Datasheet

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Dedicated Motion Controller for 2-/3-Phase PMSM

INTEGRATED CIRCUITS

TMC4671 Datasheet

IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06

The TMC4671 is a fully integrated servo controller, providing Field Oriented Control for BLDC/PMSM

and 2-phase Stepper Motors as well as DC motors and voice coils. All control functions are imple-

mented in hardware. Integrated ADCs, position sensor interfaces, position interpolators, enable

a fully functional servo controller for a wide range of servo applications.

Features

• Servo Controller

w/ Field Oriented Control (FOC)

• Torque Control (FOC),

Velocity Control, Position Control

• Feed Forward Control Inputs

•

Integrated ADCs, ∆Σ-ADC Frontend

•

Encoder Engine: Hall analog/digital,

Encoder analog/digital

• Supports 3-Phase PMSM/BLDC,

2-Phase Stepper Motors,

and DC Motors

•

Advanced PWM Engine (25kHz. . . 100kHz)

•

Application SPI + Debug (UART, SPI)

• Step-Direction Interface (S/D)

Applications

• Robotics

• Pick and Place Machines

• Factory Automation

• E-Mobility

• Laboratory Automation

• Blowers

• Pumps

Simpliﬁed Block Diagram

Terms of delivery and rights to technical change reserved.

Download newest version at: www.trinamic.com

Read entire documentation.

Summary of content (158 pages)

