Datasheet

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 29
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
6.7 Application Commands Overview
Communications between the TMC222 and a Two Wire Serial Bus Master takes place via a set of
commands.
Reading commands are used to:
• Get actual status information, e.g. error flags
• Get actual position of the Stepper Motor
• Verify the right programming and configuration of the TMC222
Writing commands are used to:
• Program the OTP Memory
• Configure the TMC222 with motion parameters (e.g. max/min speed, acceleration, stepping mode,
etc.)
• Provide target positions to the Stepper motor
Command
Mnemonic
Function
Command Byte
(hexadecimal)
GetFullStatus1
Returns complete status of the chip
0x81
GetFullStatus2
Returns actual, target and secure position
0xFC
GetOTPParam
Returns OTP parameter
0x82
GotoSecurePosition
Drives motor to secure position
0x84
HardStop
Immediate full stop
0x85
ResetPosition
Sets actual position to zero
0x86
ResetToDefault
Overwrites the chip RAM with OTP contents
0x87
RunInit
Reference Search
0x88
SetMotorParam
Sets motor parameter
0x89
SetOTPParam
Zaps the OTP memory
0x90
SetPosition
Programmers a target and secure position
0x8B
SoftStop
Motor stopping with deceleration phase
0x8F
Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)