Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2160 DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 20A coil current (external MOSFETs)

Step/Dir Interface with microstep interpolation MicroPlyer™

Voltage Range 8 … 60V DC

SPI Interface

Highest Resolution 256 microsteps per full step

StealthChop2™ for quiet operation and smooth motion

Resonance Dampening for mid-range resonances

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%

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Compact Size 9x9mm

TQFP48 package

APPLICATIONS

Robotics & Industrial Drives

Textile, Sewing Machines

Packing Machines

Factory & Lab Automation

High-speed 3D Printers

Liquid Handling

Medical

Office Automation

CCTV

ATM, Cash Recycler

Pumps and Valves

DESCRIPTION

The TMC2160 is a high-power stepper

motor driver IC with SPI interface. It

features industries’ most advanced

stepper motor driver with simple Step /

Direction interface. Using external

transistors, highly dynamic, high torque

drives can be realized. Based on

TRINAMICs sophisticated SpreadCycle and

StealthChop choppers, the driver ensures

absolutely noiseless operation combined

with maximum efficiency and best motor

torque. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions. The fully

compatible TMC5160 offers an additional

motion controller to make stepper motor

control even easier.

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

movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.

BLOCK DIAGRAM

Diff. Sensing

spreadCycle

stealthChop

MOSFET

Driver

TMC2160

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

SPI

stallGuard2 coolStep dcStep

Power

Supply

Charge

Pump

Enable

Motor

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

Diagnostic

outputs

SPI Interface

CLK

Oscillator / Selector

SENSE

BOOT

1 of 2 full bridges

shown

Standstill current

reduction

Control Register Set

Summary of content (107 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2160 DATASHEET Universal high voltage driver for two-phase bipolar stepper motor. StealthChop™ for quiet movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 2 APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC2160 scores with advanced motor commutation algorithms, combined with powerful external MOSFET driver stages, and high-quality current regulation. It offers a versatility that covers a wide spectrum of applications from battery powered, high efficiency systems up to embedded applications with 20A motor current per coil.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 3 Table of Contents 1 PRINCIPLES OF OPERATION ......................... 5 1.1 1.2 1.3 1.4 1.5 1.6 1.7 KEY CONCEPTS ................................................ 6 CONTROL INTERFACES ..................................... 6 SOFTWARE ...................................................... 7 MOVING THE MOTOR ...................................... 8 AUTOMATIC STANDSTILL POWER DOWN......... 8 STEALTHCHOP2 & SPREADCYCLE DRIVER .......
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 26 26.1 26.2 27 4 PACKAGE MECHANICAL DATA ............. 102 28 ESD SENSITIVE DEVICE.......................... 105 DIMENSIONAL DRAWINGS TQFP48-EP..... 102 PACKAGE CODES ........................................ 104 29 TABLE OF FIGURES .................................. 106 30 REVISION HISTORY ................................. 107 31 REFERENCES ............................................... 107 DISCLAIMER ..............................................
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 1 5 Principles of Operation The TMC2160 driver chip is an intelligent power component interfacing between a motion controller and a high-power stepper motor. It uses StealthChop, DcStep, CoolStep, and StallGuard2 automatically to optimize every motor movement. The TMC2160 ideally extends the TMC2100 and TMC2130 family to higher voltages and higher motor currents.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 6 100n VSA 100n 2.2µ 2.2µ CB2 12VOUT 11.5V Voltage regulator 5VOUT 5V Voltage regulator TMC2160 charge pump HS step multiplier microPlyer HS Standstill current reduction 2R2 VCC HB2 CB CB1 CB CFG1 CFG4 spreadCycle (GND) / stealthChop (VCC_IO) Current Reduction Enable (VCC_IO) CFG5 pd Configuration interface (GND or VCC_IO level) pd B.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 1.2.1 7 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. Communication between an SPI master and the TMC2160 slave always consists of sending one 40-bit command word and receiving one 40-bit status word. The SPI command rate typically is a few commands per complete motor motion. 1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 8 1.4 Moving the Motor 1.4.1 STEP/DIR Interface The motor is controlled by a step and direction input. Active edges on the STEP input can be rising edges or both rising and falling edges as controlled by another mode bit (dedge). Using both edges cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as optically isolated interfaces.