Datasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC5160 DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 20A coil current (external MOSFETs)

Motion Controller with sixPoint™

ramp

Step/Dir Interface with microstep interpolation microPlyer™

Voltage Range 8 … 60V DC

SPI & Single Wire UART

Encoder Interface and 2x Ref.-Switch Input

Highest Resolution 256 microsteps per full step

stealthChop2™ for quiet operation and smooth motion

Resonance Dampening for mid range resonances

spreadCycle™ highly dynamic motor control chopper

dcStep™ load dependent speed control

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Compact Size 9x9mm

TQFP48 package / 8x8mm² QFN

APPLICATIONS

Industrial Drives

Robotics

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

CCTV

ATM, Cash recycler

Pumps and Valves

DESCRIPTION

The TMC5160 is a high power stepper

motor controller and driver IC with serial

communication interfaces. It combines a

flexible ramp generator for automatic

target positioning with industries’ most

advanced stepper motor driver. Using

external transistors, highly dynamic, high

torque drives can be realized. Based on

TRINAMICs sophisticated spreadCycle and

stealthChop choppers, the driver ensures

absolutely noiseless operation combined

with maximum efficiency and best motor

torque. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions. The complete

solution reduces learning curve to a

minimum while giving best performance

in class.

Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet

movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.

BLOCK DIAGRAM

Diff. Sensing

spreadCycle

stealthChop

MOTION CONTROLLER

with Linear 6 Point

RAMP Generator

MOSFET

Driver

TMC5160

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

Ref. Switches

SPI

stallGuard2 coolStep dcStep

Power

Supply

Charge

Pump

ABN

Motor

Encoder Unit

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

Reference Switch

Processing

Interrupts

Position

Pulse Output

UART

Single Wire

SPI to

Master

UART

CLK

Oscillator / Selector

SENSE

BOOT

1 of 2 full bridges

shown

Summary of content (133 pages)

