Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

DRIVER 1

DRIVER 2

TMC2041

Protection

& Diagnostics

256 µStep

Sequencer

256 µStep

Sequencer

Protection

& Diagnostics

Step/Dir

SPI

Power

Supply

Charge

Pump

Motor 2

stallGuard2 coolStep

Motor 1

UART / SPI

configuration&

diagnostics

UART

Enable

TMC2041 DATASHEET

BLOCK DIAGRAM

FEATURES AND BENEFITS

Two 2-phase stepper motors

Drive Capability up to 2x 1.1A coil current (2x 1.5A peak)

Parallel Option for one motor at 2.2A (3A peak)

Voltage Range 4.75… 26V DC

SPI & Single Wire UART for configuration and diagnostics

Highest Resolution up to 256 microsteps per full step

microPlyer™ microstep interpolation

spreadCycle™ highly dynamic motor control chopper

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Full Protection & Diagnostics

Compact Size 7x7mm

QFN48 package

APPLICATIONS

Office Automation

Antenna Positioning

3D printers

Battery powered applications

Printer and Scanner

Pumps and Valves

Medical Applications

Office and Laboratory equipment

DESCRIPTION

The TMC2041 is a compact, dual stepper

motor driver IC with serial interfaces for

configuration and diagnostics. It is pin

compatible to the fully featured TMC5041

and TMC5072 drivers with internal mo-

tion controller. The TMC2041 is intended

for all applications, where an internal

motion controller is not desired, and

ramping is done in a microcontroller.

Based on TRINAMICs high-performance

spreadCycle chopper, the driver allows

precise and smooth motor operation. It

offers coolStep for energy savings and

stallGuard for sensorless stall detection.

The complete set of protection and

diagnostic functionality ensures reliable

operation. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions.

Dual step/direction driver for up to two 2-phase bipolar stepper motors. stallGuard for sensorless

homing. SPI, UART (single wire) Configuration and Diagnostics Interface.