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 9 SpreadCycle is an advanced cycle-by-cycle chopper mode. It offers smooth operation and good resonance dampening over a wide range of speed and load. The SpreadCycle chopper scheme automatically integrates and tunes fast decay cycles to guarantee smooth zero crossing performance.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 10 step loss. By optimizing the motion velocity in high load situations, this feature further enhances overall system efficiency. Benefits are: - Motor does not loose steps in overload conditions - Application works as fast as possible - Highest possible acceleration automatically - Highest energy efficiency at speed limit - Highest possible motor torque using fullstep drive - Cheaper motor does the job www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 2 11 Pin Assignments CA1 HA1 BMA1 42 41 40 BMA2 CB2 43 37 HB2 44 LA1 BMB2 45 LA2 LB2 46 38 LB1 47 39 BMB1 48 2.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) Pin TQFP Type SRAH 8 AI SRBH 9 AI SRBL 10 AI TST_MODE 11 DI CLK 12 DI CSN_CFG3 13 DI SCK_CFG2 14 DI SDI_CFG1 15 DI SDO_CFG0 16 DIO STEP DIR GNDD VCC_IO 17 18 19, 30 20, 21 DI DI SPI_MODE 22 DI (pd) DCEN_ CFG4 23 DI (pd) 24 DI (pd) 25 DIO DIAG0 26 DO (pu+ pd) DIAG1 27 DO (pd) DRV_ENN 28 DI DCIN_ CFG5 DCO_ CFG6 www.trinamic.com Function Sense resistor for phase A. Connect to the upper side of the sense resistor.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) Pin TQFP VCC 29 CPO 31 CPI 32 VS 33 VCP CA2 HA2 BMA2 LA2 LA1 BMA1 HA1 CA1 CB2 HB2 BMB2 LB2 LB1 BMB1 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 Exposed die pad - Type 13 Function 5V supply input for digital circuitry within chip. Provide 100nF or bigger capacitor to GND (GND plane) near pin. Shall be supplied by 5VOUT. A 2.2 or 3.3 Ohm resistor is recommended for decoupling noise from 5VOUT.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 3 14 Sample Circuits The following sample circuits show the required external components in different operation and supply modes. The connection of the bus interface and further digital signals are left out for clarity. 3.1 Standard Application Circuit +VM 100n VSA 12VOUT 100n 2.2µ 2.2µ 5VOUT CE VS 100n 16V VCP CPI 22n 100V CPO +VM DIR STEP Optional use lower voltage down to 12V CB2 11.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 15 Attention In case VSA is supplied by a different voltage source, make sure that VSA does not drop out during motor operation. Stop and disable the motor before VSA power down. This is not necessary, when VSA voltage is derived from VS supply, as both supplies go down in parallel in this case. 3.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 16 3.3 Choosing MOSFETs and Slope The selection of power MOSFETs depends on a number of factors, like package size, on-resistance, voltage rating and supplier. It is not true, that larger, lower RDSon MOSFETs will always be better, as a larger device also has higher capacitances and may add more ringing in trace inductance and power dissipation in the gate drive circuitry.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 17 V12VOUT Miller plateau Lx MOSFET drivers 0V VVM Output slope BMx 0V Output slope -1.2V VVM+V12VOUT VVM Hx 0V VCX-VBMx HxBMx Miller plateau 0V tBBM tBBM tBBM Effective break-before-make time Load pulling BMx down Load pulling BMx up Figure 3.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 18 3.4 Tuning the MOSFET Bridge A clean switching event is favorable to ensure low power dissipation and good EMC behavior. Unsuitable layout or components endanger stable operation of the circuit. Therefore, it is important to understand the effect of parasitic trace inductivity and MOSFET reverse recovery.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 19 ENSURE RELIABLE OPERATION - Use SMD MOSFETs and short interconnections Provide sufficient power filtering capacity close to the bridge and close to VS pin Tune MOSFET switching slopes (measure switch-on event at MOSFET gate) to be slower than the MOSFET bulk diode reverse recovery time. This will reduce cross conduction.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 20 BRIDGE OPTIMIZATION EXAMPLE A stepper driver for 6A of motor current has been designed using the MOSFET AOD4126 in the standard schematic. The MOSFETs have a low gate capacitance and offer roughly 50ns slope time at the lowest driver strength setting. At lowest driver strength setting, switching quality is best (Figure 3.6), but still shows a lot of ringing.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 4 21 SPI Interface 4.1 SPI Datagram Structure The TMC2160 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 22 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 (IHOLD_IRUN), the address byte has to be set to 0x80 + 0x10 = 0x90. For read access, the data bit might have any value (-). So, one can set them to 0.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 25 5.