Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2130-LA DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 2.0A coil current (2.5A peak)

Step/Dir Interface with microstep interpolation microPlyer™

SPI Interface

Voltage Range 4.75… 46V DC

Highest Resolution 256 microsteps per full step

stealthChop™ for extremely quiet operation and smooth

motion

spreadCycle™ highly dynamic motor control chopper

dcStep™ load dependent speed control

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Integrated Current Sense Option

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Small Size 5x6mm

QFN36 package or TQFP48 package

APPLICATIONS

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

CCTV, Security

ATM, Cash recycler

POS

Pumps and Valves

DESCRIPTION

The TMC2130 is a high performance driver

IC for two phase stepper motors. Standard

SPI and STEP/DIR simplify communication.

TRINAMICs sophisticated stealthChop

chopper ensures noiseless operation

combined with maximum efficiency and

best motor torque. coolStep allows

reducing energy consumption by up to

75%. dcStep drives high loads as fast as

possible without step loss. Integrated

power MOSFETs handle motor currents up

to 1.2A RMS (QFN package) / 1.4A RMS

(TQFP) or 2.5A short time peak current per

coil. Protection and diagnostic features

support robust and reliable operation.

Industries’ most advanced stepper motor

driver enables miniaturized designs with

low external component count for cost-

effective and highly competitive solutions.

Universal high voltage driver for two-phase bipolar stepper motor. stealthChop™ for quiet

movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI.

