Datasheet

ManualsBrandsTrinamic ManualsDevelopment Boards & KitsStepper Driver Evaluation Board for TMC2300 2 ... 11V

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2300 Datasheet

FEATURES AND BENEFITS

Voltage Range 2V (1.8V) … 11V DC

Battery Operation min. 2 AA / NiMh cells, or 1-2 Li-Ion cells

2-phase Stepper Motors up to 1.2A RMS, 2A peak

Standby <50nA typ. current draw

STEP/DIR Interface up to 256 microsteps for stepper motor

Smooth Running 256 microsteps by microPlyer™ interpolation

StealthChop2™ silent motor operation

Low RDSon LS 170mΩ & HS 170mΩ (typ.)

Automatic Standby current reduction

Stall Detection StallGuard4 in StealthChop mode

CoolStep load dependent energy saving up to 90%

Single Wire UART for advanced configuration options

Integrated Pulse Generator for standalone motion

Full Protection & Diagnostics

Tiny of QFN 3*3 with 20 pins

APPLICATIONS

IOT & Handheld devices

Battery operated equipment

Printers, POS

Miniature 3D Printers

Toys

Office and home automation

CCTV, Security

HVAC

Mobile medical devices

DESCRIPTION

Working from a single Li-Ion cell or dual

AA batteries the TMC2300 is optimally

suited for battery operated equipment.

TRINAMICs sophisticated StealthChop2

chopper ensures noiseless stepper

operation, maximum efficiency and best

torque. Its fast current regulation allows

for highly dynamic motion. Integrated

power-MOSFETs with internal charge-pump

for best-in-class RDSon even at low supply

voltage, handle motor current up to 1.2A

RMS. Together with a tiny standby current,

this guarantees a long battery life.

Protection and diagnostic features support

robust and reliable operation. A simple to

use UART interface allows configuration.

This advanced driver ensures noiseless and

most precise operation for cost-effective

and highly competitive solutions.

Low Voltage Driver for Two-Phase Stepper Motors up to 1.2A RMS - StealthChop™ for Quiet

Movement - UART Interface Option. With StallGuard Sensorless Homing and CoolStep Energy Saving.

BLOCK DIAGRAM



Summary of content (69 pages)