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 17 www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 26 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+ WC 0x01 3 GSTAT R 0x04 8 + 8 IOIN W 0x06 www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 27 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr R 0x07 RW 0x08 n Register OTP_READ 5 FACTORY_ CONF Description / bit names Write access programs OTP memory (one bit at a time), Read access refreshes read data from OTP after a write 2..0 OTPBIT Selection of OTP bit to be programmed to the selected byte location (n=0..7: programs bit n to a logic 1) 5..4 OTPBYTE Set to 00 15..8 OTPMAGIC Set to 0xbd to enable programming.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 28 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names 4..0 BBMTIME: Break-Before make delay 0=shortest (100ns) … 16 (200ns) … 24=longest (375ns) >24 not recommended, use BBMCLKS instead 11..8 17..16 19..18 21..20 Hint: Choose the lowest setting safely covering the switching event in order to avoid bridge crossconduction. Add roughly 30% of reserve. (Reset Default = 0) BBMCLKS: 0..
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 29 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register W 0x0B 8 GLOBAL SCALER R 0x0C 16 www.trinamic.com OFFSET_ READ Description / bit names 7..0 Global scaling of Motor current. This value is multiplied to the current scaling in order to adapt a drive to a certain motor type. This value should be chosen before tuning other settings, because it also influences chopper hysteresis. 0: 1 … 31: 32 … 255: 15..8 7..
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.1.1 30 OTP_READ – OTP configuration memory The OTP memory holds power up defaults for certain registers. All OTP memory bits are cleared to 0 by default. Programming only can set bits, clearing bits is not possible. Factory tuning of the clock frequency affects otp0.0 to otp0.4. The state of these bits therefore may differ between individual ICs. 0X07: OTP_READ – OTP MEMORY MAP Bit 7 Name otp0.7 Function otp_TBL 6 otp0.6 otp_BBM 5 otp0.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 31 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 32 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.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.2.1 33 DcStep Miniumum Velocity Register DCSTEP MINIMUM VELOCITY REGISTER (0X33) R/W Addr n Register W 0x33 23 VDCMIN Description / bit names Automatic commutation DcStep minimum velocity. Enable DcStep by DCEN pin. In this mode, the actual position is determined by the sensorless motor commutation and becomes fed back to the external motion controller. In case the motor becomes heavily loaded, VDCMIN is used as the minimum step velocity.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 34 5.3 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 35 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 R 0x71 0x72 9+8 8+8 www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 36 DRIVER REGISTER SET (0X6C…0X7F) R/W R Addr 0x73 n 20 Register LOST_STEPS Description / bit names bit 23… 16 PWM_GRAD_AUTO: Automatically gradient value Range [Unit] 0…255 determined Number of input steps skipped due to higher load in DcStep operation, if step input does not stop when DC_OUT is low. This counter wraps around after 2^20 steps. Counts up or down depending on direction. Only with SDMODE=1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.3.1 37 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.3.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 39 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit 10 9 8 7 Name hend3 hend2 hend1 hend0 Function 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.
PAGE 40
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.3.3 40 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.
PAGE 41
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.3.4 41 PWMCONF – Voltage PWM Mode StealthChop 0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit 31 30 29 28 Name PWM_LIM Function PWM automatic scale amplitude limit when switching on 27 26 25 24 PWM_REG Regulation loop gradient 23 22 21 20 freewheel1 freewheel0 reserved reserved Allows different standstill modes 19 pwm_ autograd PWM automatic gradient adaptation 18 pwm_ autoscale PWM automatic amplitude scaling www.trinamic.
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TMC2160 DATASHEET (Rev. 1.
PAGE 43
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5.3.
PAGE 44
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 6 44 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 45
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 45 AUTOMATIC TUNING TIMING AND BORDER CONDITIONS Step AT#1 Parameter PWM_ OFS_AUTO AT#2 PWM_ GRAD_AUTO Conditions - Motor in standstill and actual current scale (CS) is identical to run current (IRUN). - If standstill reduction is enabled, an initial step pulse switches the drive back to run current, or set IHOLD to IRUN. - Pin VS at operating level. Attention: Driver may reduce chopper frequency during AT#1.
PAGE 46
