TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 40

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

40
6.11.7 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. If <Broad> is set to zero all circuits connected
to the LIN bus will reset their ActPos and TagPos registers.
Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section
5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).
Note:
6.11.8 ResetToDefault
This command is provided to the circuit by the Master in order to reset the whole Slave node into the
initial state. ResetToDefault for instance overloads the RAM contents with the reset state of the
parameters. This is another way for the Master to initialize a slave node in case of emergency, or
simply to refresh the RAM content.
Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos
register in order to avoid an attempt to position the motor to ‘0’. If <Broad> is set to zero all circuits
connected to the LIN bus will reset to default.
Note:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Master
Master
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
Byte
Byte
0
1
2
0
1
2
Identifier
Command
Slave Address
Identifier
Command
Slave Address
ResetToDefault general purpose writing frame (type#1)
Content
Content
ResetPosition general purpose writing frame (type#1)
Broad
Broad
bit 7
bit 7
1
1
*
*
bit 6
bit 6
*
*
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
bit 5
Bit 5
0
0
Structure
Bit 4
Structure
Bit 4
ID4
ID4
CMD [6:0] = 0x06
CMD [6:0] = 0x07
AD [6:0]
AD [6:0]
bit 3
bit 3
ID3
ID3
bit 2
bit 2
ID2
ID2
bit 1
bit 1
ID1
ID1
bit 0
bit 0
ID0
ID0