Datasheet
TMC5062 DATASHEET (Rev. 1.11 / 2017-MAY-16) 3
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TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 5
1.1 KEY CONCEPTS 5
1.2 CONTROL INTERFACES 6
1.3 SOFTWARE 6
1.4 MOVING AND CONTROLLING THE MOTOR 7
1.5 PRECISION DRIVER WITH PROGRAMMABLE
MICROSTEPPING WAVE 7
1.6 STALLGUARD2 – MECHANICAL LOAD SENSING 7
1.7 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL 7
1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 8
1.9 ENCODER INTERFACES 8
2 PIN ASSIGNMENTS 9
2.1 PACKAGE OUTLINE 9
2.2 SIGNAL DESCRIPTIONS 9
3 SAMPLE CIRCUITS 12
3.1 STANDARD APPLICATION CIRCUIT 12
3.2 5 V ONLY SUPPLY 14
3.3 EXTERNAL VCC SUPPLY 15
3.4 OPTIMIZING ANALOG PRECISION 16
3.5 DRIVER PROTECTION AND EME CIRCUITRY 17
4 SPI INTERFACE 18
4.1 SPI DATAGRAM STRUCTURE 18
4.2 SPI SIGNALS 19
4.3 TIMING 20
5 UART SINGLE WIRE INTERFACE 21
5.1 DATAGRAM STRUCTURE 21
5.2 CRC CALCULATION 23
5.3 UART SIGNALS 24
6 REGISTER MAPPING 25
6.1 GENERAL CONFIGURATION REGISTERS 26
6.2 RAMP GENERATOR REGISTERS 28
6.3 ENCODER REGISTERS 34
6.4 MOTOR DRIVER REGISTERS 36
7 CURRENT SETTING 43
7.1 SENSE RESISTORS 44
8 CHOPPER OPERATION 45
8.1 SPREADCYCLE CHOPPER 46
8.2 CLASSIC 2-PHASE MOTOR CONSTANT OFF TIME
CHOPPER 49
8.3 RANDOM OFF TIME 50
8.4 CHOPSYNC2 FOR QUIET MOTORS 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 55
10.4 VELOCITY THRESHOLDS 55
10.5 REFERENCE SWITCHES 57
10.6 RESTRICTIONS OF RAMP GENERATOR (ERRATA) 58
11 STALLGUARD2 LOAD MEASUREMENT 61
11.1 TUNING THE STALLGUARD2 THRESHOLD SGT 62
11.2 STALLGUARD2 UPDATE RATE AND FILTER 64
11.3 DETECTING A MOTOR STALL 64
11.4 HOMING WITH STALLGUARD 64
11.5 LIMITS OF STALLGUARD2 OPERATION 64
12 COOLSTEP OPERATION 65
12.1 USER BENEFITS 65
12.2 SETTING UP FOR COOLSTEP 65
12.3 TUNING COOLSTEP 67
13 DCSTEP 68
13.1 USER BENEFITS 68
13.2 DESIGNING-IN DCSTEP 68
13.3 ENABLING DCSTEP 69
13.4 STALL DETECTION IN DCSTEP MODE 69
13.5 MEASURING ACTUAL MOTOR VELOCITY IN DCSTEP
OPERATION 70
14 SINE-WAVE LOOK-UP TABLE 71
14.1 USER BENEFITS 71
14.2 MICROSTEP TABLE 71
15 ABN INCREMENTAL ENCODER INTERFACE 73
15.1 ENCODER TIMING 74
15.2 SETTING THE ENCODER TO MATCH MOTOR
RESOLUTION 74
15.3 CLOSING THE LOOP 74
16 QUICK CONFIGURATION GUIDE 76
17 GETTING STARTED 80
17.1 INITIALIZATION EXAMPLES 80
18 CLOCK OSCILLATOR AND CLOCK INPUT 81
18.1 USING THE INTERNAL CLOCK 81
18.2 USING AN EXTERNAL CLOCK 81
18.3 CONSIDERATIONS ON THE FREQUENCY 81
19 ABSOLUTE MAXIMUM RATINGS 83
20 ELECTRICAL CHARACTERISTICS 83
20.1 OPERATIONAL RANGE 83
20.2 DC CHARACTERISTICS AND TIMING
CHARACTERISTICS 84
20.3 THERMAL CHARACTERISTICS 86
21 LAYOUT CONSIDERATIONS 87
21.1 EXPOSED DIE PAD 87
21.2 WIRING GND 87
21.3 SUPPLY FILTERING 87