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 46 Power Up PWM_GRAD_AUTO becomes initialized upon power up Driver Enabled? N Y Stand still N Y N AT#1 Driver Enabled? Standstill reduction enabled? Y Issue (at least) a single step pulse and stop again, to power motor to run current stealthChop2 regulates to nominal current and stores result to PWM_OFS_AUTO (Requires stand still for >130ms) PWM_ GRAD_AUTO initialized from CPU? Y N AT#2 Homing Move the motor, e.g. for homing.
PAGE 47
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 47 6.2 StealthChop Options In order to match the motor current to a certain level, the effective PWM voltage becomes scaled depending on the actual motor velocity. Several additional factors influence the required voltage level to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional to its velocity) as well as the actual level of the supply voltage.
PAGE 48
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 48 Figure 6.3 Scope shot: good setting for PWM_REG Figure 6.4 Scope shot: too small setting for PWM_REG during AT#2 Motor Current PWM scale Motor Velocity PWM reaches max. amplitude RMS current constant (IRUN) PW M_ Nominal Current (sine wave RMS) Stand still PWM scale PWM_OFS_(AUTO) ok ok O) UT (_A AD GR M_ PW GR (P AD W M_ (_A RE UT G O) du ok rin g AT #2 ok ) 255 Current may drop due to high velocity IHOLD PWM_OFS_(AUTO) ok 0 0 Figure 6.
PAGE 49
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 49 Quick Start For a quick start, see the Quick Configuration Guide in chapter 18. 6.3.1 Lower Current Limit The StealthChop current regulator imposes a lower limit for motor current regulation. As the coil current can be measured in the shunt resistor during chopper on phase only, a minimum chopper duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the chopper frequency setting.
PAGE 50
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 50 programming, only, when setting pwm_autoscale = 0. The basic idea is to have a linear approximation of the voltage required to drive the target current into the motor. The stepper motor has a certain coil resistance and thus needs a certain voltage amplitude to yield a target current based on the basic formula I=U/R. With R being the coil resistance, U the supply voltage scaled by the PWM value, the current I results.
PAGE 51
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 51 Motor current PWM scaling (PWM_SCALE_SUM) 255 PWM reaches max. amplitude Constant motor RMS current Nominal current (e.g. sine wave RMS) AD GR _ M PW Cur r (de ent dr p en ops mo d tor s on loa d) PWM_OFS 0 0 VPWMMAX Velocity Figure 6.6 Velocity based PWM scaling (pwm_autoscale=0) Hint The values for PWM_OFS and PWM_GRAD can easily be optimized by tracing the motor current with a current probe on the oscilloscope.
PAGE 52
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 52 Chopper mode stealthChop spreadCycle option option motor going to standby motor in standby motor stand still Running low speed Running high speed Running low speed TSTEP < TPWMTHRS*16/16 TSTEP > TPWMTHRS motor in standby v 0 t RMS current TRINAMIC, B. Dwersteg, 14.3.14 dI * IHOLDDELAY VACTUAL ~1/TSTEP TPOWERDOWN current I_RUN I_HOLD Figure 6.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 53 6.6 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. Attention A motor stall, or abrupt stop of the motion during operation in StealthChop can lead to a overcurrent condition.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 54 PARAMETERS RELATED TO STEALTHCHOP Parameter en_spread_ cycle TPWMTHRS PWM_LIM pwm_ autoscale pwm_ autograd Description General disable for use of StealthChop (register GCONF). The input SPREAD is XORed to this flag. Specifies the upper velocity for operation in StealthChop. Entry the TSTEP reading (time between two microsteps) when operating at the desired threshold velocity.
PAGE 55
TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 7 55 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 56 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 57 ability of the chopper to follow a changing motor current. Further the duration of the on phase and the fast decay must be longer than the blanking time, because the current comparator is disabled during blanking. 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.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 58 the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the frequency gets too low. This avoids the frequency reaching the audible range. I target current + hysteresis start HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 7.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 59 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. 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 60 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 8 61 Selecting Sense Resistors The TMC2160 provides several means to set the motor current: Sense resistors, GLOBALSCALER and currentscale CS. To adapt a drive to the motor, choose a sense-resistor value fitting or slightly exceeding the maximum desired current at 100% settings of the scalers. Fine-tune the current to the specific motor via the 8 bit GLOBALSCALER.