Datasheet

TMC2160 DATASHEET (Rev. 1.00 / 2018-JUL-30) 3
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Table of Contents
1 PRINCIPLES OF OPERATION ......................... 5
1.1 KEY CONCEPTS ................................................ 6
1.2 CONTROL INTERFACES ..................................... 6
1.3 SOFTWARE ...................................................... 7
1.4 MOVING THE MOTOR ...................................... 8
1.5 AUTOMATIC STANDSTILL POWER DOWN......... 8
1.6 STEALTHCHOP2 & SPREADCYCLE DRIVER ........ 8
1.7 STALLGUARD2 – MECHANICAL LOAD SENSING9
1.8 COOLSTEP – LOAD ADAPTIVE CURRENT
CONTROL ...................................................................... 9
1.9 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9
2 PIN ASSIGNMENTS ......................................... 11
2.1 PACKAGE OUTLINE ........................................ 11
2.2 SIGNAL DESCRIPTIONS ................................. 11
3 SAMPLE CIRCUITS .......................................... 14
3.1 STANDARD APPLICATION CIRCUIT ................ 14
3.2 EXTERNAL GATE VOLTAGE REGULATOR .......... 15
3.3 CHOOSING MOSFETS AND SLOPE ................ 16
3.4 TUNING THE MOSFET BRIDGE ..................... 18
4 SPI INTERFACE ................................................ 21
4.1 SPI DATAGRAM STRUCTURE ......................... 21
4.2 SPI SIGNALS ................................................ 22
4.3 TIMING ......................................................... 23
5 REGISTER MAPPING ....................................... 24
5.1 GENERAL CONFIGURATION REGISTERS .......... 25
5.2 VELOCITY DEPENDENT DRIVER FEATURE
CONTROL REGISTER SET ............................................. 31
5.3 MOTOR DRIVER REGISTERS ........................... 34
6 STEALTHCHOP™ .............................................. 44
6.1 AUTOMATIC TUNING ..................................... 44
6.2 STEALTHCHOP OPTIONS ................................ 47
6.3 STEALTHCHOP CURRENT REGULATOR ............. 47
6.4 VELOCITY BASED SCALING ............................ 49
6.5 COMBINING STEALTHCHOP AND SPREADCYCLE ..
..................................................................... 51
6.6 FLAGS IN STEALTHCHOP ................................ 53
6.7 FREEWHEELING AND PASSIVE BRAKING ........ 53
7 SPREADCYCLE AND CLASSIC CHOPPER ... 55
7.1 SPREADCYCLE CHOPPER ................................ 56
7.2 CLASSIC CONSTANT OFF TIME CHOPPER ....... 59
8 SELECTING SENSE RESISTORS .................... 61
9 VELOCITY BASED MODE CONTROL ............ 63
10 DIAGNOSTICS AND PROTECTION ......... 65
10.1 TEMPERATURE SENSORS ................................ 65
10.2 SHORT PROTECTION ...................................... 65
10.3 OPEN LOAD DIAGNOSTICS ............................ 67
11 STALLGUARD2 LOAD MEASUREMENT ... 68
11.1 TUNING STALLGUARD2 THRESHOLD SGT ..... 69
11.2 STALLGUARD2 UPDATE RATE AND FILTER .... 71
11.3 DETECTING A MOTOR STALL ......................... 71
11.4 HOMING WITH STALLGUARD ......................... 71
11.5 LIMITS OF STALLGUARD2 OPERATION .......... 71
12 COOLSTEP OPERATION ............................. 72
12.1 USER BENEFITS ............................................. 72
12.2 SETTING UP FOR COOLSTEP .......................... 72
12.3 TUNING COOLSTEP ........................................ 74
13 STEP/DIR INTERFACE ................................ 75
13.1 TIMING ......................................................... 75
13.2 CHANGING RESOLUTION ............................... 76
13.3 MICROPLYER AND STAND STILL DETECTION . 77
14 DIAG OUTPUTS ........................................... 78
15 DCSTEP .......................................................... 79
15.1 USER BENEFITS ............................................. 79
15.2 DESIGNING-IN DCSTEP ................................. 79
15.3 STALL DETECTION IN DCSTEP MODE ............ 80
15.4 DCSTEP WITH STEP/DIR INTERFACE ........... 81
16 SINE-WAVE LOOK-UP TABLE................... 84
16.1 USER BENEFITS ............................................. 84
16.2 MICROSTEP TABLE ........................................ 84
17 EMERGENCY STOP ...................................... 85
18 QUICK CONFIGURATION GUIDE ............ 86
19 GETTING STARTED ..................................... 90
19.1 INITIALIZATION EXAMPLES ........................... 90
20 STANDALONE OPERATION ...................... 91
21 EXTERNAL RESET ........................................ 93
22 CLOCK OSCILLATOR AND INPUT ........... 93
22.1 USING THE INTERNAL CLOCK ........................ 93
22.2 USING AN EXTERNAL CLOCK ......................... 93
23 ABSOLUTE MAXIMUM RATINGS ............ 94
24 ELECTRICAL CHARACTERISTICS ............ 94
24.1 OPERATIONAL RANGE ................................... 94
24.2 DC AND TIMING CHARACTERISTICS .............. 95
24.3 THERMAL CHARACTERISTICS.......................... 97
25 LAYOUT CONSIDERATIONS..................... 99
25.1 EXPOSED DIE PAD ........................................ 99
25.2 WIRING GND .............................................. 99
25.3 SUPPLY FILTERING ........................................ 99
25.4 LAYOUT EXAMPLE ....................................... 100
26 PACKAGE MECHANICAL DATA .............. 102