Summary of content (65 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2041 DATASHEET Dual step/direction driver for up to two 2-phase bipolar stepper motors. stallGuard for sensorless homing. SPI, UART (single wire) Configuration and Diagnostics Interface.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 2 APPLICATION EXAMPLES: HIGH FLEXIBILITY – MULTIPURPOSE USE The TMC2041 scores with power density and sensorless homing. It features serial interfaces for advanced monitoring and configuration options. The small form factor keeps costs down and allows for miniaturized layouts. Extensive support at the chip, board, and software levels enables rapid design cycles and fast timeto-market with competitive products.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 3 TABLE OF CONTENTS 1 PRINCIPLES OF OPERATION 1.1 1.2 1.3 1.4 1.5 2 KEY CONCEPTS 4 CONTROL INTERFACES 4 MOVING AND CONTROLLING THE MOTOR 5 STALLGUARD2 – MECHANICAL LOAD SENSING 5 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL 5 PIN ASSIGNMENTS 2.1 2.2 3 PACKAGE OUTLINE SIGNAL DESCRIPTIONS SAMPLE CIRCUITS 3.1 3.2 3.3 3.4 3.5 3.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) +VM VS +VM VCP charge pump 100n VSA 5VOUT 100n 4.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 5 read only. Some of the registers allow both read and write access. In case read-modify-write access is desired for a write only register, a shadow register can be realized in master software. 1.2.1 SPI Interface The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus master to the bus slave another bit is sent simultaneously from the slave to the master.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 6 0,9 Efficiency with coolStep 0,8 Efficiency with 50% torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 1.2 Energy efficiency with coolStep (example) www.trinamic.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 2 7 Pin Assignments TST_MODE O1A1 BR1A O1A2 VS GNDP VS O1B1 BR1B O1B2 - VCP 48 47 46 45 44 43 42 41 40 39 38 37 2.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin VCC Number 33 Type DIE_PAD - GND 8 Function 5V supply input for digital circuitry within chip and charge pump. Attach 470nF capacitor to GND (GND plane). Typically supplied by 5VOUT. A 2.2Ω resistor is recommended for decoupling noise from 5VOUT. When using an external supply, make sure, that VCC comes up before or in parallel to 5VOUT or VCC_IO, whichever comes up later! Connect the exposed die pad to a GND plane.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin O2A1 BR2A Number 14 15 Type O (VS) O2A2 VS 16 17, 19 O (VS) GNDP O2B1 BR2B 18 20 21 GND O (VS) O2B2 O1B2 BR1B 22 39 40 O (VS) O (VS) O1B1 VS 41 42, 44 O (VS) GNDP O1A2 BR1A 43 45 46 GND O (VS) O1A1 47 O (VS) Table 2.4 Power driver pins www.trinamic.com 9 Function Motor 2 coil A output 1 Sense resistor connection for motor 2 coil A. Place sense resistor to GND near pin. Motor 2 coil A output 2 Motor supply voltage.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 3 10 Sample Circuits The sample circuits show the connection of the external components in different operation and supply modes. The connection of the bus interface and further digital signals is left out for clarity. DIR1 +VM VS +VM VCP charge pump 100n VSA 5VOUT 100n 4.7µ Step/Dir interface 100n DRV_ENN Optional use lower voltage down to 6V STEP1 CPI 22n CPO 3.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 11 DIR1 STEP1 CPI 22n CPO 3.2 5 V Only Supply +5V VS +5V 5VOUT 100n O1A1 Full Bridge A 5V Voltage regulator O1A2 Sequencer & Microplyer 4.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 12 3.3 One Motor with High Current DIR1 STEP1 CPI 22n CPO The TMC2041 supports double motor current for a single driver by paralleling both power stages. In order to operate in this mode, activate the flag single_driver in the global configuration register GCONF. This register can be locked for subsequent write access. +VM VS +VM 100n 100n O1A1 Full Bridge A 5V Voltage regulator O1A2 Sequencer & Microplyer 4.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 13 Well-regulated, stable supply, better than +-5% +5V VSA 5V Voltage regulator 5VOUT 4.7µ 10R VCC 470n Figure 3.4 Using an external 5V supply to bypass internal regulator 3.5 Optimizing Analog Precision CPI 22n CPO The 5VOUT pin is used as an analog reference for operation of the TMC2041. Performance will degrade when there is voltage ripple on this pin.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 14 470pF 100V OA1 Full Bridge A OA1 OA2 S N stepper motor Full Bridge A 50Ohm @ 100MHz V1A V1 OA2 50Ohm @ 100MHz 470pF 100V BRA Driver RSA 470pF 100V S N stepper motor V1B 470pF 100V Driver 100nF 16V 470pF 100V OB1 Full Bridge B OB1 Full Bridge B OB2 50Ohm @ 100MHz V2A V2 OB2 50Ohm @ 100MHz 470pF 100V BRB RSB 100nF 16V 470pF 100V Fit varistors to supply voltage rating. SMD inductivities conduct full motor coil current. Figure 3.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 4 15 SPI Interface 4.1 SPI Datagram Structure The TMC2041 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 TMC2041 must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 16 Example: For a read access to the register (XACTUAL) with the address 0x21, the address byte has to be set to 0x21 in the access preceding the read access. For a write access to the register (VACTUAL), the address byte has to be set to 0x80 + 0x22 = 0xA2. For read access, the data bit might have any value (-). So, one can set them to 0.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 17 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 5 18 UART Single Wire Interface The UART single wire interface allows the control of the TMC2041 with any microcontroller UART. It shares transmit and receive line like an RS485 based interface. Data transmission is secured using a cyclic redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can be bridged without the danger of wrong or missed commands even in the event of electro-magnetic disturbance.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 5.1.2 19 Read Access UART READ ACCESS REQUEST DATAGRAM STRUCTURE each byte is LSB…MSB, highest byte transmitted first sync + reserved 8 bit slave address RW + 7 bit register address CRC 0...
