TMC222-SI TRINAMIC, TMC222-SI Datasheet - Page 17

• 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)
5.1.14 Internal handling of commands and flags
The internal handling of commands and flags differs. Commands are handled with different priorities
depending on the current state and the current status of internal flags, see figure below. SetPosition
or GotoSecurePosition commands are ignored as long as the <StepLoss> flag is set. Details can be
found in Table 8: Priority Encoder.
Note: A HardStop command is sent by the master or triggered internally in case of an electrical
defect or over temperature.
A description of the available commands can be found in 6.8 Command Description. A list of the
internal flags can be found in 5.2.2 Status Flags.
As an example: When the circuit drives the motor to its programmed target position, state “GotoPos”
is entered. There are three events which can cause to leave this state: HardStop command received,
SoftStop command received or target position reached. If all three events occur at the same time the
HardStop command is executed since it has the highest priority. The Motion finished event (target
position reached) has the lowest priority and thus will only cause transition to “Stopped” state when
both other events do not occur.
Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG
Power On
Reset
ShutDown
GetFullStatus1
AND <TSD> + <HS> = 0
HardStop
Thermal Shutdown
Figure 7: Internal handling of commands and flags
Motion finished
Stopped
RunInit
RunInit
HardStop
Motion finished
GotoSecurePosition
Thermal Shutdown
Motion finished
Motion finished
HardStop
SetPosition
HardStop
HardStop
SoftStop
GotoPos
Thermal Shutdown
SoftStop
Priorities
High
17
Low