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 62 less than the coil RMS current, because no current flows through the sense resistor during the slow decay phases. CALCULATION OF PEAK SENSE RESISTOR POWER DISSIPATION 𝑃𝑅𝑆𝑀𝐴𝑋 = 𝐼𝐶𝑂𝐼𝐿 2 ∗ 𝑅𝑆𝐸𝑁𝑆𝐸 Hint For best precision of current setting, it is advised to measure and fine tune the current in the application. Choose the sense resistors to the next value covering the desired motor current.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 9 63 Velocity Based Mode Control The TMC2160 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) Parameter stst 64 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 65 10 Diagnostics and Protection The TMC2160 supplies a complete set of diagnostic and protection capabilities, like short circuit protection and undervoltage detection. Open load detection allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details. 10.
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TMC2160 DATASHEET (Rev. 1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 67 10.3 Open Load Diagnostics Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly plugged. The TMC2160 detects open load conditions by checking, if it can reach the desired motor coil current. This way, also undervoltage conditions, high motor velocity settings or short and overtemperature conditions may cause triggering of the open load flag, and inform the user, that motor torque may suffer.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 68 11 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 11.1. At maximum motor load, the value goes to zero or near to zero.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 69 11.1 Tuning StallGuard2 Threshold SGT The StallGuard2 value SG_RESULT 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 70 11.1.1 Variable Velocity Limits TCOOLTHRS and THIGH 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 71 11.2 StallGuard2 Update Rate and Filter The StallGuard2 measurement value SG_RESULT 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 72 12 CoolStep Operation CoolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 12.
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stallGuard2 reading mechanical load 73 motor current TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 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 12.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 74 12.3 Tuning CoolStep Before tuning CoolStep, first tune the StallGuard2 threshold level SGT, which affects the range of the load measurement value SG_RESULT. CoolStep uses SG_RESULT 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 75 13 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. In case an external step source is used, the complete integrated motion controller can be switched off. 13.1 Timing Figure 13.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 76 13.2 Changing Resolution The TMC2160 includes an internal microstep table with 1024 sine wave entries to generate 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. Depending on the DIR input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the step width.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 77 13.3 MicroPlyer and Stand Still Detection For each active edge on STEP, MicroPlyer produces microsteps at 256x resolution, as shown in Figure 13.2. 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 78 14 DIAG Outputs Operation with an external 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 79 15 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 signal, 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 80 15.3 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. A StallGuard2 load value also is available during DcStep operation.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 81 15.4 DcStep with STEP/DIR Interface The TMC2160 provides two ways to use DcStep when interfaced to an external motion controller. The first way gives direct control of the DcStep step execution to the external motion controller, which must react to motor overload and is allowed to override a blocked motor situation. The second way assumes that the external motion controller cannot directly react to DcStep signals.
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TMC2160 DATASHEET (Rev. 1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 83 Increasing mechanical load forces slower motion Theoretical sine wave corresponding to fullstep pattern +IMAX Phase Current (one phase shown) 0 -IMAX Long pulse = override motor block situation STEP STEP_FILT_INTERN ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 DCEN INTCOM DCO DC_OUT TIMEOUT (in controller) TIMOUT counter in controller ∆2 = MRES (number of microsteps per fullstep) Figure 15.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 84 16 Sine-Wave Look-up Table The TMC2160 driver 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. 16.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 85 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 86 18 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 87 TUNING STEALTHCHOP AND SPREADCYCLE SC2 spreadCycle Configuration Try motion above TPWMTRHRS, if used GCONF en_pwm_mode=0 Coil current overshoot upon deceleration? Y PWMCONF decrease PWM_LIM (do not go below about 5) N Move the motor by slowly accelerating from 0 to VMAX operation velocity Go to motor stand still and check motor current at IHOLD=IRUN Stand still current too high? CHOPCONF Enable chopper using basic config.
