POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2100-LA DATASHEET Standalone intelligent Step/Direction driver for two-phase bipolar stepper motor. stealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0 A motor current per coil. APPLICATIONS Textile, Sewing Machines Office Automation Consumer, Home CCTV, Security ATM, Cash recycler POS Printers & Scanners DESCRIPTION FEATURES AND BENEFITS 2-phase stepper motors up to 2.0A coil current (2.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 2 APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE The TMC2100 scores with power density, integrated power MOSFETs, smooth and quiet operation, and a congenial simplicity. The TMC2100 covers a wide spectrum of applications from battery systems up to embedded applications with up to 2.0A motor current per coil. TRINAMICs unique chopper modes spreadCycle and stealthChop optimize drive performance.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 3 Table of Contents 1 KEY CONCEPTS ................................................... 4 1.1 1.2 1.3 1.4 2 SOFTWARE ...................................................... 5 STEP/DIR INTERFACE .................................... 5 STANDSTILL CURRENT REDUCTION .................. 5 DIAGNOSTICS AND PROTECTION ..................... 5 PIN ASSIGNMENTS ........................................... 6 2.1 2.2 3 PACKAGE OUTLINE ........................................
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 1 4 Key Concepts The TMC2100 is easy to use. It can be configured by seven hardware pins. CPU interaction is not necessary. The TMC2100 positions the motor based on step and direction signals and the integrated microPlyer automatically smoothens motion. Basic standby current control can be done by the TMC2100. Optional feedback signals allow error detection and synchronization.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 5 1.1 Software Usually, the TMC2100 is configured to a fixed configuration using the related hardware pins. Status bits for error detection can be read out using ERROR and INDEX. The TMC2100 is a stepper motor driver chip that can be driven software based with only little effort. It does not need a master CPU or a motion controller IC, but step and direction signals have to be provided to drive a motor. 1.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 2 6 Pin Assignments TST_MODE GNDP OA1 BRA OA2 VS VSA VCP 36 35 34 33 32 31 30 29 2.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 7 2.2 Signal Descriptions Pin QFN36 TQFP48 Type CLK 1 2 DI CFG3 CFG2 CFG1 CFG0 STEP DIR VCC_IO 2 3 4 5 6 7 8 DI DI DI DI DI DI DNC 9, 17 GNDD N.C.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 3 8 Operation Optional use lower voltage down to 6V 100n 16V VCP 22n 63V CPI CPO AIN_IREF DIR STEP STEP/DIR inputs control the driver. The TMC2100 works in spreadCycle mode or stealthChop mode. It provides microstep interpolation and automatic standstill current reduction. ERROR signals driver error and INDEX signals the microstep table index position (low active open drain outputs). +VM +VM VS VSA 5VOUT 100n 4.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 9 A current control mode can be set with CFG3. In particular, the source for the reference voltage (on chip or external) and the method of current scaling can be chosen. CFG3 SETS MODE OF CURRENT SETTING CFG3 GND VCC_IO open Current Setting Internal reference voltage. Current scale set by external sense resistors, only. Internal sense resistors. Use analog input current on AIN as reference current for internal sense resistor.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 10 CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION) CFG4 GND Hysteresis Setting 5 (recommended most universal choice): low hysteresis with ≈4% of full scale current. 9: medium setting with ≈5% of the full scale current at sense resistor. 13: high setting with ≈6% of full scale current at sense resistor. VCC_IO open CFG5 selects the comparator blank time.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 4 11 Suggestions for Layout The sample circuits show the connection of external components in different operation and supply modes. 4.1 Basic Hints for Power Supply Use low ESR capacitors for filtering the power supply which are capable to cope with the current ripple. The current ripple often depends on the power supply and cable length. The VCC_IO voltage can be supplied from 5VOUT, or from an external source, e.g. a low drop 3.3 V regulator.
