TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 43

• 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)
6.11.12 SetPosition
This command is provided to the circuit by the Master to drive a motor to a given position relative to the
zero position, defined in number of half or micro steps, according to StepMode[1:0] value.
SetPosition will not be performed if one of the following flags is set to one:
•
•
•
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This command can be sent using dynamic ID, general purpose ID or reserved ID:
1. Dynamic ID:
Note:
2. General purpose ID:
Note:
3. Reserved ID (SetPosition for two motors):
Note:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Source
Master
Master
Master
temperature shutdown <TSD>
under voltage <UV2>
step loss <StepLoss>
electrical defect <ElDef>
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to SetPosition command for a specific slave.
* according to parity calculation.
ID [3:0]: Dynamically allocated identifier to general purpose 4 data bytes writing frame
If <Broad> is set to zero all stepper motors connected to the LIN bus are going to TagPos.
ADn [6:0]: Motor #n physical address
TagPosn [15:0]: Signed 16-bit position set-point for motor #n.
Byte
Byte
Byte
0
1
2
0
1
2
3
4
0
1
2
3
4
5
6
7
8
Identifier
TargetPosition
Identifier
Command
Slave Address
Target Position
Identifier
AppCMD
Command
Slave Address 1
Target Position 1
Slave Address 2
Target Position 2
Content
Content
Content
SetPositon general purpose writing frame (type#1)
SetPosition for 2 motors with reserved ID (type#4)
SetPosition dynamic ID writing frame (type#3)
Broad
bit 7
bit 7
bit 7
1
0
1
1
1
*
*
bit 6
bit 6
bit 6
0
*
*
bit 5
bit 5
bit 5
1
0
1
AppCMD = 0x80
TagPos1 [15:8]
TagPos2 [15:8]
TagPos1 [7:0]
TagPos2 [7:0]
TagPos [15:8]
TagPos [15:8]
TagPos [7:0]
TagPos [7:0]
Structure
Structure
Structure
Bit 4
Bit 4
Bit 4
ID4
CMD [6:0] = 0x0B
CMD [6:0] = 0x0B
0
1
AD1 [6:0]
AD2 [6:0]
AD [6:0]
bit 3
bit 3
bit 3
ID3
ID3
1
bit 2
bit 2
bit 2
ID2
ID2
1
bit 1
bit 1
bit 1
ID1
ID1
0
bit 0
bit 0
bit 0
ID0
ID0
0
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