Datasheet

TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 62
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
23 Table of Figures
Figure 1: TMC429 within QFN32 package. ............................................................................................. 4
Figure 2: TMC429 / TMC26x outline for configuration via SPI and step direction for motion (only SPI
signals and Step/Direcction signals drawn). ..................................................................................... 4
Figure 3-3: TMC429 application environment with TMC429 in SSOP16 package .................................. 5
Figure 3-4: Usage of drivers without serial data output (SDO) with TMC429 in larger packages ........... 5
Figure 5-1: TMC429 pin out ..................................................................................................................... 8
Figure 6-1: TMC428 functional block diagram....................................................................................... 10
Figure 6-2: TMC429 functional block diagram....................................................................................... 11
Figure 7-1: Timing diagram of the serial µC interface ........................................................................... 12
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
Figure 7-3: Timing diagram of the serial stepper motor driver interface................................................ 13
Figure 9-1: Velocity ramp parameters and velocity profiles ................................................................... 19
Figure 9-2: Ramp generator and pulse generator ................................................................................. 23
Figure 9-3: Proportionality parameter p and outline of velocity profile(s) .............................................. 24
Figure 9-4: Left switch and right switch for reference search and automatic stop function ................... 26
Figure 10-1: Example of status bit mapping for a chain of three TMC246 or TMC249 ......................... 31
Figure 10-2: Cover datagram example .................................................................................................. 32
Figure 10-3: TMC429 Step Direction Timing (EN_SD='1' & STEP_HALF='0') ...................................... 34
Figure 10--side- ..................... 37
Figure 10-5: R-one- ...................... 37
Figure 10-6: TMC429-LI has 3 right reference inputs / TMC429-PI24 has 2 right reference inputs ..... 37
Figure 10-7: Reference switch multiplexing with 74HC157 (refmux=1) ................................................ 38
Figure 10- reference switch   .......... 39
Figure 10-9: Reference search .............................................................................................................. 39
Figure 10-10: Reference switch gateing for exact simultanous stepper motor start ............................. 40
Figure 12-1: Serially transmitted control and status signals between TMC429 and driver chain .......... 42
Figure 13-1: Microstep enhancemant by introduction of a shape function f
σ
(  ) ................................... 49
Figure 16-1: Package Outline Drawing SSOP16, 150 MILS, 0.635mm (0.025 inch) pitch.................... 52
Figure 16-2: Package Outline Drawing SOP24, 300 MILS .................................................................... 53
Figure 16-3: Package Outline Drawing QFN32 ..................................................................................... 54
Figure 18-1: 3.3V operation (CMOS) vs. 5V operation (TTL) ................................................................ 56
Figure 19-1: Operating principle of the power-on-reset ......................................................................... 57
Figure 20-1: General timing parameters ................................................................................................ 59
24 Table of Tables
Table 4-1: TMC429 package variants ..................................................................................................... 7
Table 5-1: TMC429 pinning (TMC428 SOP24: pin 1  n.c. / TMC429 SOP24: pin 1  output) .......... 9
Table 7-1: Timing characteristics of the serial microcontroller interface ............................................... 14
Table 7-2: Timing characteristics of the serial stepper motor driver interface ....................................... 14
Table 7-3 : 32 bit DATAGRAM structure sent from µC (MSB sent first) ............................................... 15
Table 7-4: 32 bit DATAGRAM structure received by µC (MSB received first)....................................... 15
Table 8-1: TMC429 address space partitions ........................................................................................ 17
Table 8-2: TMC428 / TMC429 register mapping (additional TMC429 registers marked with _429) ..... 18
Table 9-1: Coil current scale factors ...................................................................................................... 21
Table 9-2: Current scale selection scheme ........................................................................................... 22
Table 9-3  Outline of TMC429 motion modes ..................................................................................... 25
Table 9-4: Reference switch configuration bits (ref_conf) ..................................................................... 26
Table 9-5: lp & ref_conf & ramp_mode (rm) data bit positions .............................................................. 27
Table 9-6: interrupt bit mnemonics ........................................................................................................ 28
Table 9-7: interrupt register & interrupt mask ........................................................................................ 28
Table 9-8: micro step resolution selection (usrs) parameter ................................................................. 29
Table 10-1: TMC429 interface configuration register control bits .......................................................... 33