Datasheet

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 35
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
6.8.11 SetPosition
This command is provided to the circuit by the Master to drive the motor to a given position relative to
the zero position, defined in number of half or micro steps, according to StepMode[1:0] value.
SetPosition will not be performed if one of the following flags is set to one:
• temperature shutdown <TSD>
• under voltage <UV2>
• step loss <StepLoss>
• electrical defect <ElDef>
SetPosition 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
SetPosition
1
0
0
0
1
0
1
1
2
N/A
1
1
1
1
1
1
1
1
3
N/A
1
1
1
1
1
1
1
1
4
Position byte1
TagPos(15:8)
5
Position byte2
TagPos(7:0)
Note: N/A = not applicable
6.8.12 SoftStop
If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate
deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in
the following cases:
• The chip temperature rises above the Thermal shutdown threshold.
• The Master requests a SoftStop.
SoftStop 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
SoftStop
1
0
0
0
1
1
1
1