TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 45

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

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.11.14 SoftStop
If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate
deceleration to Vmin followed by a stop, regardless of the position reached. Once the motor is stopped
TagPos register is overwritten with the value in ActPos register to ensure keeping the stop position.
This command is executed if:
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•
If <Broad> is set to zero all the stepper motors connected to the LIN bus will stop with deceleration.
Note:
6.11.15 Sleep Mode
According to LIN specification rev. 1.3, sleep mode and stand-by mode (wake-up) are implemented.
The interface can work in one of the following modes (refer to Figure 14: LIN Physical Layer):
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•
•
The TMC211 can be immediately forced to sleep mode to reduce current consumption down to Isleep
by sending the sleep mode command depicted below:
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
Source
Source
Master
Master
the chip temperature rises the Thermal shutdown threshold or
the Master sends a SoftStop command
Normal mode: EN = ‘1’, Vdd = high, INH = ‘1’
Sleep mode: in the normal mode EN is set to ‘0’ to go to sleep mode after reception of a LIN Sleep
command or more than 25,000 bit times (1.30 seconds) of LIN bus inactivity. The interface current
consumption is limited to Isleep. Only the receiver is working.
Stand-by mode (wake-up): when a LIN message frame is received in sleep mode or when Vbb
goes high (power-on), INH is immediately activated. The initial state of INH signal is ensured by an
internal power-on-reset circuitry inside the wake-up control.
* according to parity calculation
ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame.
Byte
Byte
0
1
2
3
4
5
6
7
8
0
1
2
Identifier
Sleep
Identifier
Command
Slave Address
Content
Content
SoftStop general purpose writing frame (type#1)
Sleep Mode Command with reserved ID (type#4)
Broad
bit 7
bit 7
1
0
*
Bit 6
bit 6
*
0
bit 5
bit 5
0
1
Structure
Structure
Bit 4
Bit 4
ID4
CMD [6:0] = 0x0F
1
0xFF
0xFF
0xFF
0xFF
0xFF
0xFF
0xFF
0x00
AD [6:0]
bit 3
bit 3
ID3
1
bit 2
bit 2
ID2
1
bit 1
bit 1
ID1
0
bit 0
bit 0
ID0
0
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