Data Sheet

The unbounded position control option can only be enabled when the control mode is “Encoder
position”, not “Encoder speed”. With this option enabled, the “Input after scaling” can overflow and
wrap around from +2,147,483,647 to −2,147,483,648.
When the Tic’s control mode is “Encoder position”, the Tic sets it target position equal to the “Input
after scaling” variable described above. For tips about how to set the encoder scaling parameters in
encoder position mode, see Section 4.11.
When the Tic’s control mode is “Encoder speed”, the Tic sets its target velocity equal to the “Input
after scaling” variable described above. For tips about how to set the encoder scaling parameters in
encoder speed mode, see Section 4.12.
5.4. Error handling
This section explains the details of how the Tic detects and handles error conditions. The table below
summarizes the Tic’s error handling:
Operation state Conditions Effects
Reset
• Motor driver error
• Low VIN
• De-energize
• Drive ERR line high
• Reset driver
• Clear encoder count
De-energized
• Intentionally de-energized
• De-energize
• Drive ERR line high
Soft error
• Kill switch active
• Required input invalid
• Serial error
• Command timeout
• Safe start violation
• Drive ERR line high
• Soft error response
Waiting for ERR line
• ERR line high
• Soft error response
Starting up
• RC/analog input not ready
• Coil current stabilizing
• Energize
Normal
• (None of the above)
• Energize
• Obey input
• Learn position
The Tic constantly evaluates the conditions listed above to see if they are happening or not. The
detailed definitions of these conditions are explained below. If a condition is happening, the Tic will
Tic Stepper Motor Controller User’s Guide © 2001–2018 Pololu Corporation
5. Details Page 68 of 150