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INTEGRATED CIRCUITS Dedicated Motion Controller for 2-/3-Phase PMSM TMC4671 Datasheet IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 The TMC4671 is a fully integrated servo controller, providing Field Oriented Control for BLDC/PMSM and 2-phase Stepper Motors as well as DC motors and voice coils. All control functions are implemented in hardware. Integrated ADCs, position sensor interfaces, position interpolators, enable a fully functional servo controller for a wide range of servo applications.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 2 / 158 Contents 1 Order Codes 5 2 Functional Summary 6 3 FOC Basics 3.1 Why FOC? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 What is FOC? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Why FOC as pure Hardware Solution? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 How does FOC work? . . . .
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.7.7 Digital Hall Sensors together with Incremental Encoder . . . . . . . . . . . . 4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) 4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) . . . . . . . . . . . 4.7.10 Encoder Initialization Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.11 Velocity Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . .
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 11 Setup Guidelines 149 12 Package Dimensions 150 13 Supplemental Directives 13.1 Producer Information . . . . . . . . . 13.2 Copyright . . . . . . . . . . . . . . . . . 13.3 Trademark Designations and Symbols 13.4 Target User . . . . . . . . . . . . . . . . 13.5 Disclaimer: Life Support Systems . . . 13.6 Disclaimer: Intended Use . . . . . . . 13.7 Collateral Documents & Tools . . . . . . . . . . . . . . . . . . .
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 1 Order Codes Order Code Description Size [mm2 ] TMC4671-ES TMC4671 FOC Servo Controller IC 10.5 x 6.5 TMC4671-EVAL TMC4671 Evaluation Board 55 x 85 TMC4671-BOB TMC4671 Breakout Board 38 x 40 Table 1: Order codes ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 3 8 / 158 FOC Basics This section gives a short introduction into some basics of Field Oriented Control (FOC) of electric motors. 3.1 Why FOC? The Field Oriented Control (FOC), alternatively named Vector Control (VC), is a method for the most energy-eﬃcient way of turning an electric motor. 3.2 What is FOC? The Field Oriented Control was independently developed by K.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 9 / 158 block and separate controller box wired with motor cable and encoder cable. The high integration of FOC, together with velocity controller and position controller as a SoC, enables the FOC as a standard peripheral component that transforms digital information into physical motion.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark The FOC requires different coordinate transformations formulated as a set of matrix multiplications. These are the Clarke Transformation (Clarke), the Park Transformation (Park), the inverse Park Transformation (iPark) and the inverse Clarke Transformation (iClarke).
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 3.5.4 11 / 158 Measurement of Rotor Angle Determination of the rotor angle is either done by sensors (digital encoder, analog encoder, digital Hall sensors, analog Hall sensors) or sensorless by a reconstruction of the rotor angle. Currently, there are no sensorless methods available for FOC that work in a general purpose way as a sensor down to velocity zero. The TMC4671 does not support sensorless FOC. 3.5.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 3.5.6 3.5.6.1 12 / 158 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters Number of Pole Pairs of a Motor The number of pole pairs is an essential motor parameter. It deﬁnes the ratio between electrical revolutions and mechanical revolutions. For a motor with one pole pair, one mechanical revolution is equivalent to one electrical revolution.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 3.5.9 13 / 158 Orientations, Models of Motors, and Coordinate Transformations The orientation of magnetic axes (U, V, W for FOC3 resp. X, Y for FOC2) is essential for the FOC together with the relative orientation of the rotor. Here, the rotor is modeled by a bar magnet with one pole pair (n_pole_pairs = 1) with magnetic axis in north-south direction.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4 14 / 158 Functional Description The TMC4671 is a fully integrated controller for ﬁeld-oriented control (FOC) of either one 2-phase stepper motor (FOC2) or one 3-phase brushless motor (FOC3), as well as DC motors or voice coil actuators.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 15 / 158 The ADC engine interfaces the integrated ADC channels and maps raw ADC values to signed 16 bit (s16) values for the inner FOC current control loop based on programmable offset and scaling factors. The FOC torque PI controller forms the inner base component including required transformations (Clark, Park, inverse Park, inverse Clark). All functional blocks are pure hardware. 4.