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TMC2160 DATASHEET (Rev. 1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 89 SETTING UP DCSTEP Enable dcStep Configure dcStep Stall Detection CHOPCONF Make sure, that TOFF is not less than 3. Use lowest good TBL.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 90 19 Getting Started Please refer to the TMC2160 evaluation board to allow a quick start with the device, and in order to allow interactive tuning of the device setup in your application. Chapter 18 will guide you through the process of correctly setting up all registers. 19.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 91 20 Standalone Operation For standalone operation, no SPI interface is required to configure the TMC2160. All pins with suffix CFG0 to CFG6 have a special meaning in this mode and can bei tied either to VCC_IO or to GND. +VM 100n VSA 100n 2.2µ 2.2µ CE VS 100n 16V VCP CPI 22n 100V CPO +VM DIR STEP Optional use lower voltage down to 12V CB2 12VOUT 11.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 92 CFG4/CFG3/CFG2: CONFIGURATION OF RUN CURRENT CFG4 GND GND GND GND VCC_IO VCC_IO VCC_IO VCC_IO CFG3 GND GND VCC_IO VCC_IO GND GND VCC_IO VCC_IO CFG2 GND VCC_IO GND VCC_IO GND VCC_IO GND VCC_IO IRUN Setting IRUN=16 IRUN=18 IRUN=20 IRUN=22 IRUN=24 IRUN=26 IRUN=28 IRUN=31 CFG5: SELECTION OF CHOPPER MODE CFG5 GND VCC_IO Chopper Setting SpreadCycle operation. (TOFF=3) StealthChop operation. (GCONF.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 93 21 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 94 23 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.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 95 24.2 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) Linear regulator 96 DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit 4.80 5.0 5.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 97 Detector levels DC-Characteristics Parameter VVSA undervoltage threshold for RESET V5VOUT undervoltage threshold for RESET VVCC_IO undervoltage threshold for RESET VVCC_IO undervoltage detector hysteresis Overtemperature prewarning 120°C Overtemperature shutdown 136 °C Overtemperature shutdown 143 °C Overtemperature shutdown 150 °C Symbol VUV_VSA Conditions VVSA rising VUV_5VOUT V5VOUT rising VUV_VIO VVCC_IO rising (delay typ.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) Parameter Symbol 98 Conditions Typ Unit Typical power dissipation PD StealthChop or SpreadCycle, 40 or 20kHz chopper, 24V, internal supply regulators 0.6 W Thermal resistance junction to ambient on a multilayer board RTMJA Dual signal and two internal power plane board (2s2p) as defined in JEDEC EIA JESD51-5 and JESD51-7 (FR4, 35µm CU, 70mm x 133mm, d=1.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 99 25 Layout Considerations 25.1 Exposed Die Pad The TMC2160 uses its die attach pad to dissipate heat from the gate 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. 25.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 100 25.5 Layout Example Schematic (TMC2160+MOSFETs shown) 1- Top Layer (assembly side) www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 3- Inner Layer (supply VS) Components Figure 25.1 Layout example www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 26 Package Mechanical Data 26.1 Dimensional Drawings TQFP48-EP Drawings not to scale. Figure 26.1 Dimensional drawings TQFP48-EP www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 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 www.trinamic.com 103 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.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 104 26.2 Package Codes Type Package Temperature range Code & marking TMC2160-TA TQFP-EP48 (RoHS) -40°C ... +125°C TMC2160-TA www.trinamic.
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 105 27 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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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 106 29 Table of Figures FIGURE 1.1 TMC2160 STEP/DIR APPLICATION DIAGRAM......................................................................................................... 5 FIGURE 1.2 TMC2160 STANDALONE DRIVER APPLICATION DIAGRAM ......................................................................................... 6 FIGURE 1.3 AUTOMATIC MOTOR CURRENT POWER DOWN ............................................................................................
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TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 107 30 Revision History Version Date Author Description BD= Bernhard Dwersteg V0.91 V1.00 2018-MAY-25 2018-JUN-06 BD BD V1.01 V1.02 V1.03 2018-OKT-29 2018-NOV-19 2018-FEB-05 BD BD BD First version of datasheet based on datasheet TMC5160 V1.