slave Address
Irun + Ihold
Vmax + Vmin
Status + Acc
Status
Status
LIN error
status register
Do not care
Identifier
Slave Address
ActualPosition
TargetPosition
SecurePosition
Do not care
Content
Content
GetFullStatus indirect ID reading frame 1 (type#6)
GetFullStatus indirect ID reading frame 2 (type#6)
Acc Shape
VddReset
bit 7
bit 7
0
1
0
1
1
Motion [2:0]
See Table 14: LIN Error Status Register on page 27
StepLoss
Vmax [3:0]
bit 6
bit 6
StepMode [1:0]
Irun [3:0]
1
1
1
ElDef
Bit 5
Bit 5
1
1
1
TagPos [15:8]
ActPos [15:8]
TagPos [7:0]
SecPos [7:0]
ActPos [7:0]
Structure
Shaft
ESW
Structure
bit 4
bit 4
UV2
0xFF
1
1
1
0xFF
AD [6:0]
AD [6:0]
OVC1 OVC2
bit 3
bit 3
TSD
1
1
1
bit 2
bit 2
TW
Vmin [3:0]
Ihold [3:0]
1
1
Acc [3:0]
SecPos [10:8]
bit 1
bit 1
Tinfo [1:0]
0
1
0
CPFail
bit 0
bit 0
1
1
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