Datasheet

TMC223 DATASHEET (V. 1.00 / May 3rd, 2007) 37

6.8.12 SetPosition

This command is provided to the circuit by the Master to drive the motor to a given position relative to

the zero position, defined in number of half or micro steps, according to StepMode[1:0] value.

SetPosition will not be performed if one of the following flags is set to one:

• temperature shutdown <TSD>

• under voltage <UV2>

• step loss <StepLoss>

• electrical defect <ElDef>

SetPosition 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 SetPosition 1 0 0 0 1 0 1 1

2 N/A 1 1 1 1 1 1 1 1

3 N/A 1 1 1 1 1 1 1 1

4 Position byte1 TagPos(15:8)

5 Position byte2 TagPos(7:0)

Note: N/A = not applicable

6.8.13 SoftStop

If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate

deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in

the following cases:

• The chip temperature rises above the Thermal shutdown threshold.

• The Master requests a SoftStop.

SoftStop 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 SoftStop 1 0 0 0 1 1 1 1