PAGE 1
POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC5160 DATASHEET Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 2 APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC5160 scores with complete motion controlling features, powerful external MOSFET driver stages, and high quality current regulation. It offers a versatility that covers a wide spectrum of applications from battery powered, high efficiency systems up to embedded applications with 20A motor current per coil. The TMC5160 contains the complete intelligence which is required to drive a motor.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 3 Table of Contents 1 1.1 KEY CONCEPTS ................................................ 6 1.2 CONTROL INTERFACES ..................................... 7 1.3 SOFTWARE ...................................................... 7 1.4 MOVING AND CONTROLLING THE MOTOR ........ 8 1.5 AUTOMATIC STANDSTILL POWER DOWN......... 8 1.6 STEALTHCHOP2 & SPREADCYCLE DRIVER ........ 8 1.7 STALLGUARD2 – MECHANICAL LOAD SENSING9 1.8 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL ..........
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 20.2 SETTING THE ENCODER TO MATCH MOTOR RESOLUTION ............................................................ 107 20.3 CLOSING THE LOOP .................................... 108 21 21.1 DC MOTOR OR SOLENOID .................... 109 SOLENOID OPERATION ............................... 109 22 QUICK CONFIGURATION GUIDE ......... 110 23 GETTING STARTED .................................. 115 23.1 INITIALIZATION EXAMPLES .........................
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 1 5 Principles of Operation The TMC5160 motion controller and driver chip is an intelligent power component interfacing between CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No software is required to control the motor – just provide target positions. The TMC5160 offers a number of unique enhancements which are enabled by the system-on-chip integration of driver and controller.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6 100n VSA CB2 12VOUT 100n 2.2µ TMC5160 11.5V Voltage regulator 5VOUT 2.2µ 5V Voltage regulator f ac Inter CSN SCK SDI SDO e Control register set DIAG / INT out and Single wire interface DIAG0 programmable sine table 4*256 entry CB CB1 CB BMB1 RG RG RG RG BMB2 LB1 LS LB2 LS 47R RS SRBL Stepper driver CA2 B.Dwersteg, © Protection TRINAMIC 2014 B.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 7 stealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor. Allows faster motor acceleration and deceleration than stealthChop™ and extends stealthChop to low stand still motor currents. spreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean current wave. Low noise, low resonance and low vibration chopper. dcStep™ Load dependent speed control.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 8 1.4 Moving and Controlling the Motor 1.4.1 Integrated Motion Controller The integrated 32 bit motion controller automatically drives the motor to target positions, or accelerates to target velocities. All motion parameters can be changed on the fly. The motion controller recalculates immediately. A minimum set of configuration data consists of acceleration and deceleration values and the maximum motion velocity.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 9 can be pre-configured via the interface. stealthChop2 allows high motor dynamics, by reacting at once to a change of motor velocity. For highest dynamic applications, spreadCycle is an option to stealthChop2. It can be enabled via input pin (standalone mode) or via SPI or UART interface.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 10 1.9 dcStep – Load Dependent Speed Control dcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If the mechanical load on the motor increases to the stalling load, the motor automatically decreases velocity so that it can still drive the load. With this feature, the motor will never stall.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 2 11 Pin Assignments CA1 HA1 BMA1 42 41 40 BMA2 CB2 43 37 HB2 44 LA1 BMB2 45 LA2 LB2 46 38 LB1 47 39 BMB1 48 2.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 12 2.2 Signal Descriptions Pin HB1 CB1 TQFP 1 2 QFN 2 3 12VOUT 3 4 VSA 4 5 5VOUT 5 6 GNDA 6 7 SRAL 7 8 AI SRAH 8 9 AI SRBH 9 10 AI SRBL 10 11 AI TST_MODE 11 12 DI CLK 12 13 DI CSN_CFG3 13 14 DI SCK_CFG2 14 15 DI SDI_CFG1 15 16 DI SDO_CFG0 16 17 DIO REFL_STEP 17 18 DI REFR_DIR 18 19 DI 19, 30 20 25, Pad 20 GNDD VCC_IO www.trinamic.com Type Function High side gate driver output.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Pin TQFP QFN Type SD_MODE 21 21 DI SPI_MODE 22 22 DI (pd) ENCB_DCEN_ CFG4 23 23 DI (pd) ENCA_DCIN_ CFG5 24 24 DI (pd) ENCN_DCO_ CFG6 25 26 DIO DIAG0_SWN 26 27 DIO (pu+ pd) DIAG1_SWP 27 28 DIO (pd) DRV_ENN 28 29 DI VCC 29 30 CPO 31 31 CPI 32 32 VS 33 33 VCP CA2 34 35 34 35 www.trinamic.com 13 Function Mode selection input. When tied low, the internal ramp generator generates step pulses.