Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2209 Datasheet

APPLICATIONS

Compatible Design Upgrade

3D Printers

Printers, POS

Office and home automation

Textile, Sewing Machines

CCTV, Security

ATM, Cash recycler

HVAC

Battery Operated Equipment

FEATURES AND BENEFITS

2-phase stepper motors up to 2.8A coil current (peak), 2A RMS

STEP/DIR Interface with 8, 16, 32 or 64 microstep pin setting

Smooth Running 256 microsteps by MicroPlyer™ interpolation

StealthChop2™ silent motor operation

SpreadCycle™ highly dynamic motor control chopper

StallGuard4™ load and stall detection for StealthChop

CoolStep™ current control for energy savings up to 75%

Low RDSon, Low Heat-Up LS 170mΩ & HS 170mΩ (typ. at 25°C)

Voltage Range 4.75… 29V DC

Low Power Standby to fit standby energy regulations

Internal Sense Resistor option (no sense resistors required)

Passive Braking, Freewheeling, and automatic power down

Single Wire UART & OTP for advanced configuration options

Integrated Pulse Generator for standalone motion

Full Protection & Diagnostics

Compact QFN package with large heat slug

DESCRIPTION

The TMC2209 is an ultra-silent motor driver

IC for two phase stepper motors. TMC2209

pinning is compatible to a number of

legacy drivers as well as to the TMC2208.

TRINAMICs sophisticated StealthChop2

chopper ensures noiseless operation,

maximum efficiency and best motor torque.

Its fast current regulation and optional

combination with SpreadCycle allow highly

dynamic motion while adding. StallGuard

for sensorless homing. The integrated

power MOSFETs handle motor currents up

to 2A RMS with protection and diagnostic

features for robust and reliable operation.

A simple to use UART interface opens up

tuning and control options. Store

application tuning 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.

Step/Dir Drivers for Two-Phase Bipolar Stepper Motors up to 2.8A peak – StealthChop™ for Quiet

Movement – UART Interface Option – Sensorless Stall Detection StallGuard4.

BLOCK DIAGRAM

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Summary of content (83 pages)

