Datasheet

ManualsBrandsTrinamic ManualsDevelopment Boards & KitsEvaluation Board for TMC2660, Stepper Driver

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2660 DATASHEET

Half Bridge 2

Half Bridge 1

Half Bridge 2

VSA / B

2 x Current

Comparator

TMC2660

RSA / B

Protection

& Diagnostics

Sine Table

4*256 entry

STEP

DIR

2 x DAC

SPI control,

Config & Diags

CSN

SCK

SDO

SDI

stallGuard2™

coolStep™

Step Multiplier

SG_TST

OA1

OA2

BRA / B

SENSE

OB1

OB2

Chopper

VCC_IO

2 Phase

Stepper

BLOCK DIAGRAM

FEATURES AND BENEFITS

Drive Capability up to 4A motor current

Voltage up to 30V DC

Highest Resolution up to 256 microsteps per full step

Compact Size 10x10mm QFP-44 package

Low Power Dissipation, very low RDSON & synchronous

rectification

EMI-optimized programmable slope

Protection & Diagnostics overcurrent, short to GND,

overtemperature & undervoltage

stallGuard2™ high precision sensorless motor load detection

coolStep™ load dependent current control for energy savings

up to 75%

microPlyer™ microstep interpolation for increased

smoothness with coarse step inputs.

spreadCycle™ high-precision chopper for best current sine

wave form and zero crossing

APPLICATIONS

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

Printer and Scanner

CCTV, Security

ATM, Cash recycler

POS

Pumps and Valves

Heliostat Controller

CNC Machines

DESCRIPTION

The TMC2660 driver for two-phase stepper

motors offers an industry-leading feature

set, including high-resolution

microstepping, sensorless mechanical load

measurement, load-adaptive power

optimization, and low-resonance chopper

operation. Standard SPI™ and STEP/DIR

interfaces simplify communication.

Integrated power MOSFETs handle motor

currents up to 2.2A RMS continuously or

2.8A RMS boost current per coil. Integrated

protection and diagnostic features support

robust and reliable operation. High

integration, high energy efficiency and

small form factor enable miniaturized

designs with low external component

count for cost-effective and highly

competitive solutions.

Universal, cost-effective stepper driver for two-phase bipolar motors with state-of-the-art features.

Integrated MOSFETs for up to 4 A motor current per coil. With Step/Dir Interface and SPI.

Summary of content (52 pages)

