Datasheet

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 31
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
6.8.2 GetFullStatus2
This command is provided to the circuit by the Master to get the actual position of the stepper-motor.
The position is provided by the circuit in 16-bit format, with the 3 LSBs at „0‟ when in half stepping
mode (StepMode = “00”). Furthermore programmed target position and secure position are also
provided.
GetFullStatus2 command
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
1
OTP3
OTP2
OTP1
OTP0
HW
0
1
GetFullStatus2
1
1
1
1
1
1
0
0
GetFullStatus2 command (Response)
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
1
OTP3
OTP2
OTP1
OTP0
HW
1
1
Address
1
1
1
OTP3
OTP2
OTP1
OTP0
HW
2
Actual Position 1
ActPos(15:8)
3
Actual Position 2
ActPos(7:0)
4
Target Position 1
TagPos(15:8)
5
Target Position 2
TagPos(7:0)
6
Secure Position
SecPos(7:0)
7
Secure Position
1
1
1
1
1
SecPos(10:8)
8
N/A
1
1
1
1
1
1
1
1
Note: N/A = not applicable
6.8.3 GetOTPParam
This command is provided to the circuit by the master to read the content of the OTP Memory. For
more information refer to Table 9 : OTP Memory Structure on page 21.
GetOTPParam command
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
1
OTP3
OTP2
OTP1
OTP0
HW
0
1
GetOTPParam
1
0
0
0
0
0
1
0
GetOTPParam command (Response)
Byte
Content
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
0
Slave Address
1
1
OTP3
OTP2
OTP1
OTP0
HW
1
1
OTP byte 0
OTP@0x00
2
OTP byte 1
OTP@0x01
3
OTP byte 2
OTP@0x02
4
OTP byte 3
OTP@0x03
5
OTP byte 4
OTP@0x04
6
OTP byte 5
OTP@0x05
7
OTP byte 6
OTP@0x06
8
OTP byte 7
OTP@0x07