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Pin HA2 BMA2 LA2 LA1 BMA1 HA1 CA1 CB2 HB2 BMB2 LB2 LB1 BMB1 TQFP 36 37 38 39 40 41 42 43 44 45 46 47 48 QFN 36 37 38 39 40 41 42 43 44 45 46 47 1 Exposed die pad - - Type 14 Function High side gate driver output. Bridge Center and bootstrap capacitor negative connection. Low side gate driver output. Low side gate driver output. Bridge Center and bootstrap capacitor negative connection. High side gate driver output. Bootstrap capacitor positive connection.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 3 15 Sample Circuits The following sample circuits show the required external components in different operation and supply modes. The connection of the bus interface and further digital signals are left out for clarity. 3.1 Standard Application Circuit 100n VSA CB2 12VOUT 100n 2.2µ 2.2µ CE VS 100n 16V VCP CPI 22n 100V CPO +VM REFR/DIR REFL/STEP +VM Optional use lower voltage down to 12V 11.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 16 Attention In case VSA is supplied by a different voltage source, make sure that VSA does not drop out during motor operation. 3.2 External Gate Voltage Regulator At high supply voltages like 48V, the internal gate voltage regulator and the internal 5V regulator have considerable power dissipation, especially with high MOSFET gate charges, high chopper frequency or high system clock frequency >12MHz.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 17 3.3 MOSFETs and Slope Control The selection of power MOSFETs depends on a number of factors, like package size, on-resistance, voltage rating and supplier. It is not true, that larger, lower RDSon MOSFETs will always be better, as a larger device also has higher capacitances and may add more ringing in trace inductance and power dissipation in the gate drive circuitry.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 18 V12VOUT Miller plateau Lx MOSFET drivers 0V VVM Output slope BMx 0V Output slope -1.2V VVM+V12VOUT VVM Hx 0V VCX-VBMx HxBMx Miller plateau 0V tBBM tBBM tBBM Effective break-before-make time Load pulling BMx down Load pulling BMx up Figure 3.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 19 3.4 Tuning the MOSFET Bridge A clean switching event is favorable to ensure low power dissipation and good EMC behavior. Unsuitable layout or components endanger stable operation of the circuit. Therefore, it is important to understand the effect of parasitic trace inductivity and MOSFET reverse recovery.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 20 Figure 3.6 Ringing of output (blue) and Gate voltages (Yellow, Cyan) with untuned brige Figure 3.7 Switching event with optimized components (without / after bulk diode conduction) BRIDGE OPTIMIZATION EXAMPLE A stepper driver for 6A of motor current has been designed using the MOSFET AOD4126 in the standard schematic. The MOSFETs have a low gate capacitance and offer roughly 50ns slope time at the lowest driver strength setting.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) CA2 HS 21 +VM 470n HA2 4.7µF CA1 HS HA1 4x AOD4126 470n BMA1 10R 10R Coil out BMA2 LA1 LS 10R 10R 1n, 100V 1n, 100V LA2 LS SRAH 47R 50m, 2512 SRAL GNDD GNDA DIE PAD 47R Figure 3.8 Example for bridge with tuned components (see scope shots) Hints Tune the bridge layout for minimum loop inductivity. A compact layout is best.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 4 22 SPI Interface 4.1 SPI Datagram Structure The TMC5160 uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are typically able to communicate using integer multiples of 8 bit. The NCS line of the device must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 23 Example: For a read access to the register (XACTUAL) with the address 0x21, the address byte has to be set to 0x21 in the access preceding the read access. For a write access to the register (VACTUAL), the address byte has to be set to 0x80 + 0x22 = 0xA2. For read access, the data bit might have any value (-). So, one can set them to 0.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 24 4.3 Timing The SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 5 25 UART Single Wire Interface The UART single wire interface allows the control of the TMC5160 with any microcontroller UART. It shares transmit and receive line like an RS485 based interface. Data transmission is secured using a cyclic redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can be bridged without the danger of wrong or missed commands even in the event of electro-magnetic disturbance.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 5.1.2 26 Read Access UART READ ACCESS REQUEST DATAGRAM STRUCTURE each byte is LSB…MSB, highest byte transmitted first sync + reserved 8 bit slave address RW + 7 bit register address CRC 0...
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 27 5.2 CRC Calculation An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB, including the sync- and addressing byte. The sync nibble is assumed to always be correct. The TMC5160 responds only to correctly transmitted datagrams containing its own slave address.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 28 5.4 Addressing Multiple Slaves ADDRESSING ONE OR TWO SLAVES If only one or two TMC5160 are addressed by a master using a single UART interface, a hardware address selection can be done by setting the NAI pins of both devices to different levels. ADDRESSING UP TO 255 SLAVES A different approach can address any number of devices by using the input NAI as a selection pin. Addressing up to 255 units is possible.