5VOUT TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) AIN_IREF RREF DAC Reference IREF OA1 Full Bridge A OA2 S N stepper motor BRA Driver OB1 Full Bridge B OB2 BRB Figure 4.2 RDSon based sensing eliminates high current sense resistors 4.4 External 5V Power Supply When an external 5 V 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 4.4.2 13 Internal Regulator Bridged In case a clean external 5 V supply is available, it can be used for supply of analog and digital part (Figure 4.4). 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 on 5VOUT directly is used as reference for all internal units of the driver, especially for motor current control.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 14 4.6 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 significantly heat up the PCB cooling infrastructure, 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%.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 15 4.7 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 5 16 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 17 during fastest applicable acceleration. Just as in the acceleration phase, during a deceleration phase the voltage PWM amplitude must be adapted in order to keep the motor coil current constant. Figure 5.2 Scope shot: current can follow on acceleration phase Motor current PWM scale Velocity PWM reaches max.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 18 mode rises with the supply voltage. A lower blanking time allows a lower current limit. The run current needs to be kept above the lower limit: In case the PWM scale drops to a too low value, e.g. because AIN pin scaling was too low, the regulator may not be able to recover. The regulator will recover once the motor is in standstill.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 19 Figure 5.4 Current regulation cannot follow during high acceleration phase Hint Operate the motor within your application when exploring stealthChop. Motor performance often is better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations which can occur without load. 5.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 6 20 spreadCycle 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 6.1 the different chopper phases are shown.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 21 6.1 spreadCycle Chopper The patented spreadCycle chopper algorithm is a precise and simple to use chopper mode which automatically determines the optimum length for the fast-decay phase. The spreadCycle will provide superior microstepping quality even with default settings. Several parameters are available to optimize the chopper to the application.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 22 As experiments show, the setting is quite independent of the motor, because higher current motors typically also have a lower coil resistance. Therefore, choosing the low default value for the hysteresis normally fits most applications. I target current + hysteresis start target current target current - hysteresis on sd fd sd t Figure 6.3 spreadCycle chopper scheme showing coil current during a chopper cycle www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 7 23 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] Fitting motor type AIN=2.5V (or open), (examples) 1.00 0.23 0.82 0.27 0.75 0.30 300mA motor 0.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 8 24 Motor Current Control The basic motor current is set by the resistance of the sense resistors. Several possibilities allow scaling down motor current, e.g. to adapt for different motors, or to reduce motor current in standstill or low load situations. Three modes of current setting can be chosen using the CFG3 pin: CFG3: SETS MODE OF CURRENT SETTING CFG3 GND VCC_IO open Current Setting Internal reference voltage.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 25 voltages below about 0.5V to 1V, because analog noise caused by digital circuitry has an increased impact on the chopper precision at low AIN voltages. For best precision, choose the sense resistors in a way that the desired maximum current is reached with AIN in the range 2V to 2.4V. Be sure to optimize the chopper settings for the normal run current of the motor.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 9 26 Internal Sense Resistors The TMC2100 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 4.2). 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 27 In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path (i.e. lowest possible PCB resistance). RDSon based measurement gives best results when combined with stealthChop. When using spreadCycle with RDSon based current measurement, slightly asymmetric current measurement for positive currents (on phase) and negative currents (fast decay phase) may result in chopper noise.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 28 10 Driver Diagnostic and Protection The TMC2100 drivers supply a set of diagnostic and protection capabilities, like short to GND protection and overtemperature detection and protection. 10.1 Temperature Measurement The TMC2100 driver integrates a temperature sensor for protection against excess heat. In case the temperature reaches 150 °C the TMC2100 reacts with automatic switching off.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 29 ERROR Power-on reset Charge pump undervoltage (uv_cp) drv_err Overtemperature (ot) Q S INDEX R Short circuit (s2g) Power stage disable (e.g. pin ENN) Index pulse Figure 10.1 Error and Index output www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 30 11 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. 11.1 Timing Figure 11.2 shows the timing parameters for the STEP and DIR signals, and the table below gives their specifications. Only rising edges are active.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 31 11.2 Changing Resolution The TMC2100 includes an internal microstep table with 1024 sine wave entries to control the motor coil currents. The 1024 entries correspond to one electrical revolution or four fullsteps. The microstep resolution setting determines the step width taken within the table. Depending on the DIR input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the step width.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 32 11.3 microPlyer Step Interpolator and Stand Still Detection For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure 11.2. 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 33 11.4 INDEX Output An active INDEX output signals that the sine curve of motor coil A is at its positive zero transition. This correlates to the zero point of the microstep sequence. Usually, the cosine curve of coil B is at its maximum at the same time. Thus the index signal is active once within each electrical period, and corresponds to a defined position of the motor within a sequence of four fullsteps.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 34 12 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 35 14 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 36 15.2 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) Linear regulator 37 DC-Characteristics VVS = VVSA = 24.0 V Parameter Output voltage Symbol V5VOUT Conditions Min Typ Max Unit I5VOUT = 0 mA 4.80 5.0 5.
TMC2100 DATASHEET (Rev. 1.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 39 15.3 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 40 16 Layout Considerations 16.1 Exposed Die Pad The TMC2100 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. 16.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 41 16.4 Layout Example: TMC2100-BOB The tiny TMC2100-BOB is a breakout board for the TMC2100 integrated standalone stepper driver. It allows access to all configuration hardware pins. Schematic 1 - Top Layer (assembly side) www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 3 - Inner Layer 2 Components Figure 16.1 TMC2100-BOB as layout example www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 17 Package Mechanical Data All length units are given in millimeters. 17.1 Dimensional Drawings QFN36 5x6 Attention: Drawings not to scale. Figure 17.1 Dimensional drawings QFN 5x6 www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 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 0.35 Nom 0.85 0.035 0.65 0.203 0.25 5 6 0.5 3.6 4.1 0.4 44 Max 0.9 0.05 0.3 5.1 6.1 3.7 4.2 0.45 0.1 0.08 0.1 0.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 17.2 Dimensional Drawings TQFP-EP48 Attention: Drawings not to scale. Figure 17.2 Dimensional drawings TQFP-EP48 www.trinamic.
TMC2100 DATASHEET (Rev. 1.07 / 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 46 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 47 18 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.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 48 20 Table of Figures FIGURE 1.1 TMC2100 STANDALONE DRIVER APPLICATION DIAGRAM ......................................................................................... 4 FIGURE 1.2 STANDSTILL CURRENT REDUCTION ............................................................................................................................ 5 FIGURE 2.1 TMC2100-LA PACKAGE AND PINNING QFN-36 (5X6MM²) .....................................................................
