Data Sheet

Offset Name Type Description
0x00
Operation
state
unsigned
8-bit
The overall state of the Tic. (See Section 5.4 for descriptions of
these states.)
• 0: Reset
• 2: De-energized
• 4: Soft error
• 6: Waiting for ERR line
• 8: Starting up
• 10: Normal
0x01
Misc
flags 1
unsigned
8-bit
The set bits of this variable provide additional information about the
Tic’s status.
• Bit 0: Energized – The Tic’s motor outputs are enabled
and if a stepper motor is properly connected, its coils are
energized (i.e. electrical current is flowing).
• Bit 1: Position uncertain – The Tic has not received
external confirmation that the value of its “current position”
variable is correct (see Section 5.4).
• Bits 2–7: reserved
0x02
Error
status
unsigned
16-bit
The set bits of this variable indicate the errors that are currently
stopping the motor. The motor can only be controlled normally
when this variable has a value of 0. (See Section 5.4 for error
descriptions.)
• Bit 0: Intentionally de-energized
• Bit 1: Motor driver error
• Bit 2: Low VIN
• Bit 3: Kill switch active
• Bit 4: Required input invalid
• Bit 5: Serial error
• Bit 6: Command timeout
• Bit 7: Safe start violation
• Bit 8: ERR line high
• Bits 9–15: reserved
0x04
Errors
occurred
unsigned
32-bit
The set bits of this variable indicate the errors that have occurred
since this variable was last cleared with the “get variable and clear
errors occurred” command.
Tic Stepper Motor Controller User’s Guide © 2001–2018 Pololu Corporation
7. Variable reference Page 112 of 150