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TMC5160 DATASHEET (Rev. 1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6 30 Register Mapping This chapter gives an overview of the complete register set. Some of the registers bundling a number of single bits are detailed in extra tables. The functional practical application of the settings is detailed in dedicated chapters. Note - All registers become reset to 0 upon power up, unless otherwise noted.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 31 6.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 17 www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 32 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+ WC 0x01 3 GSTAT R 0x02 8 IFCNT www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 33 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register W 0x03 8 + 4 SLAVECONF R 0x04 8 + 8 IOIN Description / bit names Bit SLAVECONF 7..0 SLAVEADDR: These eight bits set the address of unit for the UART interface. The address becomes incremented by one when the external address pin NEXTADDR is active. Range: 0-253 (254 cannot be incremented), default=0 11..
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 34 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr R 0x07 RW 0x08 n Register OTP_READ 5 FACTORY_ CONF Description / bit names 15..8 OTPMAGIC Set to 0xbd to enable programming. A programming time of minimum 10ms per bit is recommended (check by reading OTP_READ). Bit OTP_READ (Access to OTP memory result and update) See separate table! 7..0 OTP0 byte 0 read data 4..0 FCLKTRIM (Reset default: OTP) 0…31: Lowest to highest clock frequency.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 35 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names 11..8 BBMCLKS: 0..15: Digital BBM time in clock cycles (typ. 83ns). The longer setting rules (BBMTIME vs. BBMCLKS). (Reset Default: OTP 4 or 2) 17..16 OTSELECT: Selection of over temperature level for bridge disable, switch on after cool down to 120°C / OTPW level.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.1.1 36 OTP_READ – OTP configuration memory The OTP memory holds power up defaults for certain registers. All OTP memory bits are cleared to 0 by default. Programming only can set bits, clearing bits is not possible. Factory tuning of the clock frequency affects otp0.0 to otp0.4. The state of these bits therefore may differ between individual ICs. 0X07: OTP_READ – OTP MEMORY MAP Bit 7 Name otp0.7 Function otp_TBL 6 otp0.6 otp_BBM 5 otp0.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 37 6.2 Velocity Dependent Driver Feature Control Register Set VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr n 0x10 5 + 5 + 4 Register Description / bit names Bit IHOLD_IRUN – Driver current control 4..0 IHOLD Standstill current (0=1/32…31=32/32) In combination with stealthChop mode, setting IHOLD=0 allows to choose freewheeling or coil short circuit for motor stand still. 12..
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 38 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W Addr n Register W 0x13 20 TPWMTHRS W 0x14 20 TCOOLTHRS Description / bit names This is the upper velocity for stealthChop voltage PWM mode. TSTEP ≥ TPWMTHRS - stealthChop PWM mode is enabled, if configured - dcStep is disabled This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 39 6.3 Ramp Generator Registers 6.3.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 40 RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D) R/W Addr n Register W 0x2B 18 VSTOP Hint: Set VSTOP ≥ VSTART to allow positioning for short distances TZEROWAIT Attention: Do not set 0 in positioning mode, minimum 10 recommend! Defines the waiting time after ramping down to zero velocity before next movement or direction inversion can start. Time range is about 0 to 2 seconds.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.3.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 42 6.3.2.1 SW_MODE – Reference Switch & stallGuard2 Event Configuration Register 0X34: SW_MODE – REFERENCE SWITCH AND STALLGUARD2 EVENT CONFIGURATION REGISTER Bit 11 Name en_softstop Comment 0: Hard stop 1: Soft stop The soft stop mode always uses the deceleration ramp settings DMAX, V1, D1, VSTOP and TZEROWAIT for stopping the motor.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 43 6.3.2.2 RAMP_STAT – Ramp & Reference Switch Status Register 0X35: RAMP_STAT – RAMP AND REFERENCE SWITCH STATUS REGISTER R/W R Bit 13 Name status_sg R+ WC 12 second_move R 11 R R 10 9 R 8 R+ WC 7 t_zerowait_ active vzero position_ reached velocity_ reached event_pos_ reached R+ WC 6 event_stop_ sg R 5 event_stop_r 4 event_stop_l 3 status_latch_r 2 status_latch_l 1 0 status_stop_r status_stop_l R+ WC R www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 44 6.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.4.1 45 ENCMODE – Encoder Register 0X38: ENCMODE – ENCODER REGISTER Bit 10 Name enc_sel_decimal 9 latch_x_act 8 clr_enc_x 7 6 neg_edge pos_edge 5 clr_once 4 clr_cont 3 ignore_AB 2 1 0 pol_N pol_B pol_A www.trinamic.com Comment 0 Encoder prescaler divisor binary mode: Counts ENC_CONST(fractional part) /65536 1 Encoder prescaler divisor decimal mode: Counts in ENC_CONST(fractional part) /10000 1: Also latch XACTUAL position together with X_ENC.