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Figure 8: SPI Timing SPI Interface Timing Characteristics, fCLK = 25MHz Parameter Symbol SCK valid before or after change of nSCS Condition Min Typ Max Unit tCC 62.5 ns nSCS high time tCSH 62.5 ns nSCS low time tCSL 62.5 ns SCK high time tCH 62.5 ns SCK low time tCL 62.5 ns SCK low time tCL 62.5 ns SCK frequency 8 fSCK MHz MOSI setup time before rising edge of SCK tDU 62.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.2.2 17 / 158 TRINAMIC Real-Time Monitoring Interface (SPI Master) The TRINAMIC Real-Time Monitoring Interface (RTMI, SPI Master) is an additional fast interface enabling real-time identiﬁcation of motor and system parameters. The user can check conﬁguration and access registers in the TMC4671 via the TMCL-IDE with its build-in conﬁguration wizards for FOC setup in parallel to the user ﬁrmware.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.2.3 18 / 158 UART Interface The UART interface is a simple three pin (GND, RxD, TxD) 3.3V UART interface with up to 3 Mbit/s transfer speed with one start bit, eight data bits, one stop bit, and no parity bits (1N8). The default speed is 9600 bps. Other supported speeds are 115200 bps, 921600 bps, and 3000000 bps. With an 3.3V-UART-to-USB adapter cable (e.g. FTDI TTL-232R-RPi), the user can use the full maximum data rate.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.2.4 Step/Direction Interface The user can manipulate the target position via the step direction interface. It can be enabled by setting the STEP_WIDTH (S32) register to a proper step width. Info 4.2.5 The Step/Direction interface is not working properly, due to wrong mapping of internal signals. The target position is updated, but not fed into the position controller. This error will be ﬁxed in next IC Version.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 A duty cycle of 50% equals an input value of 32768. With the offset and scaling factors it can be mapped to desired range. 4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs The TMC4671 uses different numerical representations for different parameters, measured values, and interim results.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Hexadecimal Value u16 s16 q8.8 q4.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Figure 12: N_POLE_PAIRS - Number of Pole Pairs (Number of Poles) 4.3.3 Numerical Representation of Angles PHI Electrical angles and mechanical angles are represented as 16 bit integer values. One full revolution of 360 deg is equivalent to 216 = 65536 steps. Any position coming from a sensor is mapped to this integer range. Adding an offset of PHI_OFFSET causes a rotation of an angle PHI_OFFSET/216 .
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 u16 s16 PHI[°] ±PHI[°] 0x5555h 21845 21845 120.0 -240.0 0x6AAAh 27306 27768 150.0 -210.0 0x8000h 32768 -32768 180.0 -180.0 0x9555h 38229 -27307 210.0 -150.0 0xAAAAh 43690 -21846 240.0 -120.0 0xC000h 49152 -16384 270.0 -90.0 0xD555h 54613 -10923 300.0 -60.0 0xEAAAh 60074 -5462 330.0 -30.0 Hexadecimal Value Table 6: Examples of u16, s16, q8.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.4.1 24 / 158 ADC Group A and ADC Group B ADC inputs of the TMC4671 are grouped into two groups, to enable different sample rates for two groups of analog signals if needed. For all applications both groups should work with the same sampling rates. necessary to run its ADC channels with a much higher bandwidth than the ADC channels for current measurement. 4.4.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Figure 14: Delta Sigma ADC Conﬁgurations dsADC_CONFIG (internal: ANALOG vs. external: MCLKO, MCLKI, MDAC) dsADC_CONGIG Description NC_MCLKO_MCLKI_MDAC VIN_MDAT ANALOG integrated internal ADC mode, VIN_MDAT is analog input VIN MCLK not connected (NC) VIN (analog) MCLKO external dsModulator (e.g. AD7403) with MCLK input driven by MCLKO MCLK output MDAT input MCLKI external dsModulator (e.g.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Parametrization of fMCLK will be changed in a future version of the chip to match usual modulator frequencies like 10MHz and 20MHz better. It is recommended to use a Modulatorfrequency of 25kHz for all applications. If the second ADC group is not needed, it is recommended to shut it off by setting the MCLK_B register to 0x0. Info 4.5.0.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 = 5V where V_MAX = 3.3V is possible. The table 11 deﬁnes the recommended voltage ranges for both 5V and 3.3V analog supply voltages. V_SUPPLY[V] (V_MIN[V]) V_MIN25%[V] V_MAX50%[V] V_MAX75%[V] (V_MAX[V]) (3.3) (0.0) (0.825) (1.65) (2.75) (3.3) 5.0 (0.0) 1.250 2.50 3.75 (5.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.5.2 External Delta Sigma Modulator Interface The TMC4671 is equipped with integrated digital ﬁlters for extraction of ADC raw values from delta sigma data stream for both internal and external delta sigma modulators.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 CMP tCMPtyp [ns] LM339 1000 RMCMP [kΩ] 10 LM339 1000 100 fMCLKmaxTYP 10 CMCMP [pF ] 100 100 100 10 kHz RMDAC [kΩ] Table 13: Delta Sigma R-C-R-CMP Conﬁgurations (pls. refer 14) ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Vmin[V] Vref[V] Vmax[V] VIN[V] DUTY[%] 0.0 1.65 3.3 0.0 0% 0x0000 0.0 1.65 3.3 0.825 25% 0x4000 0.0 1.65 3.3 1.65 50% 0x7fff 0.0 1.65 3.3 2.475 75% 0xC000 0.0 1.65 3.3 3.3 100% 0xffff Vmin[V] Vref[V] Vmax[V] VIN[V] 0.0 2.5 5.0 0.0 0% 0x0000 0.0 2.5 5.0 1.0 25% 0x4000 0.0 2.5 5.0 2.5 50% 0x7fff 0.0 2.5 5.0 3.75 75% 0xC000 0.0 2.5 5.0 5.