Datasheet

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TMC223 DATASHEET (V. 1.00 / May 3rd, 2007) 31

6.8 Command Description

There are data fields labeled as "N/A = not applicable". Within the command description tables, the

contend is normally given as '1'. Data fields labeled by N/A might be reserved for later variants of the

TMC223 and the content should be ignored for the TMC223.

Concerning response datagrams, the byte 0 is the slave address that is applied for addressing, where

the byte 1 is the slave address that is sent back within the response data frame.

6.8.1 GetFullStatus1

This command is provided to the circuit by the Master to get a complete status of the circuit and of the

stepper-motor. The parameters sent via the two wire serial bus to the Master are:

• coil peak and hold current values (Irun and Ihold)

• maximum and minimum velocities for the stepper-motor (Vmax and Vmin)

• direction of motion clockwise / counterclockwise (Shaft)

• stepping mode (StepMode) (Table 11: StepMode on page 22)

• acceleration (deceleration) for the Stepper motor (Acc)

• acceleration shape (AccShape)

• status information:

• motion status <Motion [2:0]>

• over current flags for coil A <OVC1> and coil B <OVC2>

• digital supply reset <VddReset>

• charge pump status <CPFail>

• external switch status <ESW>

• step loss <StepLoss>

• electrical defect <ElDef>

• under voltage <UV2>

• temperature information <Tinfo>

• temperature warning <TW>

• temperature shutdown <TSD>

• stall detection threshold parameters <AbsThr> and <DelThr>

GetFullStatus1 command

Structure Byte Content

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 GetFullStatus1 1 0 0 0 0 0 0 1

GetFullStatus1 command (Response)

Structure Byte Content

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 Irun & Ihold Irun (3:0) Ihold (3:0)

3 Vmax & Vmin Vmax (3:0) Vmin (3:0)

4 Status 1 AccShape StepMode(1:0) Shaft ACC(3:0)

5 Status 2 VddReset StepLoss ElDef UV2 TSD TW Tinfo(1:0)

6 Status 3 Motion(2:0) ESW OVC1 OVC2

CPFail

7 N/A 1 1 1 1 1 1 1 1

8 N/A AbsThr[3:0] DelThr[3:0]

Note: Slave Address is the address sent to device, but it will not be sent back - Address is sent back

Note: N/A = not applicable