BLOCK DIAGRAM

spreadCycle

stealthChop

DRIVER

TMC2130

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

SPI

stallGuard2 coolStep dcStep

Power

Supply

Motor

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

DAC Reference

IREF optional current scaling

SPI Control,

Config & Diags

CLK

Control

Set

Standstill Current

Reduction

CLK Oscillator /

Selector

Interrupt

INT

Charge

Pump

+5V Regulator

Summary of content (103 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2130-LA DATASHEET Universal high voltage driver for two-phase bipolar stepper motor. stealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 2 APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a wide spectrum of applications from battery systems up to embedded applications with 2.0A motor current per coil. Based on stallGuard2, coolStep, dcStep, spreadCycle, and stealthChop, the TMC2130 optimizes drive performance and keeps costs down. It considers velocity vs.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 3 Table of Contents 1 2 PRINCIPLES OF OPERATION ......................... 5 8 ANALOG CURRENT CONTROL AIN ............. 54 1.1 KEY CONCEPTS ................................................ 7 1.2 SPI CONTROL INTERFACE ............................... 7 1.3 SOFTWARE ...................................................... 7 1.4 MOVING THE MOTOR ...................................... 7 1.5 STEALTHCHOP DRIVER ..................................... 8 1.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 28 28.1 28.2 28.3 29 29.1 29.2 29.3 29.4 30 ELECTRICAL CHARACTERISTICS .............89 4 30.1 30.2 30.3 DIMENSIONAL DRAWINGS QFN36 5X6 ....... 97 DIMENSIONAL DRAWINGS TQFP-EP48 ....... 99 PACKAGE CODES ......................................... 100 OPERATIONAL RANGE ...................................89 DC AND TIMING CHARACTERISTICS ..............90 THERMAL CHARACTERISTICS ..........................93 31 DISCLAIMER ............................................
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 1 5 Principles of Operation THE TMC2130 OFFERS THREE BASIC MODES OF OPERATION: In Step/Direction Driver Mode, the TMC2130 is the microstep sequencer and power driver between a motion controller and a two phase stepper motor. Configuration of the TMC2130 is done via SPI. A dedicated motion controller IC or the CPU sends step and direction signals to the TMC2130. The TMC2130 provides the related motor coil currents to operate the motor.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 6 OPERATION MODE 2: Standalone Mode The TMC2130 positions the motor based on step and direction signals. The microPlyer automatically smoothens motion. No CPU interaction is required. Configuration is done by hardware pins. Basic standby current control can be done by the TMC2130. Optional feedback signals allow error detection and synchronization.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 7 1.1 Key Concepts The TMC2130 implements advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 8 1.5 stealthChop Driver stealthChop is a voltage chopper based principle. It guarantees absolutely quiet motor standstill and silent slow motion, except for noise generated by ball bearings. stealthChop can be combined with classic cycle-by-cycle chopper modes for best performance in all velocity ranges. Two additional chopper modes are available: a traditional constant off-time mode and the spreadCycle mode.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 9 1.8 dcStep – Load Dependent Speed Control dcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If the mechanical load on the motor increases to the stalling load, the motor automatically decreases velocity so that it can still drive the load. With this feature, the motor will never stall.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 2 10 Pin Assignments BRA OA2 VS VSA VCP 31 30 29 34 32 OA1 35 33 TST_MODE GNDP 36 2.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 11 2.2 Signal Descriptions Pin QFN36 TQFP48 Type CLK 1 2 DI CSN_CFG3 2 3 SCK_CFG2 3 4 SDI_CFG1 4 5 SDO_CFG0 5 7 STEP DIR VCC_IO 6 7 8 8 9 10 11, 18, 28, 45, DNC 9 DI (tpu) DI (tpu) DI (tpu) DIO (tpu) DI DI 14, 16, 20, 22, 41, 43, 47 - DI (pu) SPI_MODE 10 12 N.C.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Pin GNDA QFN36 24 TQFP48 32 5VOUT 25 33 VCC 26 34 CPO 27 35 CPI 28 37 VCP 29 38 VSA 30 39 OA2 32 42 BRA 33 44 OA1 TST_MODE 34 36 46 1 Exposed die pad - - Type DI Function Analog GND. Tie to GND plane. Output of internal 5V regulator. Attach 2.2µF or larger ceramic capacitor to GNDA near to pin for best performance. May be used to supply VCC of chip. 5V supply input for digital circuitry within chip and charge pump.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 3 13 Sample Circuits The sample circuits show the connection of external components in different operation and supply modes. The connection of the bus interface and further digital signals is left out for clarity. Optional use lower voltage down to 6V VCP CPI CPO AIN_IREF 22n 63V +VM 100n 16V +VM VS VSA 5VOUT 100n DIR STEP 3.1 Standard Application Circuit 4.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 14 3.2 Reduced Number of Components Optional use lower voltage down to 6V +VM VSA 5VOUT 100n 5V Voltage regulator 4.7µ VCC Figure 3.2 Reduced number of filtering components The standard application circuit uses RC filtering to de-couple the output of the internal linear regulator from high frequency ripple caused by digital circuitry supplied by the VCC input. For cost sensitive applications, the RC-Filtering on VCC can be eliminated.