Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17

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6 FOC Setup - How to Turn a Motor

This section summarizes the basic steps that are required to turn a motor with TMC4671. The wizard of the

TMCL-IDE guides the user through theses basic steps. Schematics and Layout of the TMC4671 evaluation

kit are open source and available for download from www.trinamic.com

Note

TRINAMIC recommends to use a TMC4671 evaluation kit together with the TMCL-

IDE with its integrated wizards for initial evaluation and setup.

In order to create own application software please check TRINAMIC’s API to reduce software development

eﬀorts.

6.1 Select Motor Type

The TMC4671 supports closed loop control of single phase DC motors, stepper motors, and three phase

motors. The selection of the motor type deﬁnes the conﬁguration of the gate control channels for the

power stage and either the usage or bypass of FOC transformations (Clarke, Park, iPark, iClark).

6.1.1 FOC1 Setup - How to Turn a Single Phase DC Motor

In case of DC motor, the mechanical commutator of the DC motor realizes something like mechanical ﬁeld

oriented control where the TMC4671 just realizes closed loop current control of the DC motor. From FOC

point of view, the FOC converts a brushless motor (BLDC) resp. Permanent Magnet Synchronous Motor

(PMSM) into a closed loop current controlled DC motor.

From closed loop velocity control point of view and from closed loop position control point of view there

is no diﬀerence between electronically FOC controlled BLDC motor or PMSM motor and a mechanical

commutated DC motor with electronic closed loop current control.

6.1.2 FOC2 Setup - How to Turn a Two Phase Motor (Stepper)

The TMC4671 is able to turn a two-phase stepper motor with FOC by internal skip of Clarke transformation

and iClarke transformation. A special feature of stepper motors is the high number of pole pairs (NPP)

that are typical 50. For stepper motors it is usual to give the number of full steps (FS) per revolution, with

NPP = (FS/revolution) / 4. A stepper with 200 full steps per revolution has 50 pole pairs.

6.1.3 FOC3 Setup - How to Turn a Three Phase Motor (PMSM or BLDC)

A three phase motor is the classical FOC controlled brushless motor. Users have to take care concerning

number of pole pairs (NPP) and the number of poles (NP) with NPP = NP/2.

6.2 Set Number of Pole Pairs (NPP)

The number of (magnetic) pole pairs (NPP) is characteristic for each motor and it is essential for commuta-

tion of two phase motors and three phase motors with FOC. For DC motor the NPP is not important for

commutation itself, but is should be set to one to have same scaling for electrical angle and mechanical

angle.

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