TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 19

• Manufacturer Part Number: TMC222-SI
• Description: IC, MOTOR CTRL/DRVR, STEPPER, SOIC-20
• Manufacturer: TRINAMIC

Specifications of TMC222-SI

• Motor Type: Stepper
• No. Of Outputs: 4
• Output Current: 800mA
• Supply Voltage Range: 8V To 29V
• Driver Case Style: SOIC
• No. Of Pins: 20
• Operating Temperature Range: -40°C To +125°C
• Device Type: Motor
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

TMC222 DATASHEET (V. 1.06 / March 15, 2007)
5.2 RAM and OTP Memory
Some RAM registers (e.g. Ihold, Irun) are initialized with the content of the OTP (One Time
Programmable) memory. The content of RAM registers that are initialized via OTP can be changed
afterwards. This allows user initialization default values, whereas the default values are one time
programmable by the user. Some OTP bits are address bits of the TMC222.
5.2.1
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Acceleration Shape
Maximum Velocity
Coil Peak Current
Minimum Velocity
Coil Hold Current
Secure Position
7
8
9
Actual Position
Target Position
Stepping Mode
Acceleration /
Deceleration
Register
<Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’
when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.
While in state Stopped, if ActPos
meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions.
If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos
register whatever the state)
executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command.
Shaft
RAM Registers
Mnemonic
AccShape
StepMode
TagPos
SecPos
ActPos
Vmax
Vmin
Shaft
Ihold
Irun
Acc
and motion to secure position is forbidden.
Length
(bit)
16
16
11
1
4
4
4
4
1
4
2
TagPos there is a transition to state GotoPos. This transition has the lowest priority,
Related commands
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
SetMotorParam
ResetToDefault
ResetToDefault
ResetToDefault
GetFullStatus2
GetFullStatus2
GetFullStatus1
GetFullStatus1
GetFullStatus1
GetFullStatus1
GetFullStatus1
GetFullStatus1
GetFullStatus1
GetFullStatus2
GetFullStatus1
GetFullStatus2
ResetPosition
ResetPosition
SetPosition
Actual Position of the Stepper Motor. 16-bit
signed
Target Position of the Stepper Motor. 16-bit
signed
0 = Acceleration with Acc Parameter.
1 = Velocity set to Vmin, without acceleration
Coil current when motion is ongoing
(Table 12: Irun / Ihold Settings)
Coil current when motor stands still
(Table 12: Irun / Ihold Settings)
Start Velocity of the stepper motor
(Table 4: Vmin )
Target Velocity of the stepper motor
(Table 3: Vmax Parameter)
Direction of motion
Parameter for acceleration
(Table 5: Acc Parameter)
Target Position for GotoSecurePosition
command (6.8.4 GotoSecurePosition); 11
MSBs of 16-bit position (LSBs fixed to ‘0’)
Micro stepping mode
(5.1.1 Stepping Modes)
Other commands like RunInit or ResetPosition will be
Comment
Reset
State
Memory
0x0000
OTP
19