TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 44

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

44
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.
0
1
1
Note:
Note:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Source
Master
Master
Master
ADM
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to SetPositionShort command with 2 data bytes.
* 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
Byte
Byte
Byte
0
1
2
0
1
2
3
4
0
1
2
3
4
5
6
7
8
X
0
1
Identifier
Slave Address
Target Position
Identifier
Slave Address 1
Target Position 1
Slave Address 2
Target Position 2
Identifier
Slave Address 1
Target Position 1
Slave Address 2
Target Position 2
Slave Address 3
Target Position 3
Slave Address 4
Target Position 4
AD[3]
Content
Content
Content
SetPositionShort (2 Motors) with dynamic ID (type#2)
SetPositionShort (4 Motors) with dynamic ID (type#2)
SetPositionShort (1 Motor) with dynamic ID (type#2)
Table 17: ADM bit in SetPositionShort Command
Pin HW0
bit 7
bit 7
bit 7
*
*
*
Pos1 [10:8]
Pos2 [10:8]
Pos1 [10:8]
Pos2 [10:8]
Pos3[10:8]
Pos4[10:8]
Pos [10:8]
Tied to Vdd
Bit 6
Bit 6
bit 6
*
*
*
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
Pin HW1
bit 5
bit 5
bit 5
0
1
1
Broad
Pos1 [7:0]
Pos2 [7:0]
Pos1 [7:0]
Pos2 [7:0]
Pos3 [7:0]
Pos4 [7:0]
Structure
Structure
Structure
Bit 4
Bit 4
Bit 4
Pos [7:0]
ID4
0
1
1
1
1
1
1
1
Tied to Vbat
Tied to Gnd
Tied to Vbat
Pin HW2
bit 3
bit 3
bit 3
ID3
ID3
ID3
Bit 2
bit 2
bit 2
ID2
ID2
ID2
AD1 [3:0]
AD2 [3:0]
AD1 [3:0]
AD2 [3:0]
AD3 [3:0]
AD4 [3:0]
AD [3:0]
AD[0]
1
1
OTP memory
Bit PA0 in
bit 1
bit 1
bit 1
ID1
ID1
ID1
bit 0
bit 0
bit 0
ID0
ID0
ID0