TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 42

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

42
6.11.10 SetMotorParam
This command is provided to the circuit by the Master to set the values for the Stepper motor
parameters in RAM. Note: it is not recommended to change Vmax, Vmin or Acc while a motion is
ongoing, otherwise correct positioning is not guaranteed. The following parameter values are set in
RAM:
•
•
•
•
•
•
•
•
•
If <Broad> is set to zero all stepper motors connected to the LIN bus will set the parameters in their
RAMs. If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position
is disabled and the GotoSecurePosition command is ignored.
6.11.11 SetOTPParam
This command is provided to the circuit by the Master in order to zap the OTP memory. If <Broad> is
set to zero all circuits connected to the LIN bus will zap their OTP memories. Please refer to Table 25:
DC Parameters Supply and Voltage regulator on page 54 to ensure that the correct supply voltage is
applied to the chip, otherwise the circuit will be damaged.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Master
Master
coil peak current value (Irun)
coil hold current value (Ihold)
maximum velocity for the Stepper-motor (Vmax)
minimum velocity for the Stepper-motor (Vmin)
acceleration shape (AccShape)
stepping mode (StepMode)
indicator of the Stepper-motor moving direction (Shaft)
acceleration (deceleration) for the Stepper-motor (Acc)
secure position for the Stepper-motor (SecPos)
Byte
Byte
0
1
2
3
4
5
6
7
8
0
1
2
3
4
5
6
7
8
Identifier
AppCMD
Command
Slave Address
Irun + Ihold
Vmax + Vmin
SecPos + Acc
Secure Position2
Status
Identifier
AppCMD
Command
Slave Address
OTP Address
OTP Data
Do not care
Do not care
Do not care
Content
Content
SetMotorParam reserved ID writing frame (type#4)
SetOTPParam with reserved ID (type#4)
Broad
Broad
bit 7
bit 7
0
1
1
0
1
1
SecPos [10:8]
bit 6
Vmax [3:0]
bit 6
Irun [3:0]
0
1
0
1
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
bit 5
bit 5
1
1
1
1
AppCMD = 0x80
AppCMD = 0x80
SecPos [7:0]
Data [7 :0]
Structure
Structure
Bit 4
Shaft
Shape
Bit 4
CMD [6:0] = 0x09
CMD [6:0] = 0x10
Acc
1
1
1
0xFF
0xFF
0xFF
AD [6:0]
AD [6:0]
bit 3
bit 3
StepMode [1:0]
1
1
1
bit 2
bit 2
Vmin [3:0]
Ihold [3:0]
1
1
Acc [3:0]
OTPA [2:0]
bit 1
bit 1
0
0
1
bit 0
bit 0
0
1
0