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 46 6.5 Motor Driver Registers MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B) R/W Addr n Register MSLUT[0] W 0x60 32 microstep table entries 0…31 MSLUT[1...7] W W W R R 0x61 … 0x67 0x68 0x69 0x6A 0x6B 7 x 32 32 8 + 8 10 9 + 9 www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 47 DRIVER REGISTER SET (0X6C…0X7F) R/W Addr n Register RW 0x6C 32 CHOPCONF W 0x6D 25 COOLCONF W 0x6E 24 DCCTRL R 0x6F 32 DRV_ STATUS W 0x70 22 PWMCONF R R 0x71 0x72 9+8 8+8 www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 48 DRIVER REGISTER SET (0X6C…0X7F) R/W R Addr 0x73 n 20 Register LOST_STEPS Description / bit names bit 23… 16 PWM_GRAD_AUTO: Automatically gradient value Range [Unit] 0…255 determined Number of input steps skipped due to higher load in dcStep operation, if step input does not stop when DC_OUT is low. This counter wraps around after 2^20 steps. Counts up or down depending on direction. Only with SDMODE=1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.5.1 49 MSLUTSEL – Look up Table Segmentation Definition 0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Name X3 X2 Function LUT segment 3 start LUT segment 2 start Comment The sine wave look up table can be divided into up to four segments using an individual step width control entry Wx. The segment borders are selected by X1, X2 and X3.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.5.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 51 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit 10 9 8 7 Name hend3 hend2 hend1 hend0 Function HEND hysteresis low value OFFSET sine wave offset 6 5 4 hstrt2 hstrt1 hstrt0 HSTRT hysteresis start value added to HEND TFD [2..0] fast decay time setting 3 2 1 0 toff3 toff2 toff1 toff0 www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.5.3 52 COOLCONF – Smart Energy Control coolStep and stallGuard2 0X6D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2 Bit … 24 Name sfilt Function reserved stallGuard2 filter enable 23 22 21 20 19 18 17 16 15 sgt6 sgt5 sgt4 sgt3 sgt2 sgt1 sgt0 seimin reserved stallGuard2 threshold value 14 13 sedn1 sedn0 12 11 10 9 8 7 6 5 4 3 2 1 0 semax3 semax2 semax1 semax0 seup1 seup0 semin3 semin2 semin1 semin0 www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.5.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 54 0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit 16 Name pwm_freq0 Function selection 15 14 13 12 11 10 9 8 PWM_ GRAD User defined amplitude gradient 7 6 5 4 3 2 1 0 PWM_ OFS User defined amplitude (offset) Comment %01: fPWM=2/683 fCLK %10: fPWM=2/512 fCLK %11: fPWM=2/410 fCLK Velocity dependent gradient for PWM amplitude: PWM_GRAD * 256 / TSTEP This value is added to PWM_AMPL to compensate for the velocity-dependent motor back-EMF.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 6.5.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 7 56 stealthChop™ stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely noiseless. Thus, stealthChop operated stepper motor applications are very suitable for indoor or home use. The motor operates absolutely free of vibration at low velocities.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 57 7.1 Automatic Tuning stealthChop2 integrates an automatic tuning procedure (AT), which adapts the most important operating parameters to the motor automatically. This way, stealthChop2 allows high motor dynamics and supports powering down the motor to very low currents. Just two steps have to be respected by the motion controller for best results: Start with the motor in standstill, but powered with nominal run current (AT#1).
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 58 Power Up PWM_GRAD_AUTO becomes initialized upon power up Driver Enabled? N Y Stand still N Y N AT#1 Driver Enabled? Standstill reduction enabled? Y Issue (at least) a single step pulse and stop again, to power motor to run current stealthChop2 regulates to nominal current and stores result to PWM_OFS_AUTO (Requires stand still for >130ms) PWM_ GRAD_AUTO initialized from CPU? Y N AT#2 Homing Move the motor, e.g. for homing.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 59 7.2 stealthChop Options In order to match the motor current to a certain level, the effective PWM voltage becomes scaled depending on the actual motor velocity. Several additional factors influence the required voltage level to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional to its velocity) as well as the actual level of the supply voltage.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 60 Figure 7.3 Scope shot: good setting for PWM_REG Figure 7.4 Scope shot: too small setting for PWM_REG during AT#2 Motor Current PWM scale Motor Velocity PWM reaches max. amplitude RMS current constant (IRUN) PW M_ Nominal Current (sine wave RMS) Stand still PWM scale PWM_OFS_(AUTO) ok ok O) UT (_A AD GR M_ PW GR (P AD W M_ (_A RE UT G O) du ok rin g AT #2 ok ) 255 Current may drop due to high velocity IHOLD PWM_OFS_(AUTO) ok 0 0 Figure 7.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 61 Quick Start For a quick start, see the Quick Configuration Guide in chapter 22. 