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 15 3.4 External 5V Power Supply When an external 5V power supply is available, the power dissipation caused by the internal linear regulator can be eliminated. This especially is beneficial in high voltage applications, and when thermal conditions are critical.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 3.4.2 16 Internal Regulator Bridged In case a clean external 5V supply is available, it can be used for complete supply of analog and digital part (Figure 3.5). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1% regulator. A precise supply guarantees increased motor current precision, because the voltage at 5VOUT directly is the reference voltage for all internal units of the driver, especially for motor current control.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 17 VCP 22n 63V CPI CPO AIN_IREF DIR STEP 3.6 5V Only Supply +5V 100n 16V +5V VS VSA 5VOUT 5V Voltage regulator Step & Dir input with microPlyer charge pump DAC Reference 4.7µ 100n 100n 100µF IREF VCC OA1 TMC2130 470n CSN SCK SDI SDO SPI interface OA2 S N stepper motor Use low inductivity SMD type, e.g. 1206, 0.5W Sequencer DIAG1 Full Bridge A BRA Driver RSA DIAG / INT out DIAG0 OB1 Full Bridge B opt. ext.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 18 3.7 High Motor Current When operating at a high motor current, the driver power dissipation due to MOSFET switch onresistance significantly heats up the driver. This power dissipation will heat up the PCB cooling infrastructure also, if operated at an increased duty cycle. This in turn leads to a further increase of driver temperature. An increase of temperature by about 100°C increases MOSFET resistance by roughly 50%.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 3.7.3 19 Reduction of Resistive Losses by Adding Schottky Diodes Schottky Diodes can be added to the circuit to reduce driver power dissipation when driving high motor currents (see Figure 3.9). The Schottky diodes have a conduction voltage of about 0.5V and will take over more than half of the motor current during the negative half wave of each output in slow decay and fast decay phases, thus leading to a cooler motor driver.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 20 3.8 Driver Protection and EME Circuitry Some applications have to cope with ESD events caused by motor operation or external influence. Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset or even a destruction of the motor driver, depending on their energy. Especially plastic housings and belt drive systems tend to cause ESD events of several kV.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 4 21 SPI Interface 4.1 SPI Datagram Structure The TMC2130 uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are typically able to communicate using integer multiples of 8 bit. The NCS line of the device must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 22 Example: For a read access to the register (DRV_STATUS) with the address 0x6F, the address byte has to be set to 0x6F in the access preceding the read access. For a write access to the register (CHOPCONF), the address byte has to be set to 0x80 + 0x6C = 0xEC. For read access, the data bit might have any value (-). So, one can set them to 0.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 23 4.3 Timing The SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5 24 Register Mapping This chapter gives an overview of the complete register set. Some of the registers bundling a number of single bits are detailed in extra tables. The functional practical application of the settings is detailed in dedicated chapters. Note - All registers become reset to 0 upon power up, unless otherwise noted.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 25 5.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 17 Register GCONF Description / bit names Bit GCONF – Global configuration flags 0 I_scale_analog 0: Normal operation, use internal reference voltage 1: Use voltage supplied to AIN as current reference 1 internal_Rsense 0: Normal operation 1: Internal sense resistors.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 26 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+C 0x01 3 GSTAT R 0x04 8 + 8 IOIN www.trinamic.com Description / bit names 15 stop_enable 0: Normal operation 1: Emergency stop: DCIN stops the sequencer when tied high (no steps become executed by the sequencer, motor goes to standstill state).
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 27 5.2 Velocity Dependent Driver Feature Control Register Set VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr n 0x10 5 + 5 + 4 Register Description / bit names Bit IHOLD_IRUN – Driver current control 4..0 IHOLD Standstill current (0=1/32…31=32/32) In combination with stealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit for motor stand still. 12..