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 ADC_GAIN = ( ∗ ∗ I_SENSE_MAX ∗ R_SENSE ) (12) SENSE_AMPLIFIER_GAIN ( ADC_RAW_MAX/ADC_U_MAX ) Rsense [mΩ] Isense [A] Usense [mV ] GAIN[V /V ] ADC_GAIN[A/V ] Sense Ampliﬁer 5 10 50 20 10 AD8204 10 5 50 20 5 AD8204 Table 15: Example Parameters for ADC_GAIN For the FOC, the ADC_RAW is scaled by the ADC scaler of the TMC4671 together with subtraction of offset to compensate it.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.6.2 33 / 158 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y For two-phase motors (stepper) with four terminals X1, X2, and Y1, Y2, voltage U_Ux = U_X1 - U_X2 is in phase with the measured current I_X and U_Wy = U_Y1 - U_Y2 is in phase with the measured current I_Y according to equations (15) and (16) for FOC2.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 34 / 158 Figure 16: ADC Selector & Scaler w/ Offset Correction ADC offsets and ADC scalers for the analog current measurement input channels need to be programmed into the associated registers. Each ADC_I_U, ADC_I_V, ADC_I_UX, ADC_I_WY, ADCSD_I_UX, ADCSD_I_WY, ADC_I0_EXT, and ADC_I1_EXT is mapped either to ADC_I0_RAW or to ADC_I1_RAW by ADC_I0_SELECT and ADC_I1_SELECT.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.7 35 / 158 Encoder Engine The encoder engine is an uniﬁed position sensor interface. It maps the selected encoder position information to electrical position (phi_e) and to mechanical position (phi_e). Both are 16 bit values. The encoder engine maps single turn positions from position sensors to multi-turn positions. The user can overwrite the multi-turn position for initialization.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 36 / 158 alone pulse or and-ed with NAB = N and A and B. It depends on the decoder what kind of N pulse has to be used - either N or NAB. For those encoders with precise N pulse within one AB quadrant, the N pulse must be used. For those encoders with N pulse over four AB quadrants the user can enhance the precision of the N pulse position detection by using NAB instead of N.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 37 / 158 Figure 18: Encoder ABN Timing - high precise N pulse and less precise N pulse 4.7.3 Secondary Incremental ABN Encoder For commutating a motor with FOC, the user selects a position sensor source (digital incremental encoder, digital Hall, analog Hall, analog incremental encoder, . . . ) that is mounted close to the motor.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 38 / 158 Figure 19: Hall Sensor Angles Hall sensors give absolute positions within an electrical period with a resolution of 60° as 16 bit positions (s16 resp. u16) PHI. With activated interim Hall position interpolation, the user gets high resolution interim positions when the motor is running at a speed above 60 rpm. 4.7.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.7.8 39 / 158 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) An analog encoder interface is part of the decoder engine. It is able to handle analog position signals of 0° and 90° and of 0° 120° 240°. The analog decoder engine adds offsets and scales the raw analog encoder signals, while also calculating the electrical angle PHI_E from these analog position signals by an ATAN2 algorithm.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 The analog N pulse is just a raw ADC value. Handling of analog N pulse similar to N pulse handling of digital encoder N pulse is not implemented for analog encoder. Info 4.7.9 40 / 158 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) The extracted positions from the analog decoder are available for read out from registers. 4.7.9.1 Multi-Turn Counter Electrical angles are mapped to a multi-turn position counter.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 41 / 158 Figure 21: Encoder Initialization by minimal Movement The ﬂux ramping can be controlled by setting the U_D_INKR - which manipulates the slope of the ramp. The maximum voltage can be set by the parameter U_D_MAX. During operation, the current is monitored and the process is stopped when the current limit I_D_MAX is reached. Figure 22: Flux Ramping Info 4.7.10.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.7.11 42 / 158 Velocity Measurement Servo control comprises position, velocity and current control. The position and the current are measured by separate sensors. The actual velocity has to be calculated by time discrete differentiation from the position signal. the user can choose a calculated position from the various encoder interfaces for velocity measurement by parameter VELOCITY_SELECTION.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.8.2 43 / 158 PI Controller Calculations - Classic Structure The PI controllers in the classic structure perform the following calculation Z t dXdT = P · e + I · e(t) dt (20) 0 with e = X_TARGET − X (21) where X_TARGET stands for target ﬂux, target torque, target velocity, or target position with error e, which is the difference between target value and actual values.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 44 / 158 Info The PI velocity controller will be given a derivative part (so it will be a PID controller) in a future version of the chip. Also, the normalization of the PI parameters might be changed due to low performance at high PWM frequencies. This will need changes in the user’s application controller software. Info The P Factor in the advanced position controller is not properly scaled.