Datasheet

32 TMC223 DATASHEET (V. 1.00 / May 3rd, 2007)
Copyright © 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
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 GetFullStatus2 1 1 1 1 1 1 0 0
GetFullStatus2 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 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
Stall Detection /
Secure Position
FS2StallEn[2:0] 1 DC100 SecPos(10:8)
8 Stall Detection
AbsStall DelStallLo DelStallHi MinSamples[2:0] DC100StEn PWMJEn
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
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 22.
GetOTPParam 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 GetOTPParam 1 0 0 0 0 0 1 0
GetOTPParam 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 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
Note: Slave Address is the address sent to device, but it will not be sent back - Address is sent back