Datasheet

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 37
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
SetPosition
This command will cause the stepper motor to move to the desired target position. See 6.8.11
SetPosition on page 35. After the motion has been finished, the situation is as depicted in the figure
below.
X [µsteps]
Stop
Actual Position
= Target Position
= 3000
Figure 24: Positioning Example: Motion finished
Afterwards the actual status and position can be verified by GetFullStatus1 and GetFullStatus2
commands. The master can check if a problem, caused by electrical or temperature problems,
occurred. Furthermore the actual position is read.