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Figure 24: PI Architectures 4.8.5 PI Flux & PI Torque Controller The P part is represented as q8.8 and I is the I part represented as q0.15. 4.8.6 PI Velocity Controller The P part is represented as q8.8 and I is the I part represented as q0.15. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.8.7 46 / 158 P Position Controller For the position regulator, the P part is represented as q4.12 to be compatible with the high resolution positions - one single rotation is handled as an s16. 4.8.8 Inner FOC Control Loop - Flux & Torque The inner FOC loop (ﬁgure 25) controls the ﬂux current to the ﬂux target value and the torque current to the desired torque target.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 47 / 158 Figure 26: FOC3 Transformations (FOC2 just skips CLARKE and iCLARKE) 4.8.10 Motion Modes The user can operate the TMC4671 in several motion modes. Standard motion modes are position control, velocity control and torque control, where target values are fed into the controllers via register access. The motion mode UD_UQ_EXTERN allows the user to set voltages for open-loop operation and for tests during setup.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 48 / 158 (ENCODER_INIT_MINI_MOVE), and motion modes where target values are fed into the TMC4671 via PWM interface (Pin: PWM_IN) or analog input via pin AGPI_A. There are additional motion modes, which are using input from the PWM_I input and the AGPI_A input. Input signals can be scaled via a standard scaler providing offset and gain correction.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.9.1 49 / 158 Biquad Filters The TMC4671 uses standard biquad ﬁlters (standard IIR ﬁlter of second order) in the following structure. Y(n) = X(n) · b_0 + X(n-1) · b_1 + X(n-2) · b_2 + Y(n-1) · a_1 + Y(n-2) · a_2 (24) In this equation X(n) is the actual input sample, while Y(n-1) is the ﬁlter output of the last cycle. All coeﬃcients are S32 values and are normalized to a Q3.29 format.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 50 / 158 The transfer function needs to be transformed to time discrete domain by Z-Transformation and coeﬃcients need to be normalized. This is done by the following equations.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 51 / 158 statements are correct for the velocity biquad ﬁlter. Both ﬁlters’ sampling times are ﬁxed to the PWM period. The velocity target value biquad is conﬁgured as a second order low-pass with a cutoff frequency at 200 Hz - by default at a sampling frequency of 25 kHz. Biquad ﬁlters can be activated separately. 4.9.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 52 / 158 The coeﬃcients a_0 and b_1 are represented in Q2.30 format. Registers for parametrization of feed-forward control structure are feed_forward_velocity_gain, feed_forward_velocity_ﬁlter_constant, feed_forward_torque_gain, and feed_forward_torque_ﬁlter_constant. The input target value to the velocity feed-forward entity is the ﬁltered position target value.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 The PWM resolution might be increased in a future version of the chip. Info 4.10.4 53 / 158 PWM Modes The power-on reset (POR) default of the PWM is OFF. The standard PWM scheme is the centered PWM. Passive braking and freewheeling modes are available on demand. Please refer to section 6 concerning the settings. Info 4.10.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 4.10.6 Note 54 / 158 Space Vector PWM (SVPWM) The Space Vector PWM does not allow higher voltage utilization. This will be ﬁxed in next version of the chip. A single bit enables the Space Vector PWM (SVPWM). No further settings are required for the space vector PWM - just ON or OFF. The power on default for the SVPWM is OFF.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 20 ref_sw_r 21 ref_sw_h 22 ref_sw_l 23 ——- 24 pwm_min 25 pwm_max 26 adc_i_clipped 27 adc_aenc_clipped 28 ENC_N 29 ENC2_N 30 AENC_N 31 wd_error 55 / 158 Table 17: Status Flags Register All controllers have input limiters as offsets can be added to target values and they can be limited to stay in certain ranges.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 6 Register Map The TMC4671 has an register address range of 128 addresses with registers up to 32 bit data width. Some registers hold 32 bit data, some hold 2 x 16 bit data and other hold combinations of data deﬁned by data masks. This section descibes the register bank of the TMC4671. Section 6.1 gives an overview over all registers and section 6.2 gives the detailed description of all registers. 6.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 6.2 Register Map Full Register Map for TMC4671 Address Registername 0x00h Access CHIPINFO_DATA R Variant 0 Mask 0xFFFFFFFFh Name Type SI_TYPE ASCII Min Max Default 0 4294967295 0 Unit Hardware type (ASCII). Variant 1 Mask Name 0xFFFFFFFFh Type SI_VERSION Version Min Max Default 0 4294967295 0 Unit Hardware version (u16.u16).