7.3.1 Lower Current Limit The stealthChop current regulator imposes a lower limit for motor current regulation. As the coil current can be measured in the shunt resistor during chopper on phase only, a minimum chopper duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the chopper frequency setting.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 62 programming, only, when setting pwm_autoscale = 0. The basic idea is to have a linear approximation of the voltage required to drive the target current into the motor. The stepper motor has a certain coil resistance and thus needs a certain voltage amplitude to yield a target current based on the basic formula I=U/R. With R being the coil resistance, U the supply voltage scaled by the PWM value, the current I results.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 63 Motor current PWM scaling (PWM_SCALE_SUM) 255 PWM reaches max. amplitude Constant motor RMS current Nominal current (e.g. sine wave RMS) AD GR _ M PW Cur r (de ent dr p en ops mo d tor s on loa d) PWM_OFS 0 0 VPWMMAX Velocity Figure 7.6 Velocity based PWM scaling (pwm_autoscale=0) Hint The values for PWM_OFS and PWM_GRAD can easily be optimized by tracing the motor current with a current probe on the oscilloscope.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 64 Chopper mode stealthChop spreadCycle option option motor going to standby motor in standby motor stand still Running low speed Running high speed Running low speed TSTEP < TPWMTHRS*16/16 TSTEP > TPWMTHRS motor in standby v 0 t RMS current TRINAMIC, B. Dwersteg, 14.3.14 dI * IHOLDDELAY VACTUAL ~1/TSTEP TPOWERDOWN current I_RUN I_HOLD Figure 7.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 65 7.6 Flags in stealthChop As stealthChop uses voltage mode driving, status flags based on current measurement respond slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall. Attention A motor stall, or abrupt stop of the motion during operation in stealthChop can lead to a overcurrent condition.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 66 PARAMETERS RELATED TO STEALTHCHOP Parameter en_spread_ cycle TPWMTHRS PWM_LIM pwm_ autoscale pwm_ autograd Description General disable for use of stealthChop (register GCONF). The input SPREAD is XORed to this flag. Specifies the upper velocity for operation in stealthChop. Entry the TSTEP reading (time between two microsteps) when operating at the desired threshold velocity.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 8 67 spreadCycle and Classic Chopper While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents through both motor coils are controlled using choppers. The choppers work independently of each other. In Figure 8.1 the different chopper phases are shown.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 68 Three parameters are used for controlling both chopper modes: Parameter TOFF Description Setting Sets the slow decay time (off time). This setting also 0 limits the maximum chopper frequency. 1…15 For operation with stealthChop, this parameter is not used, but it is required to enable the motor. In case of operation with stealthChop only, any setting is OK.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 69 ability of the chopper to follow a changing motor current. Further the duration of the on phase and the fast decay must be longer than the blanking time, because the current comparator is disabled during blanking. It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0) and increasing HSTRT, until the motor runs smoothly at low velocity settings.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 70 the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the frequency gets too low. This avoids the frequency reaching the audible range. I target current + hysteresis start HDEC target current + hysteresis end target current target current - hysteresis end target current - hysteresis start on sd fd sd t Figure 8.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 71 8.2 Classic Constant Off Time Chopper The classic constant off time chopper is an alternative to spreadCycle. Perfectly tuned, it also gives good results. Also, the classic constant off time chopper (automatically) is used in combination with fullstepping in dcStep operation. The classic constant off-time chopper uses a fixed-time fast decay following each on phase.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 72 Parameter TFD (fd3 & HSTRT) Description Setting Fast decay time setting. With CHM=1, these bits 0 control the portion of fast decay for each chopper 1…15 cycle. Comment slow decay only duration of fast decay phase OFFSET (HEND) Sine wave offset. With CHM=1, these bits control 0…2 the sine wave offset. A positive offset corrects for 3 zero crossing error.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 9 73 Selecting Sense Resistors The TMC5160 provides several means to set the motor current: Sense resistors, GLOBALSCALER and currentscale CS. To adapt a drive to the motor, choose a sense-resistor value fitting or slightly exceeding the maximum desired current at 100% settings of the scalers. Fine-tune the current to the specific motor via the 8 bit GLOBALSCALER.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 74 less than the coil RMS current, