Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2208/2 & TMC2224/0/5 family Datasheet

FEATURES AND BENEFITS

2-phase stepper motors up to 2A coil current (peak)

STEP/DIR Interface with 2, 4, 8, 16 or 32 microstep pin

setting

Smooth Running 256 microsteps by microPlyer™ interpolation

stealthChop2™ silent motor operation

spreadCycle™ highly dynamic motor control chopper

Low RDSon LS 280mΩ & HS 290mΩ (typ. at 25°C)

Voltage Range 4.75… 36V DC

Automatic Standby current reduction (option)

Internal Sense Resistor option (no sense resistors required)

Passive Braking and Freewheeling

Single Wire UART & OTP for advanced configuration options

Integrated Pulse Generator for standalone motion

Full Protection & Diagnostics

Choice of QFN, TQFP and HTSSOP packages for best fit

APPLICATIONS

Compatible Design Upgrade

3D Printers

Printers, POS

Office and home automation

Textile, Sewing Machines

CCTV, Security

ATM, Cash recycler

HVAC

DESCRIPTION

The TMC2202, TMC2208, TMC2220, TMC2224

and TMC2225 are ultra-silent motor driver

ICs for two phase stepper motors. Their

pinning is compatible to a number of

legacy drivers. TRINAMICs sophisticated

stealthChop2 chopper ensures noiseless

operation, maximum efficiency and best

motor torque. Its fast current regulation

and optional combination with spreadCycle

allow for highly dynamic motion.

Integrated power-MOSFETs handle motor

current up to 1.4A RMS. Protection and

diagnostic features support robust and

reliable operation. A simple to use UART

interface opens up more tuning and

control options. Application specific tuning

can be stored to OTP memory. Industries’

most advanced STEP/DIR stepper motor

driver family upgrades designs to noiseless

and most precise operation for cost-

effective and highly competitive solutions.

TMC2202, TMC2208, TMC2220, TMC2224, TMC2225 Step/Dir Drivers for Two-Phase Bipolar Stepper Motors

up to 2A peak - stealthChop™ for Quiet Movement - UART Interface Option.

