Datasheet

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 84
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25 Table of Figures
Figure 1.1 Basic application and block diagram .......................................................................................................... 5
Figure 1.2 Energy efficiency with coolStep (example) ............................................................................................... 7
Figure 2.1 TMC5041 pin assignments. ............................................................................................................................. 8
Figure 3.1 Standard application circuit ......................................................................................................................... 11
Figure 3.2 5V only operation ........................................................................................................................................... 12
Figure 3.3 Using an external 5V supply for digital circuitry of driver (different options) ............................. 13
Figure 3.4 Using an external 5V supply to bypass internal regulator ................................................................ 14
Figure 3.5 RC-Filter on VCC for reduced ripple .......................................................................................................... 14
Figure 3.6 Simple ESD enhancement and more elaborate motor output protection .................................... 15
Figure 4.1 SPI timing ......................................................................................................................................................... 18
Figure 7.1 Motor coil sine wave current with stealthChop (measured with current probe) ....................... 38
Figure 7.2 Scope shot: good setting for PWM_GRAD............................................................................................... 39
Figure 7.3 Scope shot: too small setting for PWM_GRAD ...................................................................................... 39
Figure 7.4 Good and too small setting for PWM_GRAD .......................................................................................... 40
Figure 8.1 Chopper phases .............................................................................................................................................. 46
Figure 8.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow & blue:
sense resistor voltages A and B) ................................................................................................................................... 48
Figure 8.3 spreadCycle chopper scheme showing coil current during a chopper cycle ............................... 49
Figure 8.4 Classic const. off time chopper with offset showing coil current................................................... 50
Figure 8.5 Zero crossing with classic chopper and correction using sine wave offset................................. 50
Figure 10.1 Ramp generator velocity trace showing consequent move in negative direction................... 54
Figure 10.2 Illustration of optimized motor torque usage with TMC5041 ramp generator ......................... 55
Figure 10.3 Ramp generator velocity dependent motor control .......................................................................... 56
Figure 10.4 Using reference switches (example) ....................................................................................................... 57
Figure 11.1 Function principle of stallGuard2 ............................................................................................................ 59
Figure 11.2 Example: Optimum SGT setting and stallGuard2 reading with an example motor ................. 61
Figure 12.1 coolStep adapts motor current to the load ......................................................................................... 64
Figure 13.1 LUT programming example ....................................................................................................................... 66
Figure 14.1 Current setting and first steps with stealthChop ............................................................................... 68
Figure 14.2 Tuning stealthChop and spreadCycle ..................................................................................................... 69
Figure 14.3 Moving the motor using the motion controller ................................................................................. 70
Figure 14.4 Enabling coolStep (only in combination with spreadCycle) ............................................................ 71
Figure 20.1 Layout example ............................................................................................................................................. 81
Figure 21.1 Dimensional drawings ................................................................................................................................ 82