Datasheet
TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 24
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6.10 Read Response
For every write command sent to the motor driver, a 20-bit response is returned to the motion
controller. The response has one of three formats, as selected by the RDSEL parameter in the
DRVCONF register. The table below shows these formats. Software must not depend on the value of
any bit shown as reserved.
DRVSTATUS
Read Response
Bit
Name
Function
Comment
RDSEL=%00
%01
%10
19
MSTEP9
SG9
SG9
Microstep counter
for coil A
or
stallGuard2 value
SG9:0
or
stallGuard2 value
SG9:5 and
coolStep value
SE4:0
Microstep position in sine table for coil A in
STEP/DIR mode. MSTEP9 is the Polarity bit:
0: Current flows from OA1 pins to OA2 pins.
1: Current flows from OA2 pins to OA1 pins.
18
MSTEP8
SG8
SG8
17
MSTEP7
SG7
SG7
16
MSTEP6
SG6
SG6
15
MSTEP5
SG5
SG5
stallGuard2 value SG9:0.
14
MSTEP4
SG4
SE4
13
MSTEP3
SG3
SE3
12
MSTEP2
SG2
SE2
stallGuard2 value SG9:5 and the actual
coolStep scaling value SE4:0.
11
MSTEP1
SG1
SE1
10
MSTEP0
SG0
SE0
9
Reserved
8
Reserved
7
STST
Standstill
indicator
0: No standstill condition detected.
1: No active edge occurred on the STEP
input during the last 2
20
system clock cycles.
6
OLB
Open load
indicator
0: No open load condition detected.
1: No chopper event has happened during
the last period with constant coil polarity.
Only a current above 1/16 of the maximum
setting can clear this bit!
Hint: This bit is only a status indicator. The
chip takes no other action when this bit is
set. False indications may occur during fast
motion and at standstill. Check this bit only
during slow motion.
5
OLA
4
S2GB
Short to GND
detection bits on
high-side
transistors
0: No short to ground shutdown condition.
1: Short to ground shutdown condition. The
short counter is incremented by each short
circuit and the chopper cycle is suspended.
The counter is decremented for each phase
polarity change. The MOSFETs are shut off
when the counter reaches 3 and remain shut
off until the shutdown condition is cleared by
disabling and re-enabling the driver. The
shutdown conditions reset by deasserting the
ENN input or clearing the TOFF parameter.
3
S2GA
2
OTPW
Overtemperature
warning
0: No overtemperature warning condition.
1: Warning threshold is active.
1
OT
Overtemperature
shutdown
0: No overtemperature shutdown condition.
1: Overtemperature shutdown has occurred.
0
SG
stallGuard2 status
0: No motor stall detected.
1: stallGuard2 threshold has been reached,
and the SG_TST output is driven high.