BLOCK DIAGRAM

spreadCycle

stealthChop2

DRIVER

TMC220X

TMC222X

256 µStep

Sequencer

Pulse Generator

UART

optional control

Power

Supply

Motor

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

DAC Reference

IREF optional current scaling

UART Control

CLK

Control

Set

Standstill Current

Reduction

CLK Oscillator /

Selector

Charge Pump

+5V Regulator

Mode

Selection

Configuration

Pins

OTP

memory

Protection

& Diagnostics

Diag Out /

Index

Summary of content (81 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2208/2 & TMC2224/0/5 family Datasheet TMC2202, TMC2208, TMC2220, TMC2224, TMC2225 Step/Dir Drivers for Two-Phase Bipolar Stepper Motors up to 2A peak - stealthChop™ for Quiet Movement - UART Interface Option.
PAGE 2
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 2 APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE The TMC22xx family scores with power density, integrated power MOSFETs, smooth and quiet operation, and a congenial simplicity. The TMC22xx covers a wide spectrum of applications from battery systems to embedded applications with up to 2A motor current per coil. TRINAMICs unique chopper modes spreadCycle and stealthChop2 optimize drive performance.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 3 Table of Contents 1 PRINCIPLES OF OPERATION ......................... 4 1.1 1.2 1.3 1.4 1.5 1.6 1.7 2 PIN ASSIGNMENTS ........................................... 8 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 3 DATAGRAM STRUCTURE .................................19 CRC CALCULATION .......................................21 UART SIGNALS ............................................21 ADDRESSING MULTIPLE SLAVES ....................22 REGISTER MAP ......
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 1 4 Principles of Operation The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low cost stepper driver applications. Its silent drive technology stealthChop enables non-bugging motion control for home and office applications. A highly efficient power stage enables high current from a tiny package. The TMC22xx requires just a few control pins on its tiny package.
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TMC220X, TMC222X DATASHEET (Rev. 1.
PAGE 6
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 6 1.2 Control Interfaces The TMC22xx supports both, discrete control lines for basic mode selection and a UART based single wire interface with CRC checking. The UART interface automatically becomes enabled when correct UART data is sent. When using UART, the pin selection may be disabled by control bits. 1.2.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 7 For highest velocity applications, spreadCycle is an option to stealthChop2. It can be enabled via input pin (TMC222x) or via UART and OTP. stealthChop2 and spreadCycle may even be used in a combined configuration for the best of both worlds: stealthChop2 for no-noise stand still, silent and smooth performance, spreadCycle at higher velocity for high dynamics and highest peak velocity at low vibration.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 2 8 Pin Assignments The TMC22xx family comes in a number of package variants in order to fit different footprints. Please check for availability. VS BRB OB1 OA1 BRA VS 2.1 Package Outline TMC2208 26 25 24 23 22 3 19 2 20 1 6 © B. Dwersteg, TRINAMIC 7 Pad=GND 9 10 11 12 13 OA2 DIR GND VREF STEP VCC_IO 14 5VOUT MS1 MS2 DIAG INDEX CLK PDN_UART 8 15 16 5 17 18 TMC2208 QFN28 4 OB2 ENN GND CPO CPI VCP - 27 21 28 Figure 2.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin STEP Number 16 Type DI VREF 17 AI DIR 19 DI (pd) VS 22, 28 OA2 21 BRA 23 OA1 OB1 24 26 BRB 27 Exposed die pad - 9 Function STEP input Analog reference voltage for current scaling or reference current for use of internal sense resistors (optional mode) DIR input (internal pull down resistor) Motor supply voltage. Provide filtering capacity near pin with shortest possible loop to GND pad.
PAGE 10
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin GND CPO CPI VCP Number 6, 19 7 8 9 Type 5VOUT 10 MS1 MS2 DIAG 11 12 13 DI (pd) DI (pd) DO CLK 14 DI PDN_UART 15 DIO VCC_IO STEP 16 17 DI VREF 18 AI DIR OA2 20 24 DI (pd) BRA 25 OA1 OB1 27 30 BRB 32 Exposed die pad - Function GND. Connect to GND plane near pin. Charge pump capacitor output. Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor. Charge pump voltage. Tie to VS using 100nF capacitor.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 11 2.6 Signal Descriptions TMC2224 Pin MS1 MS2 INDEX GND CPO CPI VCP Number 28 1 2 3, 17 4 5 6 VS 7, 14 OA2 8 BRA 9 OA1 OB1 10 11 BRB 12 OB2 13 VREF 15 TEST 16 5VOUT 18 VCC_IO 19 PDN_UART 20 DIO (pd) DIAG SPREAD DIR 21 22 23 DO DI (pd) DI (pd) ENN 24 DI STEP 25 DI (pd) N.C. 26 CLK 27 Exposed die pad - www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 12 6 23 5 24 4 25 3 26 2 27 1 20 9 © B. Dwersteg, TRINAMIC Pad=GND 10 11 18 19 8 21 22 TMC2225 HTSSOP28 7 17 12 16 13 15 14 CPO CPI VCP VS OA2 BRA OA1 OB1 BRB OB2 VS VREF TEST GND 28 2.7 Package Outline TMC2225 GND INDEX MS2 MS1 CLK STEP ENN DIR SPREAD DIAG PDN_UART VCC_IO 5VOUT Figure 2.4 TMC2225 Pinning Top View – type: HTSSOP28, 9.7x6.4mm² over pins, 0.65mm pitch 2.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin STEP Number 22 Type DI (pd) N.C. 23 CLK 24 DI MS1 MS2 INDEX 25 26 27 DI (pd) DI (pd) DO Exposed die pad - 13 Function STEP input (internal pull down resistor) Unused pin, leave open or connect to GND for compatibility to future versions. CLK input. Tie to GND using short wire for internal clock or supply external clock.
PAGE 14
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Pin Number Type PDN_UART 11 DIO (pd) 5VOUT 15 5VIN DIAG SPREAD DIR 16 12 17 18 DO DI (pd) DI (pd) ENN 19 DI STEP INDEX 20 21 DI (pd) DO CLK 22 DI MS1 MS2 23 25 DI (pd) DI (pd) VREF 26 AI CPO CPI VCP OA1 28 30 31 35, 36 BRA 37, 38 OA2 OB2 40, 41 44, 45 BRB 47, 48 N.C. Exposed die pad - www.trinamic.com 14 Function Power down not control input (low = automatic standstill current reduction).
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 3 15 Sample Circuits The sample circuits show the connection of external components in different operation and supply modes. The connection of the bus interface and further digital signals is left out for clarity. STEP DIR 5V Voltage regulator Step&Dir input Analog Scaling (only TMC222x) PDN/UART B. Dwersteg, © TRINAMIC 2016 UART interface + Register Block Driver error Index pulse DIAG INDEX (not with TMC2202) opt. ext.
PAGE 16
STEP Step and Direction motion control DIR RREF 5V Voltage regulator Step&Dir input Configuration Interface (only TMC222x) PDN/UART B. Dwersteg, © TRINAMIC 2016 UART interface + Register Block DIAG INDEX (not with TMC2202) opt. ext. clock 10-16MHz CLK_IN 3.
PAGE 17
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 17 minimized. Therefore, the internal 5V regulator is filtered with a higher capacitance. An optional resistor bridges the internal 5V regulator by connecting 5VOUT to the external power supply. This RC filter keeps chopper ripple away from 5VOUT. With this resistor, the external supply is the reference for the absolute motor current and must not exceed 5.5V. 3.
PAGE 18
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 18 critical for the tiny QFN 5mm x 5mm package at or above 1A RMS motor current for increased periods of time. Keep in mind that resistive power dissipation raises with the square of the motor current. On the other hand, this means that a small reduction of motor current significantly saves heat dissipation and energy. Pay special attention to good thermal properties of your PCB layout, when going for 1A RMS current or more.
PAGE 19
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 4 19 UART Single Wire Interface UART The UART single wire interface allows control of the TMC22xx with any microcontroller UART. It shares transmit and receive line like an RS485 based interface. Data transmission is secured using a cyclic redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can be bridged without danger of wrong or missed commands even in the event of electro-magnetic disturbance.
PAGE 20
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 20 The UART line must be logic high during idle state. Therefore, the power down function cannot be assigned by the pin PDN_UART in between of transmissions. In an application using the UART interface, set the desired power down function by register access and set pdn_disable in GCONF to disable the pin function. 4.1.
PAGE 21
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 21 4.2 CRC Calculation An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB, including the sync- and addressing byte. The sync nibble is assumed to always be correct. The TMC22xx responds only to correctly transmitted datagrams containing its own slave address.
PAGE 22
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 22 4.4 Addressing Multiple Slaves WRITE ONLY ACCESS If read access is not used, and all slaves are to be programmed with the same initialization values, no addressing is required. All slaves can be programmed in parallel like a single device (Figure 4.1.). ADDRESSING MULTIPLE SLAVES As the TMC22xx uses a fixed UART address, in principle only one IC can be accessed per UART interface channel.
PAGE 23
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5 Register Map 23 UART 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 - Reset default: All registers become reset to 0 upon power up, unless otherwise noted.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 24 5.1 General Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 10 www.trinamic.com Register GCONF Description / bit names Bit GCONF – Global configuration flags 0 I_scale_analog (Reset default=1) 0: Use internal reference derived from 5VOUT 1: Use voltage supplied to VREF as current reference 1 internal_Rsense (Reset default: OTP) 0: Operation with external sense resistors 1: Internal sense resistors.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 25 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+ WC 0x01 3 GSTAT R 0x02 8 IFCNT W 0x03 4 SLAVECONF W 0x04 16 OTP_PROG R 0x05 24 OTP_READ R 0x06 10 + 8 IOIN www.trinamic.com Description / bit names Bit GSTAT – Global status flags (Re-Write with ‘1’ bit to clear respective flags) 0 reset 1: Indicates that the IC has been reset since the last read access to GSTAT.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 26 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W RW Addr 0x07 n Register 5+2 FACTORY_ CONF www.trinamic.com Description / bit names 4 DIAG (TMC220x), ENN (TMC222x) 5 STEP (TMC222x) 6 PDN_UART (TMC220x), MS1 (TMC222x) 7 STEP (TMC220x), MS2 (TMC222x) 8 SEL_A: Driver type 1: TMC220x 0: TMC222x 9 DIR (TMC220x) 31.. VERSION: 0x20=first version of the IC 24 Identical numbers mean full digital compatibility. 4..