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2209 Datasheet Step/Dir Drivers for Two-Phase Bipolar Stepper Motors up to 2.8A peak – StealthChop™ for Quiet Movement – UART Interface Option – Sensorless Stall Detection StallGuard4. APPLICATIONS Compatible Design Upgrade 3D Printers Printers, POS Office and home automation Textile, Sewing Machines CCTV, Security ATM, Cash recycler HVAC Battery Operated Equipment 4 FEATURES AND BENEFITS 2-phase stepper motors up to 2.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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 TMC2209 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 3 Table of Contents 1 PRINCIPLES OF OPERATION ......................... 4 1.1 1.2 1.3 1.4 1.5 KEY CONCEPTS ................................................ 5 CONTROL INTERFACES ..................................... 6 MOVING AND CONTROLLING THE MOTOR ........ 6 STEALTHCHOP2 & SPREADCYCLE DRIVER ....... 6 STALLGUARD4 – MECHANICAL LOAD SENSING . ....................................................................... 7 1.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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. Their 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 TMC2209 requires just a few control pins on its tiny package.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5 the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN pin.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 6 In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment malfunctions. 1.2 Control Interfaces The TMC2209 supports both, discrete control lines for basic mode selection and a UART based single wire interface with CRC checking.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 7 best settings during the first motion after power up and further optimizes the settings in subsequent motions. An initial homing sequence is sufficient for learning. Optionally, initial learning parameters can be stored to OTP. StealthChop2 allows high motor dynamics, by reacting at once to a change of motor velocity. For highest velocity applications, SpreadCycle is an option to StealthChop2. It can be enabled via input pin or via UART and OTP.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 8 1.7 Automatic Standstill Power Down An automatic current reduction drastically reduces application power dissipation and cooling requirements. Per default, the stand still current reduction is enabled by pulling PDN_UART input to GND. It reduces standstill power dissipation to less than 33% by going to slightly more than half of the run current. Modify stand still current, delay time and decay via UART, or pre-programmed via internal OTP.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 2 9 Pin Assignments The TMC2209 comes in a compact QFN package. VS BRB OB1 OA1 BRA VS 2.1 Package Outline TMC2209 26 25 24 23 22 3 19 2 20 1 6 © B. Dwersteg, TRINAMIC 7 Pad=GND 9 10 11 12 13 OA2 STDBY DIR GND VREF STEP VCC_IO 14 5VOUT MS1_AD0 MS2_AD1 DIAG INDEX CLK PDN_UART 8 15 16 5 17 18 TMC2209 QFN28 4 OB2 ENN GND CPO CPI VCP SPREAD 27 21 28 Figure 2.1 TMC2209 Pinning Top View – type: QFN28, 5x5mm², 0.5mm pitch 2.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) Pin VCC_IO STEP Number 15 16 Type VREF 17 AI DIR 19 DI (pd) STDBY 20 DI (pd) VS 22, 28 OA2 21 BRA 23 OA1 OB1 24 25 26 BRB 27 Exposed die pad - www.trinamic.com DI unused 10 Function 3.3V to 5V IO supply voltage for all digital pins. 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) STANDBY input.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 3 11 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 PDN/UART Configuration Memory (OTP) B. Dwersteg, © TRINAMIC 2016 DIAG INDEX opt. ext. clock 10-16MHz CLK_IN 3.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 12 STEP Step and Direction motion control DIR Configuration Interface PDN/UART B. Dwersteg, © TRINAMIC 2016 UART interface + Register Block DIAG INDEX opt. ext. clock 10-16MHz CLK_IN 3.3V or 5V I/O voltage VCC_IO 100µF IREF Low ESR type OA1 Full Bridge A 256 Microstep Sequencer OA2 BRA Integrated Rsense Driver S N stepper motor Connect directly to GND plane IREF Attention: Start with ENN=high! Set GCONF.1 or OTP0.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 13 While the standard application circuit is limited to roughly 5.2 V lower supply voltage, a 5 V only application lets the IC run from a 5 V +/-5% supply. In this application, linear regulator drop must be 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 14 An effect which might be perceived at medium motor velocities and motor sine wave peak currents above roughly 2A peak is a slight sine distortion of the current wave when using SpreadCycle. It results from an increasing negative impact of parasitic internal diode conduction, which in turn negatively influences the duration of the fast decay cycle of the SpreadCycle chopper.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 4 15 UART Single Wire Interface UART The UART single wire interface allows control of the TMC2209 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 16 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 17 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 TMC2209 responds only to correctly transmitted datagrams containing its own slave address.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 18 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 TMC2209 uses has a limited number of UART addresses, in principle only up to four ICs can be accessed per UART interface channel.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5 19 Register Map 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 20 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 21 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. All registers have been cleared to reset values.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 22 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W RW Addr 0x07 n Register 5+2 FACTORY_ CONF www.trinamic.com Description / bit names 4 DIAG 5 0 6 PDN_UART 7 STEP 8 SPREAD_EN 9 DIR 31.. VERSION: 0x21=first version of the IC 24 Identical numbers mean full digital compatibility. 4..0 FCLKTRIM (Reset default: OTP) 0…31: Lowest to highest clock frequency. Check at charge pump output.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5.1.1 23 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 24 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..
