TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 30

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

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6.9.2
General purpose 2 or 4 data bytes writing frame with a dynamically assigned identifier. This type is
used to provide 2 or 4 bytes of data to the slave nodes. When <Broad> is set to zero, broadcasting is
active and the command is valid for all slave nodes. When <Broad> is one the command is only valid
for one slave node whose physical address corresponds to the one provided by the writing frame.
A writing frame of 2 bytes issues only a defined command to the slave node(s), e.g. HardStop
command. Whereas a writing frame of 4 bytes issues a command and 2 bytes of data to the slave
node(s), e.g. SetPosition command.
6.9.3
2, 4 or 8 data bytes writing frame with an identifier dynamically assigned to a particular application
command, regardless of the physical address of the circuit. e.g. SetPositionShort command.
6.9.4
2 data bytes writing frame with an identifier dynamically assigned to a particular slave node and
application command. This type of frame requires that there are as many dynamically assigned
identifiers as there are TMC211 circuits connected to the LIN bus using this command.
6.9.5
8 data bytes writing frame with fixed identifier 0x3C. The structure is similar to type#1 but uses the
reserved identifier 0x3C. Using a reserved identifier followed by a particular application command will
expand the amount of possible LIN commands.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
fixed identifier
0x3C
ID
Writing Frame Type#1 (2 or 4 bytes)
Writing Frame Type#2 (2, 4 or 8 bytes)
Writing Frame Type#3 (2 bytes)
Writing Frame Type#4 (8 bytes)
00
AppCMD
Data1
0x80
Identifier
ID [7:0]
CMD [6:0]
ID
Command
Data2
1
CMD [6:0] 1
ID [5:0]
ID [5:0]
Command
Dynamic
Dynamic
Identifier
Identifier
Data1
ID
ID
physical
address
Data3
pp
pp
B
AD [3:0]
physical
address
Physical
Address
Data2
Data1
Data1
Data4
Parameter [15:0]
B
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
Parameter [10:0]
Parameters send from LIN master to LIN slave node
B
Data5
Data2
Data2
Data3
Parameters
Data6
Data4
Data7
Data8