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2300 Datasheet Low Voltage Driver for Two-Phase Stepper Motors up to 1.2A RMS - StealthChop™ for Quiet Movement - UART Interface Option. With StallGuard Sensorless Homing and CoolStep Energy Saving. APPLICATIONS 4 FEATURES AND BENEFITS Voltage Range 2V (1.8V) … 11V DC Battery Operation min. 2 AA / NiMh cells, or 1-2 Li-Ion cells 2-phase Stepper Motors up to 1.2A RMS, 2A peak Standby <50nA typ.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 2 APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE The TMC2300 scores with power density, integrated power MOSFETs, smooth and quiet operation, and a congenial simplicity. The TMC2300 covers a wide spectrum of applications from battery systems to embedded applications with up to 1.2A motor current per coil. TRINAMICs unique chopper mode StealthChop2 optimizes drive performance. StealthChop reduces motor noise to the point of silence at low velocities.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 3 Table of Contents 1 PRINCIPLES OF OPERATION ......................... 4 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 2 KEY CONCEPTS ................................................ 6 CONTROL INTERFACES ..................................... 6 MOVING AND CONTROLLING THE MOTOR ........ 6 STEALTHCHOP2 DRIVER .................................. 7 STALLGUARD4 – LOAD SENSING .................... 7 COOLSTEP – LOAD ADAPTIVE CURRENT .......... 7 AUTOMATIC STANDSTILL POWER DOWN....
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 1 4 Principles of Operation The TMC2300 low voltage motor driver is intended for battery-operated, space- and standby-powercritical driver applications. Its silent drive technology StealthChop enables non-bugging motion control for portable, home and office applications. A highly efficient power stage, boosted by an internal charge pump for best in-class RDSon resistance, provides high motor current from a tiny package even at low supply voltages.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5 STANDALONE STEP/DIR STEPPER DRIVER OA1 S/D ERROR TMC2300 S OA2 N OB1 OB2 Figure 1.2 Stand-alone driver OPTION 2: STEP/DIR Driver with Full Diagnostics and Control Similar to Option 1, but pin PDN_UART is connected to the CPU UART interface.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 6 1.1 Key Concepts The TMC2300 implements advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. StealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 7 by the microstep resolution. An internal table translates the counter value into the sine and cosine values which control the motor current for microstepping. 1.3.2 Internal Step Pulse Generator UART Some applications do not require a precisely co-ordinated motion – the motor just is required to move until a certain event occurs, or a certain distance is passed.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 8 0,9 Efficiency with coolStep 0,8 Efficiency with 50% torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 1.4 Energy efficiency with coolStep (example) 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.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 2 9 Pin Assignments The TMC2300 comes in a tiny package in order to fit miniaturized devices. For the ease of use, pinning is shown separately for both function-modes. 11 12 13 17 16 TMC2300 (Standalone Stepper) © B. Dwersteg, TRINAMIC PAD 6 7 8 9 14 14 MS2_AD1 EN STEPPER MODE PDN_UART 10 5 9 4 5 8 3 4 7 2 3 6 OA2 VCP DIR STEP MS1 18 1 2 TMC2300 (UART Stepper) © B. Dwersteg, TRINAMIC PAD OB2 GND 1.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) Pin Number 1.8VOUT 13 GND OB2 14 15 BRB 16 OB1 17 VS 18 OA1 19 BRA 20 Exposed die pad - www.trinamic.com Type 10 Function Output of internal 1.8V regulator. Attach 100nF ceramic capacitor to GND near to pin for best performance. Provide the shortest possible loop to the GND pad. GND. Connect to GND plane near pin. Motor coil B output 2 Sense resistor connection for coil B. Place sense resistor to GND near pin.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 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. The TMC2300 is configured for different application modes by two pins, as well as by settings available via the UART interface.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 12 3.2 Standalone Stepper STEP Step and Direction motion control VCP 100n 1.8VOUT Place near IC with short path to die pad 1.8V Voltage regulator Step&Dir input 100n Internal charge pump STANDBY 10µ Full Bridge A OA2 S MS1 MS2 MODE Disable standstill current reduction B.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 13 3.3 Highly Efficient Driver The TMC2300 integrates a highly efficient power stage, offering low RDSon even at low supply voltages, due to its internal charge pump. This enables high motor current drive capability and low power dissipation for battery powered applications. RDSon vs. VS 400,00 350,00 300,00 250,00 200,00 150,00 100,00 50,00 0,00 1,5 2,0 2,5 RDSon (LS) [mOhm] 3,0 3,5 4,0 RDSon(HS) [mOhm] Figure 3.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 14 3.4 Low Power Standby Battery powered applications, as well as mains powered applications conforming to EU energy saving regulations, often require a standby mode, where the power-supply remains on. Current consumption in this mode must be minimized. Control near zero power TMC2300 standby operation by switching off the I/O supply voltage on VIO_NSTDBY pin. At the same time make sure, that no digital input pin is at a high level.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 15 3.4.1 Restart the Stepper Motor Without Position Loss A self-locking drive allows switching off the motor completely without loss of position. Locking can result from mechanical friction and from the stepper motor cogging torque. Most stepper motors have a cogging torque in the range of a few percent of their nominal torque, which also will contribute to the motor locking in a certain position.