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參數資料
| 型號： | TMC222-SI |
| 元件分類： | 運動控制電子 |
| 英文描述： | STEPPER MOTOR CONTROLLER, PDSO20 |
| 封裝： | SOIC-20 |
| 文件頁數： | 26/48頁 |
| 文件大小： | 457K |
| 代理商： | TMC222-SI |
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32
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
Copyright 2004-2011 TRINAMIC Motion Control GmbH & Co. KG
6.8.4
GotoSecurePosition
This command is provided by the Master to one or all the stepper-motors to move to the secure
position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If
SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled
and the GotoSecurePosition command is ignored.
GotoSecurePosition command
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
OTP3
OTP2
OTP1
OTP0
HW
0
1
GotoSecurePosition 1
0
1
0
6.8.5
HardStop
This command is internally triggered when an electrical problem is detected in one or both coils,
leading to switch off the H-bridges. If this problem is detected while the motor is moving, the
<StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next
GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety
reasons.
HardStop command
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
OTP3
OTP2
OTP1
OTP0
HW
0
1
HardStop
1
0
1
0
1
6.8.6
ResetPosition
This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order
to allow for an initialization of the stepper-motor position.
Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section
5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).
ResetPosition command
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
OTP3
OTP2
OTP1
OTP0
HW
0
1
ResetPosition
1
0
1
0
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