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 20 5.2 CRC Calculation An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB, including the sync- and addressing byte. The sync nibble is assumed to always be correct. The TMC2041 responds only to correctly transmitted datagrams containing its own slave address.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 21 5.4 Addressing Multiple Slaves ADDRESSING ONE OR TWO SLAVES If only one or two TMC2041 are addressed by a master using a single UART interface, a hardware address selection can be done by setting the NEXTADDR pins to different levels. ADDRESSING UP TO 255 SLAVES A different approach can address any number of devices by using the input NEXTADDR as a selection pin. Addressing up to 255 units is possible.
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TMC2041 DATASHEET (Rev. 1.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 6 23 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 24 6.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 10 www.trinamic.com Register GCONF Description / bit names Bit GCONF – Global configuration flags 0 single_driver 0: Two motors can be operated. 1: Single motor, double current operation - driver 2 outputs are identical to driver 1, all driver 2 related controls are unused in this mode.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 25 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+C 0x01 4 GSTAT R 0x02 8 IFCNT W 0x03 8 + 4 SLAVECONF R 0x04 9 + 8 INPUT www.trinamic.com Description / bit names Bit GSTAT – Global status flags 0 reset 1: Indicates that the IC has been reset since the last read access to GSTAT. All registers have been cleared to reset values.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 26 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr W n Register 4 + 4 OUTPUT Description / bit names 31.. VERSION: 0x10=version of the IC 24 Identical numbers mean full digital compatibility. Bit OUTPUT Sets the IO output pin polarity and data direction.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 27 6.3 Motor Driver Registers MOTOR DRIVER REGISTER SET (MOTOR 1: 0X6A…0X6F, MOTOR 2: 0X7A…0X7F) R/W Addr n Register R 0x6A 0x7A 10 MSCNT R 0x6B 0x7B 9 + 9 MSCURACT RW 0x6C 0x7C 32 CHOPCONF W 0x6D 0x7D 25 COOLCONF R 0x6F 0x7F 32 DRV_ STATUS www.trinamic.com Description / bit names Microstep counter. Indicates actual position in the microstep table for CUR_A. CUR_B uses an offset of 256.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 6.3.1 28 CHOPCONF – Chopper Configuration 0X6C, 0X7C: CHOPCONF – CHOPPER CONFIGURATION Bit 31 30 Name diss2g 29 dedge 28 intpol16 27 26 25 24 mres3 mres2 mres1 mres0 MRES micro step resolution Comment set to 0 0: Short to GND protection is on 1: Short to GND protection is disabled 1: Enable step impulse at each step edge to reduce step frequency requirement.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 29 0X6C, 0X7C: CHOPCONF – CHOPPER CONFIGURATION Bit 11 Name fd3 Function 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 6.3.2 30 COOLCONF – Smart Energy Control coolStep and stallGuard2 0X6D, 0X7D: 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 6.3.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 7 32 Current Setting The internal 5 V supply voltage available at the pin 5VOUT is used as a reference for the coil current regulation based on the sense resistor voltage measurement. The desired maximum motor current is set by selecting an appropriate value for the sense resistor. The sense resistor voltage range can be selected by the vsense bit in CHOPCONF.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) Parameter IRUN IHOLD IHOLD DELAY vsense Description Current scale when motor is running. Scales coil current values as taken from the internal sine wave table. For high precision motor operation, work with a current scaling factor in the range 16 to 31, because scaling down the current values reduces the effective microstep resolution by making microsteps coarser. This setting also controls the maximum current value set by coolStep.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 8 34 spreadCycle and Classic 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 8.1 the different chopper phases are shown.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 35 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 Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. TBL chm Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 36 100 to 400 fullsteps per second), a too low hysteresis setting will lead to increased humming and vibration of the motor. Figure 8.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow & blue: sense resistor voltages A and B) A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but will not yield any benefit for the wave shape.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) I target current + hysteresis start 37 HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 8.3 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.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 38 8.2 Classic Constant Off Time Chopper The classic constant off time chopper is an alternative to spreadCycle. Perfectly tuned, it also gives good results. Also, the classic constant off time chopper (automatically) is used in combination with fullstepping in dcStep operation. The classic constant off-time chopper uses a fixed-time fast decay following each on phase.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 39 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 9 40 Driver Diagnostic Flags The TMC2041 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. 9.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 41 10 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 10.1. At maximum motor load, the value goes to zero or near to zero.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 42 10.1 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 43 10.1.1 Variable Velocity Limits The SGT setting chosen as a result of the previously described SGT tuning 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 44 10.2 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 45 11 coolStep Operation coolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 11.
