Datasheet
TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
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16 Figures Index
1 FOC Basic Principle . . . . . . . . . . . . 8
2 PID Architectures and Motion Modes . 9
3 Orientations UVW (FOC3) and XY (FOC2) 14
4 Compass Motor Model w/ 3 Phases
UVW (FOC3) and Compass Motor
Model w/ 2 Phases (FOC2) . . . . . . . . 14
5 Hardware FOC Application Diagram . . 15
6 Hardware FOC Block Diagram . . . . . 15
7 SPI Datagram Structure . . . . . . . . . 16
8 SPI Timing . . . . . . . . . . . . . . . . . 17
9 SPI Timing of Write Access without
pause with fSCK up to 8MHz . . . . . . 18
10 SPI Timing of Read Access with pause
(tPAUSE) of 500 ns with fSCK up to 8MHz. 18
11 Connector for Real-Time Monitoring
Interface (Connector Type: Hirose
DF20F-10DP-1V) . . . . . . . . . . . . . . 19
12 UART Read Datagram (TMC4671
register read via UART) . . . . . . . . . . 20
13 UART Write Datagram (TMC4671
register write via UART) . . . . . . . . . 20
14 N_POLE_PAIRS - Number of Pole Pairs
(Number of Poles) . . . . . . . . . . . . 24
15 Integer Representation of Angles as 16
bit signed (s16) resp. 16 bit unsigned
(u16) . . . . . . . . . . . . . . . . . . . . 24
16
Input Voltage Ranges of internaql Delta
Sigma ADC Channels . . . . . . . . . . . 29
17 Delta Sigma ADC Configurations
dsADC_CONFIG (ANALOG (internal),
MCLKO, MCLKI, MDAC) . . . . . . . . . . 31
18 ∆Σ ADC Configurations - MDAC
(Comparator-R-C-R as ∆Σ-Modulator) . 35
19 ADC Selector and Scaler with Offset
Correction . . . . . . . . . . . . . . . . . 39
20 Number of Pole Pairs npp vs.
mechanical angle phi_m and electrical
angle phi_e . . . . . . . . . . . . . . . . . 41
21 ABN Incremental Encoder N Pulse . . . 42
22 Encoder ABN Timing . . . . . . . . . . . 43
23 Hall Sensor Angles . . . . . . . . . . . . 44
24 Outline of noisy Hall signals (left) due
to electromagnetic interference with
PWM switching and noise cleaned Hall
signals (right) by PWM center synced
sampling of Hall signal vector (H1 H2 H3) 45
25 Hall Signal PWM Center Sampling on
PWM_CENTER . . . . . . . . . . . . . . . 45
26 Hall Signal Blanking . . . . . . . . . . . . 45
27
Analog Encoder (AENC) signal waveforms
46
28 Analog Encoder (AENC) Selector &
Scaler w/ Offset Correction . . . . . . . 47
29 Classic PI Controller Structure . . . . . 52
30 Advanced PI Controller Structure . . . . 53
31 PI Controllers for position, velocity and
current . . . . . . . . . . . . . . . . . . . 54
32 Inner FOC Control Loop . . . . . . . . . 55
33 FOC Transformations . . . . . . . . . . . 56
34 Motion Modes . . . . . . . . . . . . . . . 56
35 Biquad Filters in Control Structure . . . 59
36 DT1 Element Structure . . . . . . . . . . 60
37 PWM Gate Driver Control Polarities . . 61
38 FOC3 (three phase motor), FOC2 (two
phase stepper motor), FOC1 (single
phase DC motor) . . . . . . . . . . . . . 62
39 BBM Timing . . . . . . . . . . . . . . . . 63
40 TMC4671 Pinout with 3 phase Power
stage and BLDC Motor . . . . . . . . . . 120
41 TMC4671 Pinout with Stepper Motor . 120
42 TMC4671 Pinout with DC Motor or
Voice Coil . . . . . . . . . . . . . . . . . . 121
43 Sample Circuit for Interfacing of an
Encoder Signal . . . . . . . . . . . . . . 128
44 Sample Circuit for Interfacing of a
single ended analog signal . . . . . . . 129
45 Phase current measurement: Current
directions for 2 and 3 phase motors . . 130
46 Phase current measurement: Current
direction for DC or Voice Coil Motor . . 130
47 Current Shunt Amplifier Sample Circuit 131
48 QFN76 Package Outline . . . . . . . . . 133
49 Pinout of TMC4671 (Top View) . . . . . 134
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