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 28 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr 0x14 n 20 Register TCOOLTHRS Description / bit names This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature. (unsigned) Set this parameter to disable coolStep at low speeds, where it cannot work reliably. The stall detection and stallGuard output signal becomes enabled when exceeding this velocity.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 29 5.3 SPI Mode Register This register cannot be used in STEP/DIR mode. SPI MODE REGISTER (0X2D) R/W Addr n Register Description / bit names direct_mode 0: Normal operation 1: Directly SPI driven motor current Range [Unit] ±255 for both coils Direct mode operation: XDIRECT specifies Motor coil currents and polarity directly programmed via the serial interface. Use signed, two’s complement numbers. RW 0x2D 32 XDIRECT Coil A current (bits 8..
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 30 5.5 Motor Driver Registers MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B) R/W Addr n Register MSLUT[0] W 0x60 32 microstep table entries 0…31 MSLUT[1...7] W W W R R 0x61 … 0x67 0x68 0x69 0x6A 0x6B 7 x 32 32 8 + 8 10 9 + 9 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 31 DRIVER REGISTER SET (0X6C…0X7F) R/W Addr n Register RW 0x6C 32 CHOPCONF W 0x6D 25 COOLCONF W 0x6E 24 DCCTRL R 0x6F 32 DRV_ STATUS W 0x70 22 PWMCONF R 0x71 8 PWM_SCALE W 0x72 2 ENCM_CTRL R 0x73 20 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT 𝑟𝑜𝑢𝑛𝑑 (248 ∗ 𝑠𝑖𝑛 (2 ∗ 𝑃𝐼 ∗ - 𝑖 𝑃𝐼 + )) − 1 1024 1024 i:[0… 255] is the table index The amplitude of the wave is 248. The resulting maximum positive value is 247 and the maximum negative value is -248. The round function rounds values from 0.5 to 1.4999 to 1 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5.5.1 33 MSLUTSEL – Look up Table Segmentation Definition 0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Name X3 X2 Function LUT segment 3 start LUT segment 2 start Comment The sine wave look up table can be divided into up to four segments using an individual step width control entry Wx. The segment borders are selected by X1, X2 and X3.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5.5.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 35 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit 13 Name rndtf Function random TOFF time 12 disfdcc fast decay mode 11 fd3 TFD [3] 10 9 8 7 hend3 hend2 hend1 hend0 HEND hysteresis low value OFFSET sine wave offset 6 5 4 hstrt2 hstrt1 hstrt0 HSTRT hysteresis start value added to HEND TFD [2..0] fast decay time setting 3 2 1 0 toff3 toff2 toff1 toff0 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5.5.3 36 COOLCONF – Smart Energy Control coolStep and stallGuard2 0X6D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2 Bit … 24 Name sfilt Function reserved stallGuard2 filter enable 23 22 21 20 19 18 17 16 15 sgt6 sgt5 sgt4 sgt3 sgt2 sgt1 sgt0 seimin reserved stallGuard2 threshold value 14 13 sedn1 sedn0 12 11 10 9 8 7 6 5 4 3 2 1 0 semax3 semax2 semax1 semax0 seup1 seup0 semin3 semin2 semin1 semin0 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5.5.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5.5.
PAGE 39
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 6 39 stealthChop™ stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
PAGE 40
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 40 6.2 Automatic Scaling In stealthChop voltage PWM mode, the autoscaling function (pwm_autoscale = 1) regulates the motor current to the desired current setting. The driver measures the motor current during the chopper on time and uses a proportional regulator to regulate the PWM_SCALE in order match the motor current to the target current. PWM_GRAD is the proportionality coefficient for this regulator.
PAGE 41
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Motor current PWM scale Velocity 41 PWM reaches max. amplitude 255 Stand still PWM scale Current may drop due to high velocity ok PW M_ GR AD ok Nominal current (sine wave RMS) AD GR M_ PW RMS current constant 0 0 Time Setting for PWM_GRAD ok.
PAGE 42
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 42 𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 𝑡𝐵𝐿𝐴𝑁𝐾 ∗ 𝑓𝑃𝑊𝑀 ∗ 𝑉𝑀 𝑅𝐶𝑂𝐼𝐿 With VM the motor supply voltage and RCOIL the motor coil resistance. ILower Limit can be treated as a thumb value for the minimum possible motor current setting. EXAMPLE: A motor has a coil resistance of 5Ω, the supply voltage is 24V.
PAGE 43
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 43 With rising motor velocity, the motor generates an increasing back EMF voltage. The back EMF voltage is proportional to the motor velocity. It reduces the PWM voltage effective at the coil resistance and thus current decreases. The TMC2130 provides a second velocity dependent factor (PWM_GRAD) to compensate for this.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 𝐶𝐵𝐸𝑀𝐹 [ 44 𝑉 𝐻𝑜𝑙𝑑𝑖𝑛𝑔𝑇𝑜𝑟𝑞𝑢𝑒[𝑁𝑚] ]= 𝑟𝑎𝑑/𝑠 2 ∗ 𝐼𝐶𝑂𝐼𝐿𝑁𝑂𝑀 [𝐴] ICOILNOM is the motor’s rated phase current for the specified holding torque HoldingTorque is the motor specific holding torque, i.e. the torque reached at ICOILNOM on both coils. The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm.
PAGE 45
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 45 Hint In case the automatic scaling regulation is instable at your desired motion velocity, try modifying the chopper frequency divider PWM_FREQ. Also adapt the blank time TBL and motor current for best result. 6.5 Flags in stealthChop As stealthChop uses voltage mode driving, status flags based on current measurement respond slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall.
PAGE 46
