Datasheet

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 3
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TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 5
1.1 KEY CONCEPTS 5
1.2 SPI CONTROL INTERFACE 6
1.3 SOFTWARE 6
1.4 MOVING AND CONTROLLING THE MOTOR 6
1.5 STEALTHCHOP DRIVER WITH PROGRAMMABLE
MICROSTEPPING WAVE 6
1.6 STALLGUARD2 – MECHANICAL LOAD SENSING 6
1.7 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL 7
2 PIN ASSIGNMENTS 8
2.1 PACKAGE OUTLINE 8
2.2 SIGNAL DESCRIPTIONS 8
3 SAMPLE CIRCUITS 11
3.1 STANDARD APPLICATION CIRCUIT 11
3.2 5 V ONLY SUPPLY 12
3.3 EXTERNAL 5V POWER SUPPLY 13
3.4 OPTIMIZING ANALOG PRECISION 14
3.5 DRIVER PROTECTION AND EME CIRCUITRY 14
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 22
5.3 MICROSTEP TABLE REGISTERS 28
5.4 MOTOR DRIVER REGISTERS 30
5.5 VOLTAGE PWM MODE STEALTHCHOP 35
6 CURRENT SETTING 36
6.1 SENSE RESISTORS 37
7 STEALTHCHOP™ 38
7.1 TWO MODES FOR CURRENT REGULATION 38
7.2 AUTOMATIC SCALING 39
7.3 FIXED SCALING 41
7.4 COMBINING STEALTHCHOP WITH OTHER CHOPPER
MODES 43
7.5 FLAGS IN STEALTHCHOP 44
7.6 FREEWHEELING AND PASSIVE MOTOR BRAKING 45
8 SPREADCYCLE AND CLASSIC CHOPPER 46
8.1 SPREADCYCLE CHOPPER 47
8.2 CLASSIC CONSTANT OFF TIME CHOPPER 50
8.3 RANDOM OFF TIME 51
9 DRIVER DIAGNOSTIC FLAGS 52
9.1 TEMPERATURE MEASUREMENT 52
9.2 SHORT TO GND PROTECTION 52
9.3 OPEN LOAD DIAGNOSTICS 52
10 RAMP GENERATOR 53
10.1 REAL WORLD UNIT CONVERSION 53
10.2 MOTION PROFILES 54
10.3 INTERRUPT HANDLING 56
10.4 VELOCITY THRESHOLDS 56
10.5 REFERENCE SWITCHES 57
11 STALLGUARD2 LOAD MEASUREMENT 59
11.1 TUNING STALLGUARD2 THRESHOLD SGT 60
11.2 STALLGUARD2 UPDATE RATE AND FILTER 62
11.3 DETECTING A MOTOR STALL 62
11.4 HOMING WITH STALLGUARD 62
11.5 LIMITS OF STALLGUARD2 OPERATION 62
12 COOLSTEP OPERATION 63
12.1 USER BENEFITS 63
12.2 SETTING UP FOR COOLSTEP 63
12.3 TUNING COOLSTEP 65
13 SINE-WAVE LOOK-UP TABLE 66
13.1 USER BENEFITS 66
13.2 MICROSTEP TABLE 66
13.3 CHANGING RESOLUTION 67
14 QUICK CONFIGURATION GUIDE 68
15 GETTING STARTED 72
15.1 INITIALIZATION EXAMPLES 72
16 EXTERNAL RESET 73
17 CLOCK OSCILLATOR AND CLOCK INPUT 73
17.1 USING THE INTERNAL CLOCK 73
17.2 USING AN EXTERNAL CLOCK 73
17.3 CONSIDERATIONS ON THE FREQUENCY 74
18 ABSOLUTE MAXIMUM RATINGS 75
19 ELECTRICAL CHARACTERISTICS 75
19.1 OPERATIONAL RANGE 75
19.2 DC CHARACTERISTICS AND TIMING
CHARACTERISTICS 76
19.3 THERMAL CHARACTERISTICS 79
20 LAYOUT CONSIDERATIONS 80
20.1 EXPOSED DIE PAD 80
20.2 WIRING GND 80
20.3 SUPPLY FILTERING 80
20.4 LAYOUT EXAMPLE 81
21 PACKAGE MECHANICAL DATA 82
21.1 DIMENSIONAL DRAWINGS 82
21.2 PACKAGE CODES 82
22 DESIGN PHILOSOPHY 83
23 DISCLAIMER 83