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 25 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 26 5.3 StallGuard Control COOLSTEP AND STALLGUARD CONTROL REGISTER SET (0X14, 0X40…0X42) R/W Addr n Register W 0x14 20 TCOOLTHRS W 0x40 8 SGTHRS R 0x41 10 SG_RESULT W 0x42 16 COOLCONF www.trinamic.com Description / bit names TCOOLTHRS This is the lower threshold velocity for switching on smart energy CoolStep and StallGuard to DIAG output. (unsigned) Set this parameter to disable CoolStep at low speeds, where it cannot work reliably.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5.3.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 28 5.4 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 29 5.5 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5.5.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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= 24 + 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5.5.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 33 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5.5.3 34 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 6 35 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 36 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 37 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 38 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 39 Quick Start For a quick start, see the Quick Configuration Guide in chapter 16. 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 40 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 41 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 42 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 6.6.2 43 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 44 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 7 45 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. The choppers work independently of each other.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 7.1 SpreadCycle Settings 46 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 47 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 16.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) I target current + hysteresis start 48 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 8 49 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 0.23 0.82 0.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 9 50 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) ′ 𝑉𝐹𝑆 = 𝑉𝐹𝑆 ∗ 51 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.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 52 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 53 10 Internal Sense Resistors UART OTP The TMC2209 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). As MOSFETs are both, temperature dependent and subject to production stray, a tiny external resistor connected from +5VOUT to VREF provides a precise absolute current reference.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 54 vsense=1 allows a lower peak current setting of about 55% of the value yielded with vsense=0 (as specified by VSRTH / VSRTL). In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path (i.e. shortest possible PCB path). RDSon based measurement gives best results when combined with StealthChop.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 55 11 StallGuard4 Load Measurement UART StallGuard4 provides an accurate measurement of the load on the motor. It is developed for operation in conjunction with StealthChop. StallGuard can be used for stall detection as well as other uses at loads below those which stall the motor, such as CoolStep load-adaptive current reduction.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 56 11.2 Tuning StallGuard4 The StallGuard4 value SG_RESULT is affected by motor-specific characteristics and application-specific demands on load, coil current, and velocity. Therefore, the easiest way to tune the StallGuard4 threshold SGTHRS for a specific motor type and operating conditions is interactive tuning in the actual application. INITIAL PROCEDURE FOR TUNING STALLGUARD SGTHRS 1. 2. 3. 4.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 57 12 CoolStep Operation UART 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 58 motor current TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 59 12.3 Tuning CoolStep CoolStep uses SG_RESULT to operate the motor near the optimum load angle of +90°. The basic setting to be tuned is SEMIN. Set SEMIN to a value which safely activates CoolStep current increment before the motor stalls. In case SGTHRS has been tuned before, a lower starting value is SEMIN = 1+SGTHRS/16. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 60 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. 13.1 Timing Figure 13.1 shows the timing parameters for the STEP and DIR signals, and the table below gives their specifications. Only rising edges are active.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 61 13.2 Changing Resolution The TMC2209 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 62 13.3 MicroPlyer Step Interpolator 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 63 13.4 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 64 14 Internal Step Pulse Generator UART The TMC2209 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 14.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 65 15 Driver Diagnostic Flags The TMC2209 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. 15.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 66 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 67 16 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 68 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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TMC2209 DATASHEET (Rev. 1.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 71 17 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 72 19 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 73 20.2 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) Linear regulator 74 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 75 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. 153°C IC peak temp.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) Digital pins Parameter 76 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 Pull-down resistor STANDBY pin Digital pin capacitance VOUTLO VOUTHI IILEAK RPU/RPD RPD C AIN/IREF input DC-Characteristics Parameter Symbol AIN_IREF input resistance to 2.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 77 20.3 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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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 78 21 Layout Considerations 21.1 Exposed Die Pad The TMC2209 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. 21.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 79 21.4 Layout Example TMC2209 Schematic Placement (Excerpt) Top Layout (Excerpt, showing die pad vias) The complete schematics and layout data for all TMC2209 evaluation boards are available on the TRINAMIC website. Placement and layout show the more compact routing on TMC2208-EVAL www.trinamic.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 22 Package Mechanical Data 22.1 Dimensional Drawings QFN28 Attention: Drawings not to scale. Figure 22.1 Dimensional drawings QFN28 www.trinamic.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 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 *) package edge tolerance mold flatness coplanarity lead offset exposed pad offset Ref A A1 A2 A3 b D E e J K L aaa bbb ccc ddd eee Min 0.8 0 0.2 3.6 3.6 0.35 81 Nom 0.85 0.035 0.65 0.203 0.25 5.0 5.0 0.5 3.7 3.7 0.4 Max 0.9 0.05 0.3 3.8 3.8 0.45 0.1 0.1 0.08 0.1 0.
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 82 23 Table of Figures FIGURE 1.1 TMC2209 BASIC APPLICATION BLOCK DIAGRAM...................................................................................................... 4 FIGURE 1.2 STAND-ALONE DRIVER WITH PRE-CONFIGURATION .................................................................................................... 5 FIGURE 1.3 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE) ...............................................................................
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TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 83 24 Revision History Version Date Author Description BD= Bernhard Dwersteg V0.05 V0.06 V0.1 V0.90 V1.00 V1.01 V1.02 V1.