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 16 3.5 Driver Protection and EME Circuitry Some applications have to cope with ESD events caused by motor operation or external influence. Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset or even a destruction of the motor driver, depending on their energy. Especially plastic housings and belt drive systems tend to cause ESD events of several kV.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 4 17 UART Single Wire Interface UART The UART single wire interface allows control of the TMC2300 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 4.1.2 18 Read Access UART READ ACCESS REQUEST DATAGRAM STRUCTURE each byte is LSB…MSB, highest byte transmitted first RW + 7 bit register address 31 CRC 24 0 … 8 24…31 register address 16 4 15 3 … SLAVEADDR=(MS2,MS1) 7 Reserved (don’t cares but included in CRC) 6 0 5 1 2 16…23 0 1 8…15 1 0 0...
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 19 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 TMC2300 responds only to correctly transmitted datagrams containing its own slave address.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 20 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 TMC2300 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5 21 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 22 5.1 General Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 10 GCONF R+ WC 0x01 3 GSTAT R 0x02 8 IFCNT W 0x03 4 SLAVECONF www.trinamic.com Register Description / bit names Bit GCONF – Global configuration flags 0 set to 0 1 extcap (Reset default=0) 0: Operation without external capacitor on VCP. 1: External capacitor available. No switching delays.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R 0x06 10 + 8 IOIN www.trinamic.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 24 5.2 Velocity Dependent Control VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W Addr n Register W 0x10 5 + 5 + 4 IHOLD_IRUN W 0x11 8 TPOWER DOWN R 0x12 20 TSTEP W 0x22 24 VACTUAL www.trinamic.com Description / bit names Bit IHOLD_IRUN – Driver current control 4..
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 25 5.3 StallGuard Control COOLSTEP AND STALLGUARD CONTROL REGISTER SET (0X14, 0X40…0X42) R/W Addr n Register W 0x14 10 TCOOLTHRS W 0x40 8 SGTHRS R 0x41 10 SG_VALUE 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 feature. (unsigned) Set this parameter to disable CoolStep at low speeds, where it cannot work reliably.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5.3.1 26 COOLCONF – Smart Energy Control CoolStep 0X42: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD Bit … 15 Name seimin 14 13 sedn1 sedn0 12 11 10 9 8 7 6 5 4 3 2 1 0 semax3 semax2 semax1 semax0 seup1 seup0 semin3 semin2 semin1 semin0 www.trinamic.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 27 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 Description / bit names Microstep counter. Indicates actual position in the microstep table for CUR_A. CUR_B uses an offset of 256 into the table.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5.5.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5.5.2 29 PWMCONF – Voltage PWM Mode StealthChop 0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit 31 30 29 28 Name PWM_LIM Function PWM automatic scale amplitude limit when switching on 27 26 25 24 PWM_REG Regulation loop gradient 23 22 21 20 freewheel1 freewheel0 reserved reserved Allows different standstill modes 19 pwm_ autograd PWM automatic gradient adaptation 18 pwm_ autoscale PWM automatic amplitude scaling www.trinamic.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 30 0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit Name Function 17 16 pwm_freq1 pwm_freq0 PWM frequency 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 1 Enable automatic current control (Reset default) Set to zero (for a short time) in order to force a new initialization of PWM_OFS_AUTO=PWM_OFS and PWM_GRAD_AUTO=PWM_GRAD.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 5.5.3 31 DRV_STATUS – Driver Status Flags 0X6F: DRV_STATUS – DRIVER STATUS FLAGS AND CURRENT LEVEL READ BACK Bit 31 Name stst Function standstill indicator 30 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 6 32 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 33 Power Up PWM_GRAD_AUTO becomes initialized with 16 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) Move the motor, e.g. for homing. Include a constant, medium velocity ramp segment.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 34 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 35 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 36 Quick Start For a quick start, see the Quick Configuration Guide in chapter 15. 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 𝑃𝑊𝑀_𝐴𝑀𝑃𝐿 = 37 374 ∗ 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.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 38 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. Hint Start the motor from standstill when switching on StealthChop the first time and keep it stopped for at least 128 chopper periods to allow StealthChop to do initial standstill current control. 6.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 6.5.2 39 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 40 PARAMETERS RELATED TO STEALTHCHOP Parameter PWM_LIM pwm_ autoscale pwm_ autograd Description Limiting value for limiting the current jerk when switching on StealthChop following a disable condition. Reduce the value to yield a lower current peak. Enable automatic current scaling using current measurement or use forward controlled velocity based mode.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 7 41 Fitting the Motor Especially for low voltage operation, the motor should be carefully selected to give a good fit to the application’s mechanics, as well as available supply voltage and current. Therefore, it is important to understand the supply voltage requirement for a given motor. Both, the generation of a certain torque, and the ability to provide this torque at a desired velocity, require a motor specific voltage. These two components add up.