Datasheet

TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28) 3
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TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 4
1.1 KEY CONCEPTS 4
1.2 SPI CONTROL INTERFACE 5
1.3 SOFTWARE 5
1.4 MOVING AND CONTROLLING THE MOTOR 5
1.5 PRECISION DRIVER WITH PROGRAMMABLE
MICROSTEPPING WAVE 5
1.6 STALLGUARD2 – MECHANICAL LOAD SENSING 5
1.7 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL 6
2 PIN ASSIGNMENTS 7
2.1 PACKAGE OUTLINE 7
2.2 SIGNAL DESCRIPTIONS 7
3 SAMPLE CIRCUITS 10
3.1 STANDARD APPLICATION CIRCUIT 10
3.2 5 V ONLY SUPPLY 12
3.3 EXTERNAL VCC SUPPLY 13
3.4 OPTIMIZING ANALOG PRECISION 14
3.5 DRIVER PROTECTION AND EME CIRCUITRY 15
4 SPI INTERFACE 16
4.1 SPI DATAGRAM STRUCTURE 16
4.2 SPI SIGNALS 17
4.3 TIMING 18
5 REGISTER MAPPING 19
5.1 GENERAL CONFIGURATION REGISTERS 20
5.2 RAMP GENERATOR REGISTERS 21
5.3 MOTOR DRIVER REGISTERS 26
6 CURRENT SETTING 32
6.1 SENSE RESISTORS 33
7 CHOPPER OPERATION 34
7.1 SPREADCYCLE CHOPPER 35
7.2 CLASSIC 2-PHASE MOTOR CONSTANT OFF TIME
CHOPPER 38
7.3 RANDOM OFF TIME 39
7.4 CHOPSYNC2 FOR QUIET MOTORS 40
8 DRIVER DIAGNOSTIC FLAGS 41
8.1 TEMPERATURE MEASUREMENT 41
8.2 SHORT TO GND PROTECTION 41
8.3 OPEN LOAD DIAGNOSTICS 41
9 RAMP GENERATOR 42
9.1 REAL WORLD UNIT CONVERSION 42
9.2 MOTION PROFILES 43
9.3 INTERRUPT HANDLING 44
9.4 VELOCITY THRESHOLDS 44
9.5 REFERENCE SWITCHES 46
9.6 RESTRICTIONS OF RAMP GENERATOR (ERRATA) 47
10 STALLGUARD2 LOAD MEASUREMENT 50
10.1 TUNING THE STALLGUARD2 THRESHOLD SGT 51
10.2 STALLGUARD2 UPDATE RATE AND FILTER 53
10.3 DETECTING A MOTOR STALL 53
10.4 HOMING WITH STALLGUARD 53
10.5 LIMITS OF STALLGUARD2 OPERATION 53
11 COOLSTEP OPERATION 54
11.1 USER BENEFITS 54
11.2 SETTING UP FOR COOLSTEP 54
11.3 TUNING COOLSTEP 56
12 SINE-WAVE LOOK-UP TABLE 57
12.1 USER BENEFITS 57
12.2 MICROSTEP TABLE 57
13 QUICK CONFIGURATION GUIDE 59
14 GETTING STARTED 62
14.1 INITIALIZATION EXAMPLES 62
15 CLOCK OSCILLATOR AND CLOCK INPUT 63
15.1 USING THE INTERNAL CLOCK 63
15.2 USING AN EXTERNAL CLOCK 63
15.3 CONSIDERATIONS ON THE FREQUENCY 63
16 ABSOLUTE MAXIMUM RATINGS 65
17 ELECTRICAL CHARACTERISTICS 65
17.1 OPERATIONAL RANGE 65
17.2 DC CHARACTERISTICS AND TIMING
CHARACTERISTICS 66
17.3 THERMAL CHARACTERISTICS 68
18 LAYOUT CONSIDERATIONS 69
18.1 EXPOSED DIE PAD 69
18.2 WIRING GND 69
18.3 SUPPLY FILTERING 69
18.4 LAYOUT EXAMPLE 70
19 PACKAGE MECHANICAL DATA 71
19.1 DIMENSIONAL DRAWINGS 71
19.2 PACKAGE CODES 71
20 DISCLAIMER 72
21 ESD SENSITIVE DEVICE 72
22 TABLE OF FIGURES 73
23 REVISION HISTORY 74
24 REFERENCES 74