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2660 DATASHEET Universal, cost-effective stepper driver for two-phase bipolar motors with state-of-the-art features. Integrated MOSFETs for up to 4 A motor current per coil. With Step/Dir Interface and SPI.
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TMC2660 DATASHEET (Rev. 1.06 / 2017-JUN-15) 2 APPLICATION EXAMPLES: SMALL SIZE – BEST PERFORMANCE The TMC2660 scores with power density, integrated power MOSFETs, and a versatility that covers a wide spectrum of applications and motor sizes, all while keeping costs down. Extensive support at the chips, board, and software levels enables rapid design cycles and fast time-to-market with competitive products.
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TMC2660 DATASHEET (Rev. 1.06 / 2017-JUN-15) 3 TABLE OF CONTENTS 1 PRINCIPLES OF OPERATION ............... 4 1.1 1.2 1.3 1.4 2 KEY CONCEPTS ............................................... 4 CONTROL INTERFACES .................................... 5 MECHANICAL LOAD SENSING ......................... 5 CURRENT CONTROL ........................................ 5 PIN ASSIGNMENTS ................................. 6 2.1 2.2 PACKAGE OUTLINE ......................................... 6 SIGNAL DESCRIPTIONS .......
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 1 4 Principles of Operation 0A+ High-Level Interface µC S/D TMC2660 0A- S N 0B+ 0B- SPI 0A+ TMC429 µC High-Level Interface SPI Motion Controller for up to 3 Motors S/D TMC2660 0A- S N 0B+ 0B- SPI Figure 1.1 Block diagram: applications The TMC2660 motor driver chip with included MOSFETs is the intelligence and power between a motion controller and the two phase stepper motor as shown in Figure 1.1.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 5 In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment malfunctions. 1.2 Control Interfaces There are two control interfaces from the motion controller to the motor driver: the SPI serial interface and the STEP/DIR interface.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Pin Assignments GND TST_MODE STEP DIR VCC_IO GND SG_TST TST_ANA VS VHS - 43 42 41 40 39 38 37 36 35 34 30 5 29 TMC2660-PA QFP44 6 7 28 27 8 26 18 19 20 21 22 ENN - CLK SRB 23 17 11 CSN 24 GND 25 16 9 10 SDI OA2 4 SCK BRA 31 15 OA1 3 14 OA2 32 SDO VSA 33 2 13 OA1 1 5VOUT - 44 Package Outline 12 2.1 SRA 2 6 OB1 VSB OB2 OB1 BRB OB2 Figure 2.1 TMC2660 pin assignment 2.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Pin SDI Number 15 Type DI VIO SCK 16 DI VIO GND CSN ENN 17, 39, 44 18 19 DI VIO DI VIO CLK 21 DI VIO VHS VS TST_ANA SG_TST VCC_IO 35 36 37 38 40 DIR 41 DI VIO STEP 42 DI VIO TST_MODE 43 DI VIO n.c. 1, 33 www.trinamic.com AO VIO DO VIO 7 Function SPI serial data input. (Scan test input in test mode.) Serial clock input of SPI interface. (Scan test shift enable input in test mode.) Digital and analog low power GND.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 3 8 Internal Architecture Figure 3.1 shows the internal architecture of TMC266O. +VM 9-29V VHS 100n VS TMC2660 +VCC 3.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 4 9 stallGuard2 Load Measurement stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolStep loadadaptive current reduction. (stallGuard2 is a more precise evolution of the earlier stallGuard technology.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Status word SG 4.1 10 Description 10-bit unsigned integer stallGuard2 measurement value. A higher value indicates lower mechanical load. A lower value indicates a higher load and therefore a higher load angle. For stall detection, adjust SGT to return an SG value of 0 or slightly higher upon maximum motor load before stall.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 11 4.1.2 Small Motors with High Torque Ripple and Resonance Motors with a high detent torque show an increased variation of the stallGuard2 measurement value SG with varying motor currents, especially at low currents. For these motors, the current dependency might need correction in a similar manner to velocity correction for obtaining the highest accuracy. 4.1.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 5 12 coolStep Current Control coolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because coolStep automatically enables torque reserve when required.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 13 mechanical load stallGuard2 reading motor current increases the current. When the load decreases and SG rises above (SEMIN + SEMAX + 1) x 32 the current becomes reduced.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 5.1 14 Tuning coolStep Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the load measurement value SG. coolStep uses SG to operate the motor near the optimum load angle of +90°. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN. They can be tuned separately because they are triggered by different events that may need different responses.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 6 15 SPI Interface TMC2660 requires setting configuration parameters and mode bits through the SPI interface before the motor can be driven. The SPI interface also allows reading back status values and bits. 6.1 Bus Signals The SPI bus on the TMC2660 has four signals: SCK SDI SDO CSN bus clock input serial data input serial data output chip select input (active low) The slave is enabled for an SPI transaction by a low on the chip select input CSN.