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 8 42 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. Additional 15mΩ PCB resistance are included in the calculation. CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT RSENSE [Ω] RMS current [A] IRUN=31 1.50 1.20 1.00 0.82 0.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 9 43 Motor Current Control The basic motor current is set by the value 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.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 44 PARAMETERS FOR MOTOR CURRENT CONTROL Parameter IRUN IHOLD IHOLD DELAY TPOWER DOWN Description Setting Current scale when motor is running. Scales coil 8 … 31 current values as taken from the internal sine wave table. For proper operation, do not set values lower than 8. Optimum range is 16 to 32. Identical to IRUN, but for motor in stand still. 0 … 31 Allows smooth current reduction from run current 0 to hold current.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 45 10 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 46 10.1 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 47 11 CoolStep Operation UART CoolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 11.
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stallGuard2 reading mechanical load 48 motor current TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 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 11.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 49 11.3 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 50 12 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. 12.1 Timing Figure 12.1 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 51 12.2 Changing Resolution The TMC2300 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 52 12.3 MicroPlyer Step Interpolator and Stand Still Detection For each active edge on STEP, MicroPlyer produces microsteps at 256x resolution, as shown in Figure 12.2. 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 53 12.4 Index Signal An active index output (enable diag_index) 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 54 13 Internal Step Pulse Generator UART The TMC2300 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 13.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 55 14 Driver Diagnostic Flags The TMC2300 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. 14.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 56 14.3 Open Load Diagnostics UART Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly plugged. The TMC2300 detects open load conditions by checking, if it can reach the desired motor coil current. This way, also undervoltage conditions, high motor velocity settings or short and overtemperature conditions may cause triggering of the open load flag, and inform the user, that motor torque may suffer.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 57 15 Quick Configuration Guide UART 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. 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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TMC2300 DATASHEET (Rev. 1.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 59 16 External Reset The chip is loaded with default values during power on via its internal power-on reset. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VS or VCC_IO) must be cycled. It is easiest and safest to cycle VCC_IO in order to completely reset the chip. Also, current consumed from VCC_IO is low and therefore it has simple driving requirements.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 60 18 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 61 19.2 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 = 8.0V, VVIO=3.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) Detector levels DC-Characteristics VVS = 8.0V, VVIO=3.3V Parameter VVS undervoltage threshold for RESET VVIO undervoltage threshold for RESET VVIO low power standby input voltage Worst case power-up delay time 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 150°C 3.5V Detector Threshold U3V5 3.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 63 19.3 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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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 64 20 Layout Considerations 20.1 Exposed Die Pad The TMC2300 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. 20.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 65 20.4 Layout Example Schematic Placement (Excerpt) Top Layout (Excerpt, showing die pad vias) The complete schematics and layout data for all evaluation boards are available on the TRINAMIC website. www.trinamic.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 21 Package Mechanical Data 21.1 Dimensional Drawings QFN20 Attention: Drawings not to scale. Figure 21.1 Dimensional drawings QFN20 www.trinamic.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 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 0.15 1.6 1.6 0.35 Nom 0.85 0.035 0.65 0.203 0.2 3.0 3.0 0.4 1.7 1.7 0.4 67 Max 0.9 0.05 0.67 0.25 1.8 1.8 0.45 0.1 0.1 0.08 0.1 0.1 21.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 68 23 Design Philosophy The TMC2300 is our entry into battery powered devices for IOT and mobile devices. While the TMC2300 inherits its super silent and energy efficient chopper from the TMC2208 family, well known in 3D printer community, it is only the second device featuring the brand-new sensorless stall detection StallGuard4.
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TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 69 25 Revision History Version Date Author Description BD= Bernhard Dwersteg V0.7 2019-May-07 BD V0.8 V0.9 V0.92 V0.93 V0.94 V1.00 V1.01 V1.