TMC211_1 Datasheet, PDF (44/56 Pages) TRINAMIC Motion Control GmbH & Co. KG. – Micro Stepping Stepper Motor Controller / Driver with LIN Interface

44
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.13 SetPositionShort
This command is provided to the circuit by the LIN master to drive one, two or four motors to a given
absolute position. This command is valid for half stepping mode (<StepMode> = “00”) and is ignored
for other stepping modes. If <Broad> is set to zero all circuits connected to the LIN bus will go to the
desired position (only valid for SetPositionShort (1 Motor)).
The physical address is coded on 4 bits, hence SetPositionShort can only be used within a network
implementing a maximum of 16 slave nodes. These 4 bits are normally corresponding to the bits
PA [3:0] in OTP memory (Address 0x00), while bits AD [6:4] must be at ‘1’. Two different cases must in
fact be considered, depending on the programmed value of bit ADM in the OTP memory. See 5.2.3
OTP Memory Structure on page 21.
ADM
0
1
1
AD[3]
Pin HW0
Pin HW1
Pin HW2
X
Tied to Vbat
0
Tied to Vdd
Tied to Gnd
1
Tied to Vbat
Table 17: ADM bit in SetPositionShort Command
Bit PA0 in
OTP memory
AD[0]
1
1
SetPositionShort (1 Motor) with dynamic ID (type#2)
Source Byte
Content
Structure
bit 7 bit 6 bit 5 Bit 4 bit 3
Master
0 Identifier
1 Slave Address
*
*
0
ID4 ID3
Pos [10:8]
Broad
2 Target Position
Pos [7:0]
Note: * according to parity calculation
ID [4:0]: Dynamically allocated identifier to SetPositionShort command with 2 data bytes.
Bit 2 bit 1
ID2 ID1
AD [3:0]
bit 0
ID0
Source
Master
Byte
0
1
2
3
4
SetPositionShort (2 Motors) with dynamic ID (type#2)
Content
Structure
bit 7 Bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1
Identifier
*
*
1
0
ID3 ID2 ID1
Slave Address 1
Pos1 [10:8]
1
AD1 [3:0]
Target Position 1
Pos1 [7:0]
Slave Address 2
Pos2 [10:8]
1
AD2 [3:0]
Target Position 2
Pos2 [7:0]
bit 0
ID0
SetPositionShort (4 Motors) with dynamic ID (type#2)
Source Byte
Content
Structure
bit 7 Bit 6 bit 5 Bit 4 bit 3 bit 2 bit 1
0 Identifier
*
*
1
1
ID3 ID2 ID1
1 Slave Address 1
Pos1 [10:8]
1
AD1 [3:0]
2 Target Position 1
Pos1 [7:0]
Master
3 Slave Address 2
4 Target Position 2
Pos2 [10:8]
1
Pos2 [7:0]
AD2 [3:0]
5 Slave Address 3
Pos3[10:8]
1
AD3 [3:0]
6 Target Position 3
Pos3 [7:0]
7 Slave Address 4
Pos4[10:8]
1
AD4 [3:0]
8 Target Position 4
Pos4 [7:0]
Note:
* according to parity calculation
ID [3:0]: Dynamically allocated identifier to SetPositionShort command with 8 data bytes.
ADn [3:0]: Motor #n physical address least significant bits
Posn [10:0]: Unsigned 11-bit position set point for Motor #n
bit 0
ID0
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