TMC262 DATASHEET (Rev. 2.07 / 2013-FEB-14)
25
6.10 Read Response
For every write command sent to the motor driver, a 20-bit response is returned to the motion
controller. The response has one of three formats, as selected by the RDSEL parameter in the
DRVCONF register. The table below shows these formats. Software must not depend on the value of
any bit shown as reserved.
DRVSTATUS
Bit
19
18
17
16
15
14
13
12
11
10
9
8
7
Name
RDSEL=%00
%01
%10
Read Response
Function
SG9
SG8
SG7
SG6
SG5
SG4
SG3
SG2
SG1
SG0
SG9
SG8
SG7
SG6
SG5
SE4
SE3
SE2
SE1
SE0
Microstep counter
for coil A
or
stallGuard2 value
SG9:0
or
stallGuard2 value
SG9:5
and
coolStep value
SE4:0
Comment
Microstep position in sine table for coil A in
STEP/DIR mode. MSTEP9 is the Polarity bit:
0: Current flows from OA1 pins to OA2 pins.
1: Current flows from OA2 pins to OA1 pins.
stallGuard2 value SG9:0.
stallGuard2 value SG9:5 and the actual
coolStep scaling value SE4:0.
MSTEP9
MSTEP8
MSTEP7
MSTEP6
MSTEP5
MSTEP4
MSTEP3
MSTEP2
MSTEP1
MSTEP0
Reserved
Reserved
STST
Standstill
indicator
Open load
indicator
6
5
OLB
OLA
4
3
S2GB
S2GA
Short to GND
detection bits on
high-side
transistors
2
1
0
OTPW
OT
SG
Overtemperature
warning
Overtemperature
shutdown
stallGuard2 status
0: No standstill condition detected.
1: No active edge occurred on the STEP
input during the last 2
20
system clock cycles.
0: No open load condition detected.
1: No chopper event has happened during
the last period with constant coil polarity.
Only a current above 1/16 of the maximum
setting can clear this bit!
Hint:
This bit is only a status indicator. The
chip takes no other action when this bit is
set. False indications may occur during fast
motion and at standstill. Check this bit only
during slow motion.
0: No short to ground shutdown condition.
1: Short to ground shutdown condition.
The short counter is incremented by each
short circuit and the chopper cycle is
suspended. The counter is decremented for
each phase polarity change. The MOSFETs are
shut off when the counter reaches 3 and
remain shut off until the shutdown condition
is cleared by disabling and re-enabling the
driver. The shutdown condition becomes
reset by deasserting the ENN input or clearing
the TOFF parameter.
0: No overtemperature warning condition.
1: Warning threshold is active.
0: No overtemperature shutdown condition.
1: Overtemperature shutdown has occurred.
0: No motor stall detected.
1: stallGuard2 threshold has been reached,
and the SG_TST output is driven high.
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