TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 12

• 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

12
The amount of equivalent full steps during acceleration phase can be computed by the next equation:
5.1.7
Position information is coded by using two’s complement format. Depending on the stepping mode
(See 5.1.1) the position ranges are as listed in the following table:
Target positions can be programmed via serial interface by using the SetPosition command (see
6.8.11). The actual motor position can be read by the GetFullStatus2 command (see 6.8.2).
5.1.8
The GotoSecurePosition command drives the motor to a pre-programmed secure position (see 6.8.4).
The secure position is programmable by the user. Secure position is coded with 11 bits, therefore the
resolution is lower than for normal positioning commands, as shown in the following table.
5.1.9
Pin SWI (see Figure 1, on page 7) will attempt to source and sink current in/from the external switch
pin. This is to check whether the external switch is open or closed, resp. if the pin is connected to
ground or Vbat. The status of the switch can be read by using the GetFullStatus1 command. As long
as the switch is open, the <ESW> flag is set to zero.
The ESW flag just represents the status of the input switch. The SWI input is intended as a physical
interface for a mechanical switch that requires a cleaning current for proper operation. The SWI input
detects if the switch is open or connected either to ground or to Vbat. The SWI input is not a digital
logic level input. The status of the switch does not automatically perform actions as latching of the
actual position. Those actions have to be realized by the application software.
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Position Ranges
Secure Position
External Switch
1/16 micro-stepping
1/4 micro-stepping
1/8 micro-stepping
Stepping Mode
Half-stepping
1/16 micro stepping
1/4 micro stepping
1/8 micro stepping
Stepping Mode
Half-stepping
Table 7: Secure Position Resolution
Table 6: Position Ranges
N
Position Range
-16384…+16383
-32768…+32767
step
-4096…+4095
-8192…+8191
(-2
(-2
(-2
(-2
12
13
14
15
V
…+2
…+2
…+2
…+2
max
2
2
12
13
14
15
TMC222 DATASHEET (V. 1.06 / March 15, 2007)
Secure Position Resolution
-1)
-1)
-1)
-1)
Acc
32 micro steps (1/16
V
16 micro steps (1/8
8 micro steps (1/4
min
2
4 half steps
Full range excursion
16384 micro-steps
32768 micro-steps
65536 micro-steps
8192 half-steps
th
th
)
th
)
2
2
2
2
)
13
14
15
16