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 46 6.6 Freewheeling and Passive Motor Braking stealthChop provides different options for motor standstill. These options can be enabled by setting the standstill current IHOLD to zero and choosing the desired option using the FREEWHEEL setting. The desired option becomes enabled after a time period specified by TPOWERDOWN and IHOLD_DELAY. The PWM_SCALE regulation becomes frozen once the motor target current is at zero current in order to ensure a quick startup.
PAGE 47
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 7 47 spreadCycle and Classic Chopper While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents through both motor coils are controlled using choppers. The choppers work independently of each other. In Figure 7.1 the different chopper phases are shown.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 48 Three parameters are used for controlling both chopper modes: Parameter TOFF Description Setting Sets the slow decay time (off time). This setting also 0 limits the maximum chopper frequency. 1…15 For operation with stealthChop, this parameter is not used, but it is required to enable the motor. In case of operation with stealthChop only, any setting is OK.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 49 It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0) and increasing HSTRT, until the motor runs smoothly at low velocity settings. This can best be checked when measuring the motor current either with a current probe or by probing the sense resistor voltages (see Figure 7.2).
PAGE 50
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) I target current + hysteresis start 50 HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 7.3 spreadCycle chopper scheme showing coil current during a chopper cycle Two parameters control spreadCycle mode: Parameter HSTRT HEND Description Setting Hysteresis start setting. This value is an offset 0…7 from the hysteresis end value HEND.
PAGE 51
TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 51 7.2 Classic Constant Off Time Chopper The classic constant off time chopper is an alternative to spreadCycle. Perfectly tuned, it also gives good results. In combination with RDSon current sensing without external sense resistors, this chopper mode can bring a benefit with regard to audible high-pitch chopper noise. Also, the classic constant off time chopper (automatically) is used in combination with fullstepping in dcStep operation.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 52 Parameter TFD (fd3 & HSTRT) Description Setting Fast decay time setting. With CHM=1, these bits 0 control the portion of fast decay for each chopper 1…15 cycle. Comment slow decay only duration of fast decay phase OFFSET (HEND) Sine wave offset. With CHM=1, these bits control 0…2 the sine wave offset. A positive offset corrects for 3 zero crossing error.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 53 7.4 chopSync2 for Quiet 2-Phase Motor chopSync2 is an alternative add-on concept for spreadCycle chopper and constant off time chopper to optimize motor noise at low velocities. When using stealthChop for low velocity operation, chopSync2 is not applicable. While a frequency adaptive chopper like spreadCycle provides excellent high velocity operation, in some applications, a constant frequency chopper is preferred rather than a frequency adaptive chopper.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 8 54 Analog Current Control AIN When a high flexibility of the output current scaling is desired, the analog input of the driver can be enabled for current control, rather than choosing a different set of sense resistors or scaling down the run current via IRUN parameter. This way, a simple voltage divider can be used for the adaptation of a board to different motors.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 9 55 Selecting Sense Resistors Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The following table shows the RMS current values which can be reached using standard resistors and motor types fitting without additional motor current scaling. CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT RSENSE [Ω] RMS current [A] (CS=31, vsense=0) 1.00 0.23 0.82 0.27 0.75 0.30 0.68 0.33 0.50 0.44 0.47 0.47 0.33 0.66 0.27 0.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 56 When I_scale_analog is enabled for analog scaling of VFS, the resulting voltage VFS‘ is calculated by: ′ 𝑉𝐹𝑆 = 𝑉𝐹𝑆 ∗ 𝑉𝐴𝐼𝑁 2.5𝑉 with VAIN the voltage on pin AIN_IREF in the range 0V to V5VOUT/2 The sense resistor needs to be able to conduct the peak motor coil current in motor standstill conditions, unless standby power is reduced.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 57 10 Internal Sense Resistors The TMC2130 provides the option to eliminate external sense resistors. In this mode the external sense resistors become omitted (shorted) and the internal on-resistance of the power MOSFETs is used for current measurement (see Figure 3.3). As MOSFETs are both, temperature dependent and subject to production stray, a tiny external resistor connected from +5VOUT to AIN/IREF provides a precise absolute current reference.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 58 CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS RREF [Ω] 6k8 7k5 8k2 9k1 10k 12k 15k 18k 22k 27k 33k Peak current [A] (CS=31, vsense=0) 1.92 1.76 1.63 1.49 1.36 1.15 0.94 0.79 0.65 0.60 0.54 Peak current [A] (CS=31, vsense=1) 1.06 0.97 0.90 0.82 0.75 0.63 0.52 0.43 0.36 0.33 0.29 In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path (i.e. lowest possible PCB resistance).