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5.1.1 27 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. 0X05: OTP_READ – OTP MEMORY MAP Bit 23 Name otp2.7 Function otp_en_spreadCycle 22 21 otp2.6 otp2.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 28 0X05: OTP_READ – OTP MEMORY MAP Bit Name Function OTP_CHOPCONF4 11 10 9 8 otp1.3 otp1.2 otp1.1 otp1.0 OTP_PWM_GRAD 7 otp0.7 OTP_CHOPCONF3...0 otp_TBL 6 otp0.6 otp_internalRsense 5 otp0.5 otp_OTTRIM 4 3 2 1 0 otp0.4 otp0.3 otp0.2 otp0.1 otp0.0 OTP_FCLKTRIM www.trinamic.com Comment 1 Reset default for CHOPCONF.4 (hstrt0); (pwm_autograd=1) Depending on otp_en_spreadCycle 0 Reset default for PWM_GRAD as defined by (0..
PAGE 29
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 29 5.2 Velocity Dependent Control VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W Addr n Register W 0x10 5 + 5 + 4 Description / bit names Bit IHOLD_IRUN – Driver current control 4..0 IHOLD (Reset default: OTP) Standstill current (0=1/32 … 31=32/32) In combination with stealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit (passive braking) for motor stand still. 12..
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 30 5.3 Sequencer Registers The sequencer registers have a pure informative character and are read-only. They help for special cases like storing the last motor position before power off in battery powered applications. MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B) R/W Addr n Register R 0x6A 10 MSCNT R 0x6B 9 + 9 www.trinamic.com MSCURACT Description / bit names Microstep counter. Indicates actual position in the microstep table for CUR_A.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 31 5.4 Chopper Control Registers DRIVER REGISTER SET (0X6C…0X7F) R/W Addr n Register RW 0x6C 32 CHOPCONF R 0x6F 32 DRV_ STATUS RW 0x70 22 PWMCONF R R 0x71 0x72 9+8 8+8 www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5.4.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit Name Function Comment (Default: OTP, resp. 0 in stealthChop mode) 3 2 1 0 toff3 toff2 toff1 toff0 TOFF off time and driver enable Off time setting controls duration of slow decay phase NCLK= 12 + 32*TOFF %0000: Driver disable, all bridges off %0001: 1 – use only with TBL ≥ 2 %0010 … %1111: 2 … 15 (Default: OTP, resp. 3 in stealthChop mode) www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5.4.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 35 0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit 16 Name pwm_freq0 Function selection 15 14 13 12 11 10 9 8 PWM_ GRAD User defined amplitude gradient 7 6 5 4 3 2 1 0 PWM_ OFS User defined amplitude (offset) Comment %01: fPWM=2/683 fCLK %10: fPWM=2/512 fCLK %11: fPWM=2/410 fCLK Velocity dependent gradient for PWM amplitude: PWM_GRAD * 256 / TSTEP This value is added to PWM_AMPL to compensate for the velocity-dependent motor back-EMF.
PAGE 36
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5.4.3 36 DRV_STATUS – Driver Status Flags 0X6F: DRV_STATUS – DRIVER STATUS FLAGS AND CURRENT LEVEL READ BACK Bit 31 Name stst Function standstill indicator 30 stealth stealthChop indicator 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 - reserved Comment This flag indicates motor stand still in each operation mode. This occurs 2^20 clocks after the last step pulse.
PAGE 37
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 6 37 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 38
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 38 Power Up PWM_GRAD_AUTO becomes initialized by OTP 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 stored in OTP? Y N AT#2 Homing Move the motor, e.g. for homing.
PAGE 39
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 39 6.2 stealthChop Options UART 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 40
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 40 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.
PAGE 41
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 41 Quick Start For a quick start, see the Quick Configuration Guide in chapter 14. 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 42
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 𝑃𝑊𝑀_𝐴𝑀𝑃𝐿 = 42 374 ∗ 𝑅𝐶𝑂𝐼𝐿 ∗ 𝐼𝐶𝑂𝐼𝐿 𝑉𝑀 With VM the motor supply voltage and ICOIL the target RMS current The effective PWM voltage UPWM (1/SQRT(2) x peak value) results considering the 8 bit resolution and 248 sine wave peak for the actual PWM amplitude shown as PWM_SCALE: 𝑈𝑃𝑊𝑀 = 𝑉𝑀 ∗ 𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 248 1 𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 ∗ ∗ = 𝑉𝑀 ∗ 256 256 √2 374 With rising motor velocity, the motor generates an increasing back EMF voltage.
PAGE 43
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 43 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. Alternatively, automatic tuning determines these values and they can be read out from PWM_OFS_AUTO and PWM_GRAD_AUTO. UNDERSTANDING THE BACK EMF CONSTANT OF A MOTOR The back EMF constant is the voltage a motor generates when turned with a certain velocity.
PAGE 44
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 44 As a first step, both chopper principles should be parameterized and optimized individually (spreadCycle settings may be programmed to OTP memory). In a next step, a transfer velocity has to be fixed. For example, stealthChop operation is used for precise low speed positioning, while spreadCycle shall be used for highly dynamic motion. TPWMTHRS determines the transition velocity.
PAGE 45
