Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 106
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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 .......................................................................................................... 8
FIGURE 1.4 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE) ...................................................................................................... 9
FIGURE 2.1 TMC2160-TA PACKAGE AND PINNING TQFP-EP 48 (7X7MM² BODY, 9X9MM² WITH LEADS) ............................... 11
FIGURE 3.1 STANDARD APPLICATION CIRCUIT ........................................................................................................................... 14
FIGURE 3.2 EXTERNAL GATE VOLTAGE SUPPLY ........................................................................................................................... 15
FIGURE 3.3 MILLER CHARGE DETERMINES SWITCHING SLOPE .................................................................................................... 16
FIGURE 3.4 SLOPES, MILLER PLATEAU AND BLANK TIME ........................................................................................................... 17
FIGURE 3.5 BRIDGE PROTECTION OPTIONS FOR POWER ROUTING INDUCTIVITY ......................................................................... 18
FIGURE 3.6 RINGING OF OUTPUT (BLUE) AND GATE VOLTAGES (YELLOW, CYAN) WITH UNTUNED BRIGE ................................... 19
FIGURE 3.7 SWITCHING EVENT WITH OPTIMIZED COMPONENTS (WITHOUT / AFTER BULK DIODE CONDUCTION) ........................ 19
FIGURE 3.8 EXAMPLE FOR BRIDGE WITH TUNED COMPONENTS (SEE SCOPE SHOTS) ................................................................... 20
FIGURE 4.1 SPI TIMING ............................................................................................................................................................ 23
FIGURE 6.1 MOTOR COIL SINE WAVE CURRENT WITH STEALTHCHOP (MEASURED WITH CURRENT PROBE) .................................. 44
FIGURE 6.2 STEALTHCHOP2 AUTOMATIC TUNING PROCEDURE ................................................................................................... 46
FIGURE 6.3 SCOPE SHOT: GOOD SETTING FOR PWM_REG ....................................................................................................... 48
FIGURE 6.4 SCOPE SHOT: TOO SMALL SETTING FOR PWM_REG DURING AT#2 ....................................................................... 48
FIGURE 6.5 SUCCESSFULLY DETERMINED PWM_GRAD(_AUTO) AND PWM_OFS(_AUTO) ................................................... 48
FIGURE 6.6 VELOCITY BASED PWM SCALING (PWM_AUTOSCALE=0) ......................................................................................... 51
FIGURE 6.7 TPWMTHRS FOR OPTIONAL SWITCHING TO SPREADCYCLE ................................................................................... 52
FIGURE 7.1 CHOPPER PHASES ................................................................................................................................................... 55
FIGURE 7.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE
RESISTOR VOLTAGES A AND B) ......................................................................................................................................... 57
FIGURE 7.3 SPREADCYCLE CHOPPER SCHEME SHOWING COIL CURRENT DURING A CHOPPER CYCLE ............................................ 58
FIGURE 7.4 CLASSIC CONST. OFF TIME CHOPPER WITH OFFSET SHOWING COIL CURRENT .......................................................... 59
FIGURE 7.5 ZERO CROSSING WITH CLASSIC CHOPPER AND CORRECTION USING SINE WAVE OFFSET .......................................... 59
FIGURE 9.1 CHOICE OF VELOCITY DEPENDENT MODES ............................................................................................................... 63
FIGURE 10.1 SHORT DETECTION ................................................................................................................................................ 66
FIGURE 11.1 FUNCTION PRINCIPLE OF STALLGUARD2 .............................................................................................................. 68
FIGURE 11.2 EXAMPLE: OPTIMUM SGT SETTING AND STALLGUARD2 READING WITH AN EXAMPLE MOTOR ............................... 70
FIGURE 12.1 COOLSTEP ADAPTS MOTOR CURRENT TO THE LOAD ............................................................................................... 73
FIGURE 13.1 STEP AND DIR TIMING, INPUT PIN FILTER ......................................................................................................... 75
FIGURE 13.2 MICROPLYER MICROSTEP INTERPOLATION WITH RISING STEP FREQUENCY (EXAMPLE: 16 TO 256) ..................... 77
FIGURE 14.1 DIAG OUTPUTS ................................................................................................................................................... 78
FIGURE 15.1 DCSTEP EXTENDED APPLICATION OPERATION AREA .............................................................................................. 79
FIGURE 15.2 MOTOR MOVING SLOWER THAN STEP INPUT DUE TO LIGHT OVERLOAD. LOSTSTEPS INCREMENTED .................. 82
FIGURE 15.3 FULL SIGNAL INTERCONNECTION FOR DCSTEP ...................................................................................................... 82
FIGURE 15.4 DCO INTERFACE TO MOTION CONTROLLER – STEP GENERATOR STOPS WHEN DCO IS ASSERTED .......................... 83
FIGURE 16.1 LUT PROGRAMMING EXAMPLE .............................................................................................................................. 84
FIGURE 18.1 CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP .................................................................................... 86
FIGURE 18.2 TUNING STEALTHCHOP AND SPREADCYCLE .......................................................................................................... 87
FIGURE 18.3 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE) ................................................................... 88
FIGURE 18.4 SETTING UP DCSTEP (USING TMC4361 AS MOTION CONTROLLER) ...................................................................... 89
FIGURE 20.1 STANDALONE OPERATION WITH TMC2160 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES).................... 91
FIGURE 25.1 LAYOUT EXAMPLE ............................................................................................................................................... 101
FIGURE 26.1 DIMENSIONAL DRAWINGS TQFP48-EP ............................................................................................................. 102