Datasheet
TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 61
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
22 Revision History
Version
Date (Author)
Comment
1.00
December 08, 2009 (LL)
TMC429 Datasheet v. 1.00 based on TMC428 Datasheet v. 2.03 / December 18, 2009;
section 9.11.1 Optimized Calculation of p_mul and p_div corrected (p. 25)
p = a_max / ( 128 * 2^( pulse_div ramp_div ) )
p = a_max / ( 128 * 2^( ramp_div - pulse_div ) );
May 27, 2010 (LL)
QFN32 package pinning added (table Table 5-1: TMC429 , page 9); Hint added
concerning changing of pluse_div while VELOCITY_MODE or HOLD_MODE that
might force am internal step pulse depending on the current position (section 9.14
pulse_div & ramp_div & usrs (IDX=%1100), page 29); DIL20 package of TMC428
removed;
August 5, 2010 (LL)
pin out GND @ 25 and n.c. @ 32 added for QFN32 package; pinning table updated
with TMC428 SOP24 package variant; hints added for new functions of the TMC429;
section 9.17 Unused Address (IDX=%1111) TMC428 vs. TMC429, p. 30, section
9.17.1ustep_count_429 (IDX=%1111) modified / added because this register was
unused for the TMC428 but is a read / write register for the TMC429;
August 26, 2010 (LL)
SDO_C renamed to iINT_SDC_C at package drawings; SPI controguration outline
added;
September 10, 2010 (LL)
Figure 7-2 : TMC428 SDO_C output high impedance with single gate 74HCT1G125
vs. The TMC429 has a dedicated high impedance pin SDOZ_C available and the
nINT_SDO_C can be nINT.12 updated concernit SDOZ_C and nINT_SDO_C of
TMC429; description of if_Configuration_429 finalized; step/direction timing figure and
description added (section 10.5.1 TMC429 Step/Direction Timning, page 34); short
description of differences between TMC428 vs. TMC429; section 15 How to Run a
Motor with Start-Stop-Speed in RAMP_MODE, page , 51;
1.01
October 10, 2010 (LL)
Marking (section 17, p. 55) updated; Timing parameter updated (Table 20-6, p. 59)
1.02
November 1
st
, 2010 (LL)
Pin name Figure 5-1: TMC429 pin out, page 8 of SSOP16 (pin 10) package variant
corrected according to Table 5-1: TMC429 pinning (TMC428 SOP24: pin 1 n.c. /
TMC429 SOP24: pin 1 output) page 9
1.03
November 5, 2010 (LL)
TMC428 drawings (Figure 7-2, Figure 10-4, Figure 10-5, Figure 10-6, Figure 10-7,
Figure 10-10, Figure 18-1) updated concerning TMC428 / TMC429; feature list
updated concerning step direction interface;
1.04
November 17, 2010 (LL)
section 10.5.1 TMC429 Step/Direction Timning, page 34 equation tSTEP[µs] corrected
1.05
December 6, 2010 (LL)
Figure 3-3 & Figure 3-4 updated concerning TMC429; position compare control
register (pos_comp) and associated output poscmp labelling unified; TMC428 changed
to TMC429 in text if necessary;
April 6th, 2011 (LL)
May 17, 2011 (LL)
August 2
nd
, 2011 (LL)
December 15, 2011 (LL)
January 19, 2012 (LL)
preliminary removed and version date updated; no changes within the document itself;
hint concerning micro step frequency added in section 10.5.1, p. 34;
section 9.6 v_actual (IDX=%0101) statement removed to avoid miss understanding:
For stop detection there is a dedicated bit within the interrupt register, which can
simply be read out by the micro processor or generate an interrupt. There is not an
interrupt bit that indicates that the internal velovity register is equal to zero there are
different interrupt bits that indicate different stop conditions triggered by stop switches;
Post address updated; hint concerning current scaling at rest added in section 9.9
is_agtat & is_aleat & is_v0 & a_threshold (IDX=%1000), page 21;
Table 20-5: Power dissipation typical current ISC32MHZ added, and symbol
ISC4MHZ429 corrected/changed to ISC8MHZ429; sections 6, 8.3, 12.1, 12.2 updated
concerning power-on default initialization of the SPI driver chain for
TMC236/TMC239/TMC246/TMC249 SPI stepper motor chain; TMC429 power-on reset
(POR) default values added to Table 12-2: Datagram example and RAM contents for
three stepper motor driver chain; hint concerning power-on defaults of sine wave table
added in section 13;
1.06
January 27, 2012 (LL)
March 28, 2012 (LL)
May 22, 2012 (LL)
section 15 How to Run a Motor with Start-Stop-Speed in RAMP_MODE item set
X_TARGET := V_START_STOP corrected to set X_TARGET to desired position;
section 12.1 Initialization of on-chip-RAM by µC after power-on updated;
Hint concerning frequency of SPI clock SCK relative to TMC429 clock fCLK
added in section 7.3, page 13;
Figure 10-3: TMC429 Step Direction Timing (EN_SD='1' & STEP_HALF='0'), p. 34
updated concerning dimensioning drawing at rising edge of direction signal (signal
shape itself was correct);
1.07
August 01, 2012 (SD)
Section 10.5 Table 10-2 corrected: smda 0100.