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TMC2660 DATASHEET (Rev. 1.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 17 Figure 6.2 shows the interfaces in a typical application. The SPI bus is used by an embedded MCU to initialize the control registers of both a motion controller and one or more motor drivers. STEP/DIR interfaces are used between the motion controller and the motor drivers. 6.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 18 6.4.2 Read Response Overview The table below shows the formats for the read response. The RDSEL parameter in the DRVCONF register selects the format of the read response. 6.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 19 DRVCTRL Driver Control in SPI Mode (SDOFF=1) Bit 8 Name PHB Function Polarity B CB7 CB6 CB5 CB4 CB3 CB2 CB1 CB0 Current B MSB 7 6 5 4 3 2 1 0 Comment Sign of current flow through coil B: 0: Current flows from OB1 pins to OB2 pins. 1: Current flows from OB2 pins to OB1 pins. Magnitude of current flow through coil B. The range is 0 to 248, if hysteresis or offset are used up to their full extent.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 6.6 Chopper Control Register (CHOPCONF) CHOPCONF Chopper Configuration Bit 19 18 17 16 15 Name 1 0 0 TBL1 TBL0 Function Register address bit Register address bit Register address bit Blanking time CHM Chopper mode 14 20 Comment Blanking time interval, in system clock periods: %00: 16 %01: 24 %10: 36 %11: 54 This mode bit affects the interpretation of the HDEC, HEND, and HSTRT parameters shown below.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) CHOPCONF Chopper Configuration Bit 3 2 1 0 Function Off time/MOSFET disable 6.7 Name TOFF3 TOFF2 TOFF1 TOFF0 21 Comment Duration of slow decay phase. If TOFF is 0, the MOSFETs are shut off. If TOFF is nonzero, slow decay time is a multiple of system clock periods: NCLK= 12 + (32 x TOFF) (Minimum time is 64clocks.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 6.8 22 stallGuard2 Control Register (SGCSCONF) SGCSCONF stallGuard2™ and Current Setting Bit 19 18 17 16 Name 1 1 0 SFILT Function Register address bit Register address bit Register address bit stallGuard2 filter enable 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 SGT6 SGT5 SGT4 SGT3 SGT2 SGT1 SGT0 0 0 0 CS4 CS3 CS2 CS1 CS0 Reserved stallGuard2 threshold value www.trinamic.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 6.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 24 6.10 Read Response For every write command sent to the motor driver, a 20-bit response is returned to the motion controller. The response has one of three formats, as selected by the RDSEL parameter in the DRVCONF register. The table below shows these formats. Software must not depend on the value of any bit shown as reserved.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 25 6.11 Device Initialization The following sequence of SPI commands is an example of enabling the driver and initializing the chopper: SPI = $901B4; // Hysteresis mode SPI = $94557; // Constant toff mode SPI = $D001F; // Current setting: $d001F (max.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 7 26 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 and reduces pulse bandwidth. 7.1 Timing Figure 7.1 shows the timing parameters for the STEP and DIR signals, and the table below gives their specifications.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 7.2 27 Microstep Table The internal microstep table maps the sine function from 0° to 90°. Symmetries allow mapping the sine and cosine functions from 0° to 360° with this table. The angle is encoded as a 10-bit unsigned integer MSTEP provided by the microstep counter. The size of the increment applied to the counter while microstepping through this table is controlled by the microstep resolution setting MRES in the DRVCTRL register.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 7.3 28 Changing Resolution The application may need to change the microstepping resolution to get the best performance from the motor. For example, high-resolution microstepping may be used for precision operations on a workpiece, and then fullstepping may be used for maximum torque at maximum velocity to advance to the next workpiece.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 29 In Figure 7.3, the first STEP cycle is long enough to set the STST bit. This bit is cleared on the next STEP active edge. Then, the STEP frequency increases and after one cycle at the higher rate microPlyer increases the interpolated microstep rate. During the last cycle at the slower rate, microPlyer did not generate all 16 microsteps, so there is a small jump in motor angle between the first and second cycles at the higher rate. 7.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 8 30 Current Setting The internal 5V supply voltage available at the pin 5VOUT is used as a reference for the coil current regulation based on the sense resistor voltage measurement. The desired maximum motor current is set by selecting an appropriate value for the sense resistor. The sense resistor voltage range can be selected by the VSENSE bit in the DRVCONF register.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 8.1 31 Sense Resistors Sense resistors should be carefully selected. The full motor current flows through the sense resistors. They also see the switching spikes from the MOSFET bridges. A low-inductance type such as film or composition resistors is required to prevent spikes causing ringing on the sense voltage inputs leading to unstable measurement results. A low-inductance, low-resistance PCB layout is essential.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 9 32 Chopper Operation The currents through both motor coils are controlled using choppers. The choppers work independently of each other. Figure 9.1 shows the three chopper phases: +VM +VM +VM ICOIL ICOIL ICOIL RSENSE RSENSE On Phase: current flows in direction of target current Fast Decay Phase: current flows in opposite direction of target current RSENSE Slow Decay Phase: current re-circulation Figure 9.1 Chopper phases.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Parameter TBL CHM 9.1 33 Description Blanking time. This time needs to cover the switching event and the duration of the ringing on the sense resistor. For most low-current applications, a setting of 16 or 24 is good. For high-current applications, a setting of 36 or 54 may be required.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 34 An Excel spreadsheet is provided for performing these calculations. As experiments show, the setting is quite independent of the motor, because higher current motors typically also have a lower coil resistance. Choosing a medium default value for the hysteresis (for example, effective HSTRT+HEND=10) normally fits most applications.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Parameter HDEC 35 Description Setting Hysteresis decrement setting. This setting 0… 3 determines the slope of the hysteresis during on time and during fast decay time. It sets the number of system clocks for each decrement. Comment 0: fast decrement 3: very slow decrement %00: 16 %01: 32 %10: 48 %11: 64 Example: In the example above, a hysteresis start of 7 has been chosen. The hysteresis end is set to about half of this value, 3.