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 59 11 Velocity Based Mode Control The TMC2130 allows the configuration of different chopper modes and modes of operation for optimum motor control. Depending on the motor load, the different modes can be optimized for lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the features like coolStep or stallGuard2 are useful in a limited velocity range.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Parameter stst 60 Description Setting This flag indicates motor stand still in each operation 0/1 Comment Status bit, read only mode. This occurs 2^20 clocks after the last step pulse. TPOWER DOWN TSTEP TPWMTHRS TCOOLTHRS THIGH small_ hysteresis vhighfs vhighchm en_pwm_ mode This is the delay time after stand still (stst) of the motor to motor current power down. Time range is about 0 to 4 seconds.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 61 12 Driver Diagnostic Flags The TMC2130 drivers supply a complete set of diagnostic and protection capabilities, like short to GND protection and undervoltage detection. A detection of an open load condition allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details. 12.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 62 14 stallGuard2 Load Measurement stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolStep loadadaptive current reduction. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in Figure 14.1. At maximum motor load, the value goes to zero or near to zero.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 63 14.1 Tuning stallGuard2 Threshold SGT The stallGuard2 value SG is affected by motor-specific characteristics and application-specific demands on load and velocity. Therefore the easiest way to tune the stallGuard2 threshold SGT for a specific motor type and operating conditions is interactive tuning in the actual application. INITIAL PROCEDURE FOR TUNING STALLGUARD SGT 1. 2. 3. 4.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 64 14.1.1 Variable Velocity Limits TCOOLTHRS and THIGH The SGT setting chosen as a result of the previously described SGT tuning (chapter 0) can be used for a certain velocity range. Outside this range, a stall may not be detected safely, and coolStep might not give the optimum result.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 65 14.2 stallGuard2 Update Rate and Filter The stallGuard2 measurement value SG is updated with each full step of the motor. This is enough to safely detect a stall, because a stall always means the loss of four full steps. In a practical application, especially when using coolStep, a more precise measurement might be more important than an update for each fullstep because the mechanical load never changes instantaneously from one step to the next.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 66 15 coolStep Operation coolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 15.
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stallGuard2 reading mechanical load 67 motor current TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) current setting I_RUN (upper limit) motor current reduction area SEMAX+SEMIN+1 SEMIN ½ or ¼ I_RUN (lower limit) motor current increment area 0=maximum load load angle optimized Zeit slow current reduction due to reduced motor load load angle optimized current increment due to increased load stall possible load angle optimized Figure 15.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 68 15.3 Tuning coolStep Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the load measurement value SG. coolStep uses SG to operate the motor near the optimum load angle of +90°. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN. They can be tuned separately because they are triggered by different events that may need different responses.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 69 16 STEP/DIR Interface The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion controllers. The microPlyer STEP pulse interpolator brings the smooth motor operation of highresolution microstepping to applications originally designed for coarser stepping. 16.1 Timing Figure 16.1 shows the timing parameters for the STEP and DIR signals, and the table below gives their specifications.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 70 16.2 Changing Resolution A reduced microstep resolution allows limitation of the step frequency for the STEP/DIR interface, or compatibility to an older, less performing driver. The internal microstep table with 1024 sine wave entries generates sinusoidal motor coil currents. These 1024 entries correspond to one electrical revolution or four fullsteps. The microstep resolution setting determines the step width taken within the table.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 71 16.3 microPlyer Step Interpolator and Stand Still Detection For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure 16.2. It interpolates the time in between of two step impulses at the step input based on the last step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256 microsteps (full step input to 256 microsteps) are driven for a single step pulse.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 72 17 DIAG Outputs Operation with a motion controller often requires quick reaction to certain states of the stepper motor driver. Therefore, the DIAG outputs supply a configurable set of different real time information complementing the STEP/DIR interface. Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output (low active open drain – default setting, or high active push-pull).
