Datasheet

TMC223 DATASHEET (V. 1.00 / May 3rd, 2007) 3
Copyright © 2007 TRINAMIC Motion Control GmbH & Co. KG
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 Sensorless Stall Detection .......................................................................................................6
2.6 Miscellaneous ..........................................................................................................................6
2.7 Pin and Signal Descriptions .....................................................................................................7
3 TYPICAL APPLICATION................................................................................................................8
4 ORDERING INFORMATION ..........................................................................................................8
5 FUNCTIONAL DESCRIPTION .......................................................................................................9
5.1 Position Controller and Main Controller ...................................................................................9
5.1.1 Stepping Modes ................................................................................................................9
5.1.2 Velocity Ramp...................................................................................................................9
5.1.3 Examples for different Velocity Ramps...........................................................................10
5.1.4 Vmax Parameter.............................................................................................................11
5.1.5 Vmin Parameter..............................................................................................................12
5.1.6 Acceleration Parameter ..................................................................................................12
5.1.7 Position Ranges..............................................................................................................13
5.1.8 Secure Position...............................................................................................................13
5.1.9 External Switch ...............................................................................................................13
5.1.10 Motor Shutdown Management........................................................................................14
5.1.11 Reference Search / Position initialization........................................................................15
5.1.12 Temperature Management .............................................................................................16
5.1.13 Battery Voltage Management .........................................................................................17
5.1.14 Internal handling of commands and flags.......................................................................18
5.2 RAM and OTP Memory..........................................................................................................20
5.2.1 RAM Registers................................................................................................................20
5.2.2 Status Flags ....................................................................................................................21
5.2.3 OTP Memory Structure...................................................................................................22
5.3 Stepper Motor Driver..............................................................................................................22
5.3.1 Coil current shapes .........................................................................................................23
5.3.2 Transition Irun to Ihold ....................................................................................................24
5.3.3 Chopper Mechanism.......................................................................................................25
6 TWO-WIRE SERIAL INTERFACE................................................................................................26
6.1 Physical Layer ........................................................................................................................26
6.2 Communication on Two Wire Serial Bus Interface ................................................................26
6.3 Physical Address of the circuit ...............................................................................................27
6.4 Write data to TMC223............................................................................................................27
6.5 Read data from TMC223 .......................................................................................................28
6.6 Timing characteristics of the serial interface..........................................................................29
6.7 Application Commands Overview ..........................................................................................30
6.8 Command Description ...........................................................................................................31
6.8.1 GetFullStatus1 ................................................................................................................31
6.8.2 GetFullStatus2 ................................................................................................................32
6.8.3 GetOTPParam ................................................................................................................32
6.8.4 GotoSecurePosition ........................................................................................................33
6.8.5 HardStop.........................................................................................................................33