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stallGuard2 reading mechanical load 46 motor current TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 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 11.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 47 11.3 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 48 12 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. The current settings are configured separately for motor run and standstill in register IHOLD_IRUN. 12.1 Timing Figure 12.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 49 12.2 Changing Resolution The TMC2041 allows operation in fullstep to 256 microsteps. Best performance is given with 16 microsteps and interpolation (MRES=4, intpol16=1), or in native 256 microstep mode (MRES=0). The internal microstep table uses 1024 sine wave entries to generate the wave. The step width taken within the table depends on the microstep resolution setting MRES.
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Active edge (dedge=0) Active edge (dedge=0) 50 Active edge (dedge=0) Active edge (dedge=0) TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) STEP Interpolated microstep 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 Motor angle 2^20 tCLK STANDSTILL (stst) active Figure 12.2 microPlyer microstep interpolation with rising STEP frequency In Figure 12.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 51 13 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 driver. 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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TMC2041 DATASHEET (Rev. 1.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 53 14 Getting Started Please refer to the TMC2041 evaluation board to allow a quick start with the device, and in order to allow interactive tuning of the device setup in your application. Alternatively, all tuning can be done using a TMC5072 evaluation board, as the TMC5072 driver part is fully compatible. Chapter 13 will guide you through the process of correctly setting up all registers. 14.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 54 15 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 55 17 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 56 18.2 DC Characteristics 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 = 24.
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TMC2041 DATASHEET (Rev. 1.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) Digital logic levels Parameter DC-Characteristics Symbol Input voltage low level Input voltage high level Input Schmitt trigger hysteresis VINLO VINHI VINHYST Output voltage low level Output voltage high level Input leakage current Digital pin capacitance VOUTLO VOUTHI IILEAK C www.trinamic.com 58 Conditions Min Typ -0.3 0.7 VVIO Max 0.3 VVIO VVIO+0.3 V V V 0.2 V V µA pF 0.12 VVIO IOUTLO = 2mA IOUTHI = -2mA VVIO-0.2 -10 10 3.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 59 18.3 Thermal Characteristics The following table shall give an idea on the thermal resistance of the QFN-48 package. The thermal resistance for a four layer board will provide a good idea on a typical application. The single layer board example is kind of a worst case condition, as the typical application will require a 4 layer board. Actual thermal characteristics will depend on the PCB layout, PCB type and PCB size.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 60 19 Layout Considerations 19.1 Exposed Die Pad The TMC2041 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. 19.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 61 19.5 Layout Example Schematic 1- Top Layer (assembly side) 2- Inner Layer (GND) 3- Inner Layer (supply VS) 4- Bottom Layer Components Figure 19.1 Layout example www.trinamic.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 62 20 Package Mechanical Data 20.1 Dimensional Drawings Attention: Drawings not to scale. Figure 20.1 Dimensional drawings Parameter [mm] 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 package edge tolerance mold flatness coplanarity lead offset exposed pad offset Ref A A1 A2 A3 b D E e J K L aaa bbb ccc ddd eee Min 0.80 0.00 0.2 5.2 5.2 0.
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 63 21 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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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 64 23 Table of Figures Figure 1.1 Basic application and block diagram .......................................................................................................... 4 Figure 1.2 Energy efficiency with coolStep (example) ............................................................................................... 6 Figure 2.1 TMC2041 pin assignments. ....................................................................................................
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TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 24 Revision History Version Date Author Description BD – Bernhard Dwersteg 0.90 1.00 1.02 2016-NOV-23 2016-NOV-25 2017-MAY-16 BD BD BD First version based on TMC5072 datasheet Complete version Minor corrections Table 24.1 Documentation revisions 25 References [TMC2041-EVAL] TMC2041-EVAL Manual [AN001] Trinamic Application Note 001 - Parameterization of spreadCycle™, www.trinamic.