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 73 18 dcStep dcStep is an automatic commutation mode for the stepper motor. It allows the stepper to run with its target velocity as commanded by the step pulses as long as it can cope with the load. In case the motor becomes overloaded, it slows down to a velocity, where the motor can still drive the load. This way, the stepper motor never stalls and can drive heavy loads as fast as possible.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 74 dcStep requires only a few settings. It feeds back motor motion to the external ramp generator, so that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded with respect to the target velocity. dcStep operates the motor in fullstep mode at the target velocity or at reduced velocity if the motor becomes overloaded. It requires enforcing a minimum operation velocity either by the ramp generator or by VDCMIN.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 75 - DCO – Informs the motion controller when motor is not ready to take a new step (low level). The motion controller shall react by delaying the next step until DCO becomes high. The sequencer can buffer up to the effective number of microsteps per fullstep to allow the motion controller to react to assertion of DCO.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 76 18.3.2 DCO Interface to Motion Controller DCEN enables dcStep. It is up to the connected motion controller to enable dcStep either, once a minimum step velocity is exceeded within the motion ramp, or to use the automatic threshold VDCMIN for dcStep enable. The STEP/DIR interface works in microstep resolution, even if the internal step execution is based on fullstep.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 77 18.4 Stall Detection in dcStep Mode While dcStep is able to decelerate the motor upon overload, it cannot avoid a stall in every operation situation. Once the motor is blocked, or it becomes decelerated below a motor dependent minimum velocity where the motor operation cannot safely be detected any more, the motor may stall and loose steps.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 78 19 Sine-Wave Look-up Table The TMC2130 provides a programmable look-up table for storing the microstep current wave. As a default, the table is pre-programmed with a sine wave, which is a good starting point for most stepper motors. Reprogramming the table to a motor specific wave allows drastically improved microstepping especially with low-cost motors. 19.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 79 When the microstep sequencer advances within the table, it calculates the actual current values for the motor coils with each microstep and stores them to the registers CUR_A and CUR_B. However the incremental coding requires an absolute initialization, especially when the microstep table becomes modified. Therefore CUR_A and CUR_B become initialized whenever MSCNT passes zero.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 80 21 DC Motor or Solenoid The TMC2130 can drive one or two DC motors using one coil output per DC motor. Either a torque limited operation, or a voltage based velocity control with optional torque limit is possible. CONFIGURATION AND CONTROL Set the flag direct_mode in the GCONF register. In direct mode, the coil current polarity and coil current, respectively the PWM duty cycle become controlled by register XDIRECT (0x2D). Bits 8..
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 81 22 Quick Configuration Guide This guide is meant as a practical tool to come to a first configuration and do a minimum set of measurements and decisions for tuning the TMC2130. It does not cover all advanced functionalities, but concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may decide to explore additional features, e.g. freewheeling and further functionality in more detail.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 82 TUNING STEALTHCHOP AND SPREADCYCLE SC2 spreadCycle Configuration Try motion with desired acceleration and deceleration (not exceeding TPWMTRHRS) GCONF disable en_pwm_mode Coil current overshoot upon deceleration? Y PWMCONF increase PWM_GRAD (max.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 83 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE) Enable coolStep C2 Move the motor by slowly accelerating from 0 to VMAX operation velocity Monitor CS_ACTUAL and motor torque during rapid mechanical load increment within application limits Is coil current sineshaped at VMAX? Decrease VMAX (max. operation velocity of ext.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 84 23 Getting Started Please refer to the TMC2130 evaluation board to allow a quick start with the device and in order to allow interactive tuning of the device setup in your application. It will guide you through the process of correctly setting up all registers. The following example gives a minimum set of accesses allowing moving a motor. 23.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 85 24 Standalone Operation For standalone operation, no SPI interface is required to configure the TMC2130. All pins with suffix CFG0 to CFG6 have a special meaning in this mode. They are evaluated using tristate detection, in order to differentiate between 100n 16V VCP 22n 63V CPI CPO AIN_IREF STEP Optional use lower voltage down to 6V DIR CFG pin tied to GND CFG pin open (no connection) CFG pin tied to VCC_IO - +VM +VM VS VSA 5VOUT 100n 4.
