Datasheet
TMC429 DATASHEET (v. 1.07 / 2012-AUG-01) 7
Copyright © 2010-2012, TRINAMIC Motion Control GmbH & Co. KG
3.6 Representation of Signed Values by Two’s Complement
Those motion parameters that have to cover negative and positive motion direction as well are
processed as signed
are x_target, x_actual, v_target, v_actual, a_actual, a_threshold (pls. refer section 9.9, page 21). Limit
motion parameters as v_min, v_max, a_max, are represented as unsigned binary numbers.
3.7 Tables of Contents
A table of contents, a table of figures, and a table of tables are located at the end of the data sheet.
4 Package Variants
The TMC429 is available in three different package variants, qualified for the industrial temperature
range. An additional variant is available for the automotive temperature range. The package outlines
and dimensions are included within this data sheet (page 52-54.). All package variants are RoHS
compilant.
part number
Package
JEDEC Drawing
TMC429-I
SSOP16 150 mils, 16 pins, plastic package, industrial (-40°C ... +85°C)
MO-137 (150 mils)
TMC429-PI24
SOP24 300 mils, 24 pins, plastic package, industrial (-40°C ... +85°C)
MS-013 (300 mils)
TMC429-LI
QFN32, 5x5mm, 32 pins, plastic package, industrial (-
MO-220 ?
Table 4-1: TMC429 package variants
5 Pinning
There are three package variants of the TMC429 available. The smaller SSOP16 package is sufficient
for TRINAMIC stepper motor drivers (TMC236 / TMC239 / TMC246 / TMC249) with up to three drivers
in a chain and for most SPI
TM
stepper motor drivers from other vendors. Some SPI
TM
stepper motor
drivers from other vendors have no serial data output and cannot simply be arranged in a daisy chain
to drive more than one motor. The two package variants SOP24 and QFN32 have two additional driver
selection outputs (nSCS2, nSCS3) for those stepper motor drivers without serial data output. All inputs
are Schmitt-Trigger. Possibly unused inputs (REF1, REF2, REF3, and SDI_S) need to be connected to
ground.
Compared to the TMC428, the TMC429 is equipped with additional outputs. Some outputs have
additional TMC429 specific functions. After power on-reset, the TMC429 starts in TMC428 mode. The
TMC429 functions are activated by dedicated TMC429 configuration registers. The TMC429 has
additional reference right side switch inputs REF1R, REF2R, and REF3R. With this, there is no need
for an additional multiplexer 74hc157 as required for the TCM428. These right-side reference switch
inputs are important for step/direction mode because the multiplexing control signal is available only in
SPI stepper motor driver chain mode.
The step function outputs are named S1, S2, and S3. The corresponding direction function outputs are
named D1, D2, and D3. An additional high impedance SPI output named SDOZ_C for the
microcontroller interface is available for more comfortable SPI communication. The multiplexed output
nIND_SDO_C can be configured in a de-multiplxed mode. An additional output named POSCMP is
available for triggering when moving over a programmable position.
Important Hint: POSCMP and SDOZ_C are outputs for the TMC429. These pins of the TMC428
where not connected for the SPO24 package (TMC428-PI24). So, for replacing a TMC428 by a
TMC429 in SOP24 packages the outputs POSCMP and SDOZ_C must be not connected.