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0 65535 Access 0 Raw analog gpi A value. Variant 2 Mask Name 0x0000FFFFh Type ADC_AGPI_B_RAW Unsigned Min Max Default 0 65535 0 Unit Raw analog gpi B value. Mask Name 0xFFFF0000h Type ADC_AENC_UX_RAW Min Max Default 0 65535 0 Unsigned Unit Raw analog encoder signal.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0x00000003h Access cfg_dsmodulator_a Min Max Default 0 3 0 Choice Unit 0: int. dsMOD 1: ext. dsMOD with MCLK input 2: ext. dsMOD with MCLK output 3: ext. dsMOD with ext.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Mask Access Name 0x000000FFh Type ADC_I0_SELECT Choice Min Max Default 0 3 0 Unit Select input for raw current ADC_I0_RAW. 0: ADCSD_I0_RAW (sigma delta ADC) 1: ADCSD_I1_RAW (sigma delta ADC) 2: ADC_I0_EXT (from register) 3: ADC_I1_EXT (from register) Mask Name 0x0000FF00h Type ADC_I1_SELECT Choice Min Max Default 0 3 1 Unit Select input for raw current ADC_I1_RAW.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0 2 Access 2 0: WY = ADC_I0 1: WY = ADC_I1 2: WY = ADC_I2 (default) 0x0Bh ADC_I1_I0_EXT Mask RW Name 0x0000FFFFh Type ADC_I0_EXT Unsigned Min Max Default 0 65535 0 Unit Register for write of ADC_I0 value from external source (eg. CPU).
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 2: VDD/4 3: 3*VDD/4 4: INP vs. GND 5: VDD/2 6: VDD/4 7: 3*VDD/4 Mask Name 0x00000F00h Type ADC_VM Choice Min Max Default 0 7 0 Unit 0: INP vs. INN 1: GND vs. INN 2: VDD/4 3: 3*VDD/4 4: INP vs. GND 5: VDD/2 6: VDD/4 7: 3*VDD/4 Mask Name 0x0000F000h Type ADC_AGPI_A Choice Min Max Default 0 7 0 Unit 0: INP vs. INN 1: GND vs. INN 2: VDD/4 3: 3*VDD/4 4: INP vs.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 1: GND vs. INN 2: VDD/4 3: 3*VDD/4 4: INP vs. GND 5: VDD/2 6: VDD/4 7: 3*VDD/4 Mask Name 0x00F00000h Type ADC_AENC_UX Choice Min Max Default 0 7 0 Unit 0: INP vs. INN 1: GND vs. INN 2: VDD/4 3: 3*VDD/4 4: INP vs. GND 5: VDD/2 6: VDD/4 7: 3*VDD/4 Mask Name 0x0F000000h Type ADC_AENC_VN Choice Min Max Default 0 7 0 Unit 0: INP vs. INN 1: GND vs.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 0: INP vs. INN 1: GND vs. INN 2: VDD/4 3: 3*VDD/4 4: INP vs. GND 5: VDD/2 6: VDD/4 7: 3*VDD/4 0x0Dh AENC_0_SCALE_OFFSET Mask Name 0x0000FFFFh RW Type AENC_0_OFFSET Unsigned Min Max Default 0 65535 0 Unit Offset for Analog Encoder ADC channel 0.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Offset for Analog Encoder ADC channel 2. Mask Name 0xFFFF0000h Type AENC_2_SCALE Signed Min Max Default -32768 32767 256 Unit Scaling factor for Analog Encoder ADC channel 2. 0x11h AENC_SELECT Mask RW Name 0x000000FFh Type AENC_0_SELECT Choice Min Max Default 0 2 0 Unit Select analog encoder ADC channel for raw analog encoder signal AENC_0_RAW.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0x0000FFFFh Access ADC_IUX Signed Min Max Default -32768 32767 0 Unit Register of scaled current ADC value including signed added offset as input for the FOC. Mask Name 0xFFFF0000h Type ADC_IWY Signed Min Max Default -32768 32767 0 Unit Register of scaled current ADC value including signed added offset as input for the FOC.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Register of scaled analog encoder value including signed added offset as input for the interpolator.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 0: No motor 1: Single phase DC motor 2: Two phase Stepper motor 3: Three phase BLDC motor 0x1Ch PHI_E_EXT Mask RW Name 0x0000FFFFh Type PHI_E_EXT Signed Min Max Default -32768 32767 0 Unit Electrical angle phi_e_ext for external writing into this register.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default 0 4294967295 0 Unit Acceleration of open loop phi. 0x21h OPENLOOP_VELOCITY_TARGET Mask Name 0xFFFFFFFFh RW Type OPENLOOP_VELOCITY_TARGET Min Max Default -2147483648 2147483647 0 Signed Unit Target velocity of open loop phi.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Mask Name Type 0x00000001h apol Bool Min Max Default 0 1 0 Unit Polarity of A pulse. 0: off 1: on Mask Name Type 0x00000002h bpol Bool Min Max Default 0 1 0 Unit Polarity of B pulse. 0: off 1: on Mask Name Type 0x00000004h npol Bool Min Max Default 0 1 0 Unit Polarity of N pulse.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 1: on Mask 0x00001000h Name Type direction Bool Min Max Default 0 1 0 Unit Decoder count direction. 0: positive 1: negative 0x26h ABN_DECODER_PPR Mask Name 0x00FFFFFFh RW Type ABN_DECODER_PPR Min Max Default 0 16777215 65536 Unsigned Unit Decoder pules per mechanical revolution.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0xFFFF0000h Access ABN_DECODER_PHI_E_OFFSET Min Max Default -32768 32767 0 Signed Unit ABN_DECODER_PHI_E_OFFSET to shift (rotate) angle DECODER_PHI_E.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0 1 Access 0 Polarity of N pulse.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Mask Access Name 0x00FFFFFFh Type ABN_2_DECODER_COUNT Min Max Default 0 16777215 0 Unsigned Unit Raw decoder_2 count; the digital decoder engine counts modulo (decoder_2_ppr).
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Mask Access Name 0xFFFF0000h Type HALL_POSITION_180 Min Max Default -32768 32767 -32768 Signed Unit s16 hall sensor position at 180°. 0x36h HALL_POSITION_300_240 Mask Name 0x0000FFFFh RW Type HALL_POSITION_240 Min Max Default -32768 32767 -21846 Signed Unit s16 hall sensor position at 240°.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername 0x0000FFFFh Access HALL_PHI_E Signed Min Max Default -32768 32767 0 Unit Raw electrical angle hall_phi_e of hall decoder, selection programmed via HALL_MODE control bit. Mask Name 0xFFFF0000h Type HALL_PHI_E_INTERPOLATED Min Max Default -32768 32767 0 Signed Unit Interpolated electrical angle hall_phi_e_interpolated, selection programmed via HALL_MODE control bit.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default 0 65535 0 Unit Threshold for generating of N pulse from analog AENC_N signal (only needed for analog SinCos encoders with analog N signal).
