Data Sheet

high) and stop sending step pulses to the driver. The current flowing through the motor coils will stop.
Effect: Drive ERR line high
When the Tic is experiencing any error (except for the “ERR line high” error), the Tic will drive its ERR
line high, which causes its red LED to turn on.
Effect: Reset driver
In the “Reset” operation state, the Tic will reset its stepper motor driver IC. This means that its indexer
will be reset to its default position in the table of coil currents.
Effect: Clear encoder count
In the “Reset” state, the Tic constantly sets the “Encoder position” variable, which holds the raw
measurement of encoder counts, to 0.
Effect: Soft error response
When the Tic goes from the normal operation state to either the “Soft error” state or the “Waiting for
ERR line” state, it will do one of four things depending on how it is configured. You can select one of
the following responses from the “Soft error responses” box in the “Advanced settings” tab of the Tic
Control Center:
• De-energize: The Tic will de-energize the motor and set the “Position uncertain” flag.
• Halt and hold: The Tic will abruptly stop taking steps, keep the motor energized, and set the
“Position uncertain” flag.
• Decelerate to hold: The Tic will set its “Target velocity” to 0, causing the motor to decelerate
to a stop and then hold its position. This is the default setting.
• Go to position: The Tic will set its “Target position” to the specified position.
Note that the effects above only happen when the Tic’s “Operation state” changes from “Normal” to
“Soft error” or “Waiting for ERR line”. These effects do not happen if there is a soft error right after the
Tic starts up, receives a Reset command, or changes its control mode.
You can also set a special current limit to be used while there is a soft error. If enabled, this current
limit will be in effect whenever the Tic is in the “Soft error” or “Waiting for ERR line” states, regardless
of how it got to those states. To set this current limit, check the “Use different current limit during soft
error” checkbox and enter the current limit. The special current limit will only take effect after the Tic
stops moving the motor.
Tic Stepper Motor Controller User’s Guide © 2001–2018 Pololu Corporation
5. Details Page 74 of 150