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 6.6.2 45 PWM_SCALE_SUM Informs about the Motor State Information about the motor state is available with automatic scaling by reading out PWM_SCALE_SUM. As this parameter reflects the actual voltage required to drive the target current into the motor, it depends on several factors: motor load, coil resistance, supply voltage, and current setting. Therefore, an evaluation of the PWM_SCALE_SUM value allows checking the motor operation point.
PAGE 46
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 46 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 47
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 7 47 spreadCycle 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. spreadCycle will give better performance in medium to high velocity range for motors and applications which tend to resonance. The currents through both motor coils are controlled using choppers.
PAGE 48
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 7.1 spreadCycle Settings 48 UART OTP The spreadCycle (patented) 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.
PAGE 49
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 49 Figure 7.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow & blue: sense resistor voltages A and B) A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but will not yield any benefit for the wave shape. Quick Start For a quick start, see the Quick Configuration Guide in chapter 14.
PAGE 50
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) I target current + hysteresis start 50 HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 7.3 spreadCycle chopper scheme showing coil current during a chopper cycle These parameters control spreadCycle mode: Parameter TOFF TBL HSTRT HEND Description Sets the slow decay time (off time). This setting also limits the maximum chopper frequency.
PAGE 51
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 8 51 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 VREF=2.5V (or open), (examples) IRUN=31, vsense=0 (standard) 1.00 0.
PAGE 52
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 9 52 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. METHODS FOR SCALING MOTOR CURRENT Method Pin VREF voltage (chapter 9.1) Parameters VREF input scales IRUN and IHOLD. Can be disabled by GCONF.i_scale_analog Range 2.5V: 100% … 0.5V: 20% >2.
PAGE 53
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) ′ 𝑉𝐹𝑆 = 𝑉𝐹𝑆 ∗ 53 𝑉𝑉𝑅𝐸𝐹 2.5𝑉 with VVREF the voltage on pin VREF in the range 0V to V5VOUT/2 Hint For best precision of current setting, measure and fine tune the current in the application. PARAMETERS FOR MOTOR CURRENT CONTROL Parameter IRUN IHOLD IHOLD DELAY TPOWER DOWN vsense Description Current scale when motor is running. Scales coil current values as taken from the internal sine wave table.
PAGE 54
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 54 scaling as the internal reference voltage. A voltage between 0V and 2.5V linearly scales the current between 0 and the current scaling defined by the sense resistor setting. It is not advised to work with reference voltages below about 0.5V to 1V for full scale, because relative analog noise caused by digital circuitry and power supply ripple has an increased impact on the chopper precision at low VREF voltages.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 55 10 Internal Sense Resistors UART OTP The TMC22xx 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 chapter 3.2).
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 56 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.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 57 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 11.1 shows the timing parameters for the STEP and DIR signals, and the table below gives their specifications.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 58 11.2 Changing Resolution The TMC22xx 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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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 59 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.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 60 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.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 61 12 Internal Step Pulse Generator UART The TMC22xx family integrates a high resolution step pulse generator, allowing motor motion via the UART interface. However, no velocity ramping is provided. Ramping is not required, if the target motion velocity is smaller than the start & stop frequency of the motor. For higher velocities, ramp up the frequency in small steps to accelerate the motor, and ramp down again to decelerate the motor. Figure 12.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 62 13 Driver Diagnostic Flags The TMC22xx drivers supply a complete set of diagnostic and protection capabilities, like short to GND protection, short to VS protection and undervoltage detection. A detection of an open load condition allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details. 13.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 63 Once a short condition is safely detected, the corresponding driver bridge (A or B) becomes switched off, and the s2ga or s2gb flag, respectively s2vsa or s2vsb becomes set. In order to restart the motor, disable and re-enable the driver. Note, that short protection cannot protect the system and the power stages for all possible short events, as a short event is rather undefined and a complex network of external components may be involved.