Datasheet

TMC223 DATASHEET (V. 1.00 / May 3rd, 2007) 33

6.8.4 GotoSecurePosition

This command is provided by the Master to one or all the stepper-motors to move to the secure

position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If

SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled

and the GotoSecurePosition command is ignored.

GotoSecurePosition 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 GotoSecurePosition 1 0 0 0 0 1 0 0

6.8.5 HardStop

This command is internally triggered when an electrical problem is detected in one or both coils,

leading to switch off the H-bridges. If this problem is detected while the motor is moving, the

<StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next

GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety

reasons.

HardStop 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 HardStop 1 0 0 0 0 1 0 1

6.8.6 ResetPosition

This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order

to allow for an initialization of the stepper-motor position.

Hint

: This command is ignored during motion. It has no effect during motion. The Status Flags (section

5.2.2, page 21) named 'Motion Status' indicate if the motor is at rest (velocity=0).

ResetPosition 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 ResetPosition 1 0 0 0 0 1 1 0