Datasheet

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
156 / 158
15 Figures Index
1 FOC Basic Principle . . . . . . . . . . . 8
2 PID Architectures and Motion Modes 9
3 Compass Motor w/ 3 Phases . . . . . 13
4 Compass Motor w/ 3 Phases . . . . . 13
5 Hardware FOC Application Diagram . 14
6 Hardware FOC Block Diagram . . . . . 14
7 SPIdatagramStructure . . . . . . . . . 15
8 SPI Timing . . . . . . . . . . . . . . . . 16
9 Connector for Real-Time Monitoring
Interface (Connector Type: Hirose
DF20F-10DP-1V) . . . . . . . . . . . . . 17
10 UartDatagramSingleRead . . . . . . . 18
11 UartDatagramSingleWrite . . . . . . . 18
12 nPolePairsNumberOfPolePairs . . . . 22
13 Integer Representation of Angles as 16
bit signed (s16) resp. 16 bit unsigned
(u16) . . . . . . . . . . . . . . . . . . . . 22
14 Delta Sigma ADC Configurations
dsADC_CONFIG (ANALOG (internal),
MCLKO, MCLKI, MDAC) . . . . . . . . . 25
15 ∆Σ ADC Configurations - MDAC
(Comparator-R-C-R as ∆Σ-Modulator) 29
16 ADC Selector and Scaler with Offset
Correction . . . . . . . . . . . . . . . . 34
17 ABN Incremental Encoder N Pulse any-
where between 0° and 360° . . . . . . 36
18 Encoder ABN Timing . . . . . . . . . . 37
19 Hall Sensor Angles . . . . . . . . . . . 38
20 nPolePairsNumberOfPolePairs . . . . 39
21 Encoder Initialization by minimal
Movement . . . . . . . . . . . . . . . . 41
22 Flux Ramping . . . . . . . . . . . . . . 41
23 Advanced PI Controller Structure . . . 43
24 PI Architectures and Motion Modes . 45
25 Inner FOC Control Loop . . . . . . . . 46
26 FOC Transformations . . . . . . . . . . 47
27 Motion Modes . . . . . . . . . . . . . . 47
28 Biquad Filters in Control Structure . . 50
29 DT1 Element Structure . . . . . . . . . 51
30 BBM Timing . . . . . . . . . . . . . . . 53
31 TMC4671 Pinout with 3 phase Power
stage and BLDC Motor . . . . . . . . . 137
32 TMC4671 Pinout with Stepper Motor 137
33 TMC4671 Pinout with DC Motor or
Voice Coil . . . . . . . . . . . . . . . . . 138
34 Sample Circuit for Interfacing of an En-
coder Signal . . . . . . . . . . . . . . . 145
35 Sample Circuit for Interfacing of a sin-
gle ended analog signal . . . . . . . . 146
36 Phase current measurement: Current
directions for 2 and 3 phase motors . 147
37 Phase current measurement: Current
direction for DC or Voice Coil Motor . 147
38 Current Shunt Amplifier Sample Circuit 148
39 QFN76 Package Outline . . . . . . . . 150
40 Pinout of TMC4671 (Top View) . . . . 151
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