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TMC2130 DATASHEET (Rev. 1.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 87 CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN CFG6 GND VCC_IO open Motor driver enable Enable Disable Enable Standstill power down N - (Driver disable) Y, ramp down from 100% to 34% motor current in 44M clock cycles (3 to 4 seconds) if no step pulse for more than 1M clock cycles (standstill).
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 88 25 External Reset The chip is loaded with default values during power on via its internal power-on reset. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched off during operation of the chip.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 89 27 Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design. Parameter Supply voltage operating with inductive load (VVS ≥ VVSA) Supply and bridge voltage max.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 90 28.2 DC and Timing Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typical values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. Power supply current DC-Characteristics VVS = VVSA = 24.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Linear regulator 91 DC-Characteristics VVS = VVSA = 24.0V Parameter Output voltage Symbol V5VOUT Conditions Min Typ Max Unit I5VOUT = 0mA 4.80 5.0 5.
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TMC2130 DATASHEET (Rev. 1.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 93 28.3 Thermal Characteristics The following table shall give an idea on the thermal resistance of the package. The thermal resistance for a four layer board will provide a good idea on a typical application. Actual thermal characteristics will depend on the PCB layout, PCB type and PCB size. The thermal resistance will benefit from thicker CU (inner) layers for spreading heat horizontally within the PCB. Also, air flow will reduce thermal resistance.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 94 29 Layout Considerations 29.1 Exposed Die Pad The TMC2130 uses its die attach pad to dissipate heat from the drivers and the linear regulator to the board. For best electrical and thermal performance, use a reasonable amount of solid, thermally conducting vias between the die attach pad and the ground plane. The printed circuit board should have a solid ground plane spreading heat into the board and providing for a stable GND reference. 29.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 95 29.4 Layout Example (QFN36) Schematic 1 - Top Layer (assembly side) www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 3 - Inner Layer 2 Components / Silksceen Top Figure 29.1 Layout example www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 30 Package Mechanical Data All length units are given in millimeters. 30.1 Dimensional Drawings QFN36 5x6 Attention: Drawings not to scale. Figure 30.1 Dimensional drawings QFN 5x6 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Parameter total thickness stand off mold thickness lead frame thickness lead width body size X body size Y lead pitch exposed die pad size X exposed die pad size Y lead length mold flatness coplanarity lead offset exposed pad offset www.trinamic.com Ref A A1 A2 A3 b D E e J K L bbb ccc ddd eee Min 0.8 0 0.2 4.9 5.9 3.5 4 0.35 Nom 0.85 0.035 0.65 0.203 0.25 5 6 0.5 3.6 4.1 0.4 98 Max 0.9 0.05 0.3 5.1 6.1 3.7 4.2 0.45 0.1 0.08 0.1 0.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 30.2 Dimensional Drawings TQFP-EP48 Attention: Drawings not to scale. Figure 30.2 Dimensional drawings TQFP-EP48 www.trinamic.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) Parameter total thickness stand off mold thickness lead width (plating) lead width lead frame thickness (plating) lead frame thickness body size X (over pins) body size Y (over pins) body size X body size Y lead pitch lead footprint exposed die pad size X exposed die pad size Y package edge tolerance lead edge tolerance coplanarity lead offset mold flatness 100 Ref A A1 A2 b b1 c Min 0.05 0.95 0.17 0.17 0.09 Nom 1 0.22 0.2 - Max 1.2 0.15 1.05 0.27 0.23 0.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 101 31 Disclaimer TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 102 33 Table of Figures FIGURE 1.1 TMC2130 STEP/DIR APPLICATION DIAGRAM......................................................................................................... 5 FIGURE 1.2 TMC2130 STANDALONE DRIVER APPLICATION DIAGRAM ......................................................................................... 6 FIGURE 1.3 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE) .....................................................................................
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TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 103 34 Revision History Version Date Author Description BD= Bernhard Dwersteg SD= Sonja Dwersteg V0.90 V0.91 V0.92 V1.00 V1.01 V1.02 V1.03 2014-AUG-21 2014-SEP-11 2014-SEP-25 2014-OCT-15 2014-NOV-24 2014-DEC-08 2015-MAR-10 SD SD BD BD BD BD BD First version. Based on TMC5130 datasheet V0.42. Figure 1.1 and Figure 1.2 corrected. Clarified ramp generator source as step input, etc.