Datasheet

30 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)

6.7 Application Commands Overview

Communications between the TMC223 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 TMC223

Writing commands are used to:

• Program the OTP Memory

• Configure the TMC223 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

pre-programmed motion sequence to move

to a mechanical limit

0x88

SetMotorParam Sets motor parameter 0x89

SetOTP Zaps the OTP memory 0x90

SetPosition Programmers a target and secure position 0x8B

SetStallParam Set Stall Detection Parameters 0x96

SoftStop Motor stopping with deceleration phase 0x8F

TestBEMF

Outputs BEMF voltage on pin SWI (for

debugging purposes only)

0x9F

Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)