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 36 Three parameters control constant off-time mode: Parameter TFD (HSTART & HDEC0) OFFSET (HEND) NCCFD (HDEC1) Description Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle. Sine wave offset. With CHM=1, these bits control the sine wave offset. A positive offset corrects for zero crossing error. Selects usage of the current comparator for termination of the fast decay cycle.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 37 10 Power MOSFET Stage The gate current for the power MOSFETs can be adapted to influence the slew rate at the coil outputs. The main features of the stage are: - 5V gate drive voltage for low-side N-MOS transistors, 8V for high-side P-MOS transistors. - The gate drivers protect the bridges actively against cross-conduction using an internal QGD protection that holds the MOSFETs safely off.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 38 11 Diagnostics and Protection 11.1 Short to GND Detection The short to ground detection prevents the high-side power MOSFETs from being damaged by accidentally shorting the motor outputs to ground. It disables the MOSFETs only if a short condition persists. A temporary event like an ESD event could look like a short, but these events are filtered out by requiring the event to persist.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 39 The short to ground detector is controlled by a mode bit and a parameter: Mode bit / Parameter DISS2G Description Setting Comment Short to ground detection disable bit. 0/1 TS2G This setting controls the short to GND detection 0… 3 delay time. It needs to cover the switching slope time. A higher setting reduces sensitivity to capacitive loads. 0: Short to ground detection enabled. 1: Short to ground detection disabled. %00: 3.2µs. %01: 1.6µs. %10: 1.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Status OTPW 40 Description Range Overtemperature warning. This bit indicates 0 / 1 whether the warning threshold is reached. Software can react to this setting by reducing current. Overtemperature shutdown. This bit indicates 0 / 1 whether the shutdown threshold has been reached and the driver has been disabled. OT Comment 1: temperature prewarning level reached 1: driver shut down due to overtemperature 11.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 41 12 Power Supply Sequencing The TMC2660 generates its own 5V supply for all internal operations. The internal reset of the chip is derived from the supply voltage regulators in order to ensure a clean start-up of the device after power up. During start up, the SPI unit is in reset and cannot be addressed. All registers become cleared.
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VVCC_IO VCLK 3.3V/5V VINHI CLK must be low, while VCC_IO is below VINHI TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Defined clock, no intermediate levels allowed 42 max. VCC_IO VVS VUV Device in reset: all registers cleared to 0 Operation, CLK is not allowed to have undefined levels between VINLO and VINHI and timing must satisfy TCLK (min) Time Device in reset: all registers cleared to 0 Figure 13.1 Start-up requirements of CLK input 13.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 43 14 Layout Considerations The PCB layout is critical to good performance, because the environment includes both highsensitivity analog signals and high-current motor drive signals. 14.1 Sense Resistors The sense resistors are susceptible to ground differences and ground ripple voltage, as the microstep current steps result in voltages down to 0.5mV. No current other than the sense resistor currents should flow through their connections to ground.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 44 14.5 Layout Example EXAMPLE FOR UP TO 2.8A RMS Here, an example for a layout with small board size (≈20cm²) is shown. See also the evaluation board. top layer (assembly side) inner layer inner layer bottom layer (solder side) Figure 14.1 Layout example for TMC2660 www.trinamic.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 45 15 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 Symbol Min Max Unit VVS -0.5 30 V 60 V 6.0 6.0 VVIO+0.5 VCC+0.5 15 +/-10 V V V V V mA 500 +/-7 2.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 46 16 Electrical Characteristics 16.1 Operational Range Parameter Junction temperature Supply voltage TMC2660 I/O supply voltage Symbol Min Max Unit TJ VVS VVIO -40 9 3.00 125 29 5.25 °C V V 16.2 DC and AC Specifications 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.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Internal MOSFETs TMC2660 DC Characteristics VVS = VVSX ≥ 12.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) Detector Levels DC Characteristics Parameter Symbol Conditions VVS undervoltage threshold Short to GND detector threshold (VVS - VBMx) Short to GND detector delay (low-side gate off detected to short detection) Overtemperature warning Overtemperature shutdown VUV VBMS2G tS2G tOTPW tOT TS2G=00 48 Min Typ Max Unit 6.5 1.0 8 1.5 8.5 2.3 V V 2.0 3.2 4.5 µs TS2G=10 TS2G=01 1.6 1.2 µs µs TS2G=11 0.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 49 16.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 50 17 Package Mechanical Data 17.1 Dimensional Drawings Attention: Drawings not to scale. E F G D C A I H K Figure 17.1 Dimensional drawings (PQFP44) Parameter Ref Size over pins (X and Y) A Body size (X and Y) C Pin length D Total thickness E Lead frame thickness F Stand off G Pin width H Flat lead length I Pitch K Coplanarity ccc Min 0.09 0.05 0.30 0.45 Nom 12 10 1 0.10 Max 1.6 0.2 0.15 0.45 0.75 0.8 0.08 17.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 51 18 Disclaimer TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
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TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14) 52 20 Table of Figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 1.1 Block diagram: applications........................................................................................................................... 4 2.1 TMC2660 pin assignment..................................................................................................