Datasheet

TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 3
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TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 4
1.1 KEY CONCEPTS 4
1.2 CONTROL INTERFACES 4
1.3 MOVING AND CONTROLLING THE MOTOR 5
1.4 STALLGUARD2 – MECHANICAL LOAD SENSING 5
1.5 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL 5
2 PIN ASSIGNMENTS 7
2.1 PACKAGE OUTLINE 7
2.2 SIGNAL DESCRIPTIONS 7
3 SAMPLE CIRCUITS 10
3.1 STANDARD APPLICATION CIRCUIT 10
3.2 5 V ONLY SUPPLY 11
3.3 ONE MOTOR WITH HIGH CURRENT 12
3.4 EXTERNAL 5V POWER SUPPLY 12
3.5 OPTIMIZING ANALOG PRECISION 13
3.6 DRIVER PROTECTION AND EME CIRCUITRY 13
4 SPI INTERFACE 15
4.1 SPI DATAGRAM STRUCTURE 15
4.2 SPI SIGNALS 16
4.3 TIMING 17
5 UART SINGLE WIRE INTERFACE 18
5.1 DATAGRAM STRUCTURE 18
5.2 CRC CALCULATION 20
5.3 UART SIGNALS 20
5.4 ADDRESSING MULTIPLE SLAVES 21
6 REGISTER MAPPING 23
6.1 GENERAL CONFIGURATION REGISTERS 24
6.2 CURRENT SETTING 26
6.3 MOTOR DRIVER REGISTERS 27
7 CURRENT SETTING 32
7.1 SENSE RESISTORS 33
8 SPREADCYCLE AND CLASSIC CHOPPER 34
8.1 SPREADCYCLE CHOPPER 35
8.2 CLASSIC CONSTANT OFF TIME CHOPPER 38
8.3 RANDOM OFF TIME 39
9 DRIVER DIAGNOSTIC FLAGS 40
9.1 TEMPERATURE MEASUREMENT 40
9.2 SHORT TO GND PROTECTION 40
9.3 OPEN LOAD DIAGNOSTICS 40
10 STALLGUARD2 LOAD MEASUREMENT 41
10.1 TUNING STALLGUARD2 THRESHOLD SGT 42
10.2 STALLGUARD2 UPDATE RATE AND FILTER 44
10.3 DETECTING A MOTOR STALL 44
10.4 HOMING WITH STALLGUARD 44
10.5 LIMITS OF STALLGUARD2 OPERATION 44
11 COOLSTEP OPERATION 45
11.1 USER BENEFITS 45
11.2 SETTING UP FOR COOLSTEP 45
11.3 TUNING COOLSTEP 47
12 STEP/DIR INTERFACE 48
12.1 TIMING 48
12.2 CHANGING RESOLUTION 49
12.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION 49
13 QUICK CONFIGURATION GUIDE 51
14 GETTING STARTED 53
14.1 INITIALIZATION EXAMPLES 53
15 EXTERNAL RESET 54
16 CLOCK OSCILLATOR AND CLOCK INPUT 54
16.1 USING THE INTERNAL CLOCK 54
16.2 USING AN EXTERNAL CLOCK 54
16.3 CONSIDERATIONS ON THE FREQUENCY 54
17 ABSOLUTE MAXIMUM RATINGS 55
18 ELECTRICAL CHARACTERISTICS 55
18.1 OPERATIONAL RANGE 55
18.2 DC CHARACTERISTICS AND TIMING
CHARACTERISTICS 56
18.3 THERMAL CHARACTERISTICS 59
19 LAYOUT CONSIDERATIONS 60
19.1 EXPOSED DIE PAD 60
19.2 WIRING GND 60
19.3 SUPPLY FILTERING 60
19.4 SINGLE DRIVER CONNECTION 60
19.5 LAYOUT EXAMPLE 61
20 PACKAGE MECHANICAL DATA 62
20.1 DIMENSIONAL DRAWINGS 62
20.2 PACKAGE CODES 62
21 DISCLAIMER 63
22 ESD SENSITIVE DEVICE 63
23 TABLE OF FIGURES 64
24 REVISION HISTORY 65
25 REFERENCES 65