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default -32768 32767 1 Unit Number of periods per revolution also called lines per revolution (different nomenclatur compared to digital ABN encoders). 0x41h AENC_DECODER_COUNT Mask Name 0xFFFFFFFFh R Type AENC_DECODER_COUNT Min Max Default -2147483648 2147483647 0 Signed Unit Decoder position, raw unscaled.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default -32768 32767 0 Unit Resulting angle phi_e. 0x47h AENC_DECODER_POSITION Mask Name 0xFFFFFFFFh R Type AENC_DECODER_POSITION Min Max Default -2147483648 2147483647 0 Signed Unit Multi-turn position.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Mask Name Type 0x0000FFFFh PHI_E Signed Min Max Default -32768 32767 0 Unit Angle used for the inner FOC loop.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Min Max Default 0 32767 0 Mask Name 0xFFFF0000h 0x5Ch Access Unit Type PID_POSITION_P Signed Min Max Default 0 32767 0 Unit PID_TORQUE_FLUX_TARGET_DDT_LIMITS Mask Name 0xFFFFFFFFh RW Type PID_TORQUE_FLUX_TARGET_DDT_LIMITS Unsigned Min Max Default Unit 0 32767 32767 [1/us] Limits of change in time [d/dt] of the target torque and target ﬂux.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default 0 4294967295 2147483647 Unit Velocity limit. 0x61h PID_POSITION_LIMIT_LOW Mask Name 0xFFFFFFFFh RW Type PID_POSITION_LIMIT_LOW Min Max Default -2147483648 2147483647 -2147483647 Signed Unit Position limit low, programmable positon barrier.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default -32768 32767 0 Mask Name 0xFFFF0000h Type PID_TORQUE_TARGET Min Max Default -32768 32767 0 0x65h Unit Signed Unit PID_TORQUE_FLUX_OFFSET Mask Name 0x0000FFFFh RW Type PID_FLUX_OFFSET Signed Min Max Default -32768 32767 0 Unit Flux offset for feed forward control.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Target position register (for position mode).
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername -2147483648 2147483647 Access 0 PID ﬂux error. Variant 2 Mask Name 0xFFFFFFFFh Type PID_VELOCITY_ERROR Min Max Default -2147483648 2147483647 0 Signed Unit PID velocity error. Variant 3 Mask Name 0xFFFFFFFFh Type PID_POSITION_ERROR Min Max Default -2147483648 2147483647 0 Signed Unit PID position error.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Min Max Default -2147483648 2147483647 0 Unit PID position error sum.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access Variant 3 Mask Name 0xFFFFFFFFh Type PIDIN_TARGET_POSITION Min Max Default -2147483648 2147483647 0 Signed Unit PIDIN target position. Variant 4 Mask Name 0xFFFFFFFFh Type PIDOUT_TARGET_TORQUE Min Max Default -2147483648 2147483647 0 Signed Unit PIDOUT target torque.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Address Registername Access 0x7Dh STATUS_MASK RW Mask Name 0xFFFFFFFFh Type WARNING_MASK Unsigned Min Max Default 0 4294967295 0 Table 19: Register Map for TMC4671 ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 7 Pinning Figure 31: TMC4671 Pinout with 3 phase Power stage and BLDC Motor Figure 32: TMC4671 Pinout with Stepper Motor ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 138 / 158 Figure 33: TMC4671 Pinout with DC Motor or Voice Coil All power supply pins (VCC, VCC_CORE) must be connected. Info All ground pins (GND, GNDA, . . . ) must be connected. Analog inputs (AI) are 5V single ended or differential inputs (Input range: GNDA to V5). Use voltage dividers or operational ampliﬁers to scale down higher input voltages. Digital inputs (I) resp. (IO) are 3.3V single ended inputs.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 140 / 158 Name Pin IO Description ADC_I0_NEG 17 AI neg. input for phase current signal measurement I0 (I_U, I_X) ADC_I1_POS 18 AI pos. input for phase current signal measurement I1 (I_V, I_W, I_Y) ADC_I1_NEG 19 AI neg.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Name Pin IO VCCIO1 2 3.3V digital IO supply voltage; use 100 nF decoupling capacitor VCCIO2 13 3.3V digital IO supply voltage; use 100 nF decoupling capacitor VCCIO3 43 3.3V digital IO supply voltage; use 100 nF decoupling capacitor VCCIO4 52 3.3V digital IO supply voltage; use 100 nF decoupling capacitor VCCIO5 61 3.3V digital IO supply voltage; use 100 nF decoupling capacitor VCCIO6 72 3.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 9 Electrical Characteristics 9.1 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 Symbol Digital I/O supply voltage Min Max Unit VCCIO 3.6 V Logic input voltage VI 3.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 9.2.2 DC 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.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 10 145 / 158 Sample Circuits Please consider electrical characteristics while designing electrical circuitry. Most Sample Circuits in this chapter were taken from the Evalutation board for the TMC4671 (TMC4671-EVAL). 