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 64 14 Quick Configuration Guide UART OTP This guide is meant as a practical tool to come to a first configuration. Do a minimum set of measurements and decisions for tuning the driver to determine UART settings or OTP parameters. The flow-charts concentrate 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 in more detail.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 65 SC2 spreadCycle Configuration Try motion above TPWMTRHRS, if used GCONF set en_spreadCycle 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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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) OTP programming Determine stand still current settings (IHOLD, IHOLDDELAY) and sense resistor type (internal_Rsense) Determine chopper settings (CHOPCONF and PWMCONF) spreadCycle only mode? Y Go for otp_en_spreadCycle=1 Y Find nearest value fitting for TPWMTHRS from table OTP_TPWMTHRS N Mix spreadCylce and stealthChop? N Find nearest value fitting for PWM_GRAD initialization from table OTP_PWM_GRAD Note all OTP bits to be set to 1.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 67 15 External Reset The chip is loaded with default values during power on via its internal power-on reset. Some of the registers are initialized from the OTP at power up. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VS, +5VOUT or VCC_IO) must be cycled. As +5VOUT is the output of the internal voltage regulator, it cannot be cycled via an external source except by cycling VS.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 68 17 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 Supply and bridge voltage max.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 69 18.2 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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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Linear regulator 70 DC-Characteristics VVS = VVSA = 24.0V Parameter Output voltage Symbol V5VOUT Conditions Min Typ Max Unit I5VOUT = 0mA 4.80 5.0 5.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Detector levels DC-Characteristics Parameter VVS undervoltage threshold for RESET V5VOUT undervoltage threshold for RESET VVCC_IO undervoltage threshold for RESET VVCC_IO undervoltage detector hysteresis Short to GND detector threshold (VVS - VOx) Short to VS detector threshold (VOx) Short detector delay (high side / low side switch on to short detected) Overtemperature prewarning 120°C Overtemperature shutdown or prewarning 143°C (appr.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Digital pins Parameter DC-Characteristics Symbol Conditions Input voltage low level Input voltage high level Input Schmitt trigger hysteresis VINLO VINHI VINHYST Output voltage low level Output voltage high level Input leakage current Pullup / pull-down resistors Digital pin capacitance VOUTLO VOUTHI IILEAK RPU/RPD C AIN/IREF input DC-Characteristics Parameter Symbol AIN_IREF input resistance to 2.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 73 18.3 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.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 74 19 Layout Considerations 19.1 Exposed Die Pad The TMC22xx 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. 19.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 75 19.4 Layout Example TMC2208 Schematic Placement (Excerpt) Top Layout (Excerpt, showing die pad vias) The complete schematics and layout data for all TMC22xx evaluation boards are available on the TRINAMIC website. www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 20 Package Mechanical Data 20.1 Dimensional Drawings QFN28 Attention: Drawings not to scale. Figure 20.1 Dimensional drawings QFN28 www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Parameter [mm] total thickness stand off mold thickness lead frame thickness body size X body size Y lead pitch exposed die pad size X exposed die pad size Y lead length package edge tolerance mold flatness coplanarity lead offset exposed pad offset www.trinamic.com Ref A A1 A2 A3 D E e J K L aaa bbb ccc ddd eee Min 0.8 0 3 3 0.5 Nom 0.85 0.035 0.65 0.203 5.0 5.0 0.5 3.1 3.1 0.55 77 Max 0.9 0.05 3.2 3.2 0.6 0.1 0.1 0.08 0.1 0.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 20.2 Dimensional Drawings QFN32-WA Figure 20.2 Dimensional drawings QFN32-WA www.trinamic.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) Parameter [mm] 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 lead length package edge tolerance mold flatness coplanarity lead offset exposed pad offset half-cut width half-cut depth Ref A A1 A2 A3 b D E e J K L L1 aaa bbb ccc ddd eee R S Min 0.8 0 0.2 3.3 3.3 0.45 0.4 Nom 0.85 0.035 0.65 0.203 0.25 5.0 5.0 0.5 3.4 3.4 0.5 0.5 0.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 80 21 Table of Figures FIGURE 1.1 TMC22XX BASIC APPLICATION BLOCK DIAGRAM ...................................................................................................... 4 FIGURE 1.2 STAND-ALONE DRIVER WITH PRE-CONFIGURATION .................................................................................................... 5 FIGURE 1.3 AUTOMATIC MOTOR CURRENT POWER DOWN ............................................................................
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 81 22 Revision History Version Date Author Description BD= Bernhard Dwersteg V0.25 V0.28 2016-09-02 2016-09-21 BD BD V1.00 2016-11-01 BD V1.01 V1.