Datasheet

ManualsBrandsTRINAMIC ManualsPMICsPMIC - motor controllers Half-bridge (4) I²C SOIC 20

TMC222 DATASHEET (V. 1.11 / November 25, 2009) 3

Table of Contents

1 FEATURES ...................................................................................................................................... 1

2 GENERAL DESCRIPTION .............................................................................................................. 5

2.1 Block Diagramm ........................................................................................................................ 5

2.2 Position Controller / Main Control ............................................................................................. 5

2.3 Stepper Motor Driver ................................................................................................................. 5

2.4 Two Wire Serial Interface.......................................................................................................... 5

2.5 Miscellaneous ........................................................................................................................... 6

2.6 Pin and Signal Descriptions ...................................................................................................... 6

3 TYPICAL APPLICATION ................................................................................................................. 7

4 ORDERING INFORMATION ........................................................................................................... 7

5 FUNCTIONAL DESCRIPTION ........................................................................................................ 8

5.1 Position Controller and Main Controller .................................................................................... 8

5.1.1 Stepping Modes ................................................................................................................. 8

5.1.2 Velocity Ramp .................................................................................................................... 8

5.1.3 Examples for different Velocity Ramps .............................................................................. 9

5.1.4 Vmax Parameter .............................................................................................................. 10

5.1.5 Vmin Parameter ............................................................................................................... 11

5.1.6 Acceleration Parameter ................................................................................................... 11

5.1.7 Position Ranges ............................................................................................................... 12

5.1.8 Secure Position ................................................................................................................ 12

5.1.9 External Switch ................................................................................................................ 12

5.1.10 Motor Shutdown Management ......................................................................................... 13

5.1.11 Reference Search / Position initialization ......................................................................... 14

5.1.12 Temperature Management .............................................................................................. 15

5.1.13 Battery Voltage Management .......................................................................................... 16

5.1.14 Internal handling of commands and flags ........................................................................ 17

5.2 RAM and OTP Memory ........................................................................................................... 19

5.2.1 RAM Registers ................................................................................................................. 19

5.2.2 Status Flags ..................................................................................................................... 20

5.2.3 OTP Memory Structure .................................................................................................... 21

5.3 Stepper Motor Driver ............................................................................................................... 21

5.3.1 Coil current shapes .......................................................................................................... 22

5.3.2 Transition Irun to Ihold ..................................................................................................... 23

5.3.3 Chopper Mechanism ........................................................................................................ 24

6 TWO-WIRE SERIAL INTERFACE ................................................................................................. 25

6.1 Physical Layer ......................................................................................................................... 25

6.2 Communication on Two Wire Serial Bus Interface ................................................................. 25

6.3 Physical Address of the circuit ................................................................................................ 26

6.4 Write data to TMC222 ............................................................................................................. 26

6.5 Read data from TMC222 ........................................................................................................ 27

6.6 Timing characteristics of the serial interface ........................................................................... 28

6.7 Application Commands Overview ........................................................................................... 29

6.8 Command Description ............................................................................................................ 30

6.8.1 GetFullStatus1 ................................................................................................................. 30

6.8.2 GetFullStatus2 ................................................................................................................. 31

6.8.3 GetOTPParam ................................................................................................................. 31

6.8.4 GotoSecurePosition ......................................................................................................... 32

6.8.5 HardStop .......................................................................................................................... 32

6.8.6 ResetPosition ................................................................................................................... 32