10.1 Supply Pins Please provide VCCIO and V5 to the TMC4671. VCC_CORE is internally generated and needs just an external decoupling capacitor. Place one 100nF decoupling capacitor at every supply pin.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 Application RP U RP D RLN CP 5 V Encoder signal 4K7 n.c. 100R 100pF Table 27: Reference Values for circuitry components The raw signal (ENC_A_RAW) is divided by a voltage divider and ﬁltered by a lowpass ﬁlter. A pull up resistor is applied for open collector encoder output signals. Diodes protect the input pin (ENC_A) against overand undervoltage. The cutoff-frequency of the lowpass is: fc = 10.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 147 / 158 Figure 36: Phase current measurement: Current directions for 2 and 3 phase motors Figure 37: Phase current measurement: Current direction for DC or Voice Coil Motor There are two main options for measuring the phase currents as described above. First option is to use a shunt resistor and a shunt ampliﬁer like the LT1999 or the AD8418A.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 148 / 158 Figure 38: Current Shunt Ampliﬁer Sample Circuit 10.6 Power Stage Interface The TMC4671 is equipped with a conﬁgurable PWM engine for control of various gate drivers. Gate driver switch signals can be matched to power stage needs. This includes signal polarities, frequency, BBM-times for low and high side switches, and an enable signal. Please consider gate driver circuitry, when connecting to the TMC4671.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 11 149 / 158 Setup Guidelines For easy setup of the TMC4671 on a given hardware platform like the TMC4671 Evaluation-Kit, the user should follow these general guidelines in order to safely set up the system for various modes of operation. Info These guidelines ﬁt to hardware platforms which are comparable to the TMC4671Evaluation Kit. If system structure differs, conﬁguration has to be adjusted.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 12 Package Dimensions Package: QFN76, 0.4 mm pitch, size 11.5 mm x 6.5 mm, industrial temperature range 0°C . . . 85°C, RoHS compliant. Figure 39: QFN76 Package Outline QFN76 Package Dimensions in mm Description Dimension[mm] min. typ. max. Total Thickness A 0.80 0.85 0.90 Stand Off A1 0.00 0.035 0.05 Mold Thickness A2 — 0.65 — L/F Thickness A3 Lead Width b Body Width D 10.
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/ 158 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 QFN76 Package Dimensions in mm EP Size J 8.9 9 9.1 EP Size K 4.9 5 5.1 Lead Length L 0.35 0.40 0.45 Lead Length L1 0.30 0.35 0.40 Package Edge Tolerance aaa 0.1 Mold Flatness bbb 0.1 Coplanarity ccc 0.08 Lead Offset ddd 0.1 Exposed Pad Offset eee 0.1 Table 28: Package Outline Dimensions Figure 40 shows the package from top view.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 13 152 / 158 Supplemental Directives 13.1 Producer Information 13.2 Copyright TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by TRINAMIC, Germany.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 153 / 158 or of any other nature are made hereunder with respect to information/speciﬁcation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. In particular, this also applies to the stated possible applications or areas of applications of the product.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 14 154 / 158 Errata The Errata of the TMC4671-ES are listed here and in the particular descriptions they apply to. 1. SPI Slave Interface The SPI Slave Interface in the TMC4671-ES shows following error. During transaction of MSB of read data might get corrupted. This shows in two different ways. First one is a 40 ns pulse (positive or negative) on MISO at the beginning of transfer of that particular bit.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 155 / 158 target position. But step loss can occur in this conﬁguration as the step direction counter is also overwritten. This will be ﬁxed in next version of the chip. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 15 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 156 / 158 Figures Index FOC Basic Principle . . . . . . . . . . . PID Architectures and Motion Modes Compass Motor w/ 3 Phases . . . . . Compass Motor w/ 3 Phases . . . . . Hardware FOC Application Diagram . Hardware FOC Block Diagram . . . . . SPIdatagramStructure . . . . . . . . . SPI Timing . . . . . . . . . . . . . . . .
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 16 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 157 / 158 Tables Index Order codes . . . . . . . . . . . . . . . TABspiTimingParameter . . . . . . . . Single Pin Interface Motion Modes . . Numerical Representations . . . . . . Examples of u16, s16, q8.8, q4.12 . . Examples of u16, s16, q8.8 . . . . . . ∆Σ ADC Conﬁgurations . . . . . . . . ∆Σ ADC Conﬁgurations . . . . . . . . Delta Sigma MCLK Conﬁgurations . .
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06 17 158 / 158 Revision History 17.1 IC Revision Version Date Author Description V1.00 2017-JUL-03 LL, OM Engineering samples TMC4671-ES (1v00 2017-07-03-19:43) Table 29: IC Revision 17.2 Document Revision Version Date Author Description V0.9 2017-SEP-29 LL, OM Pre-liminary TMC4671-ES datasheet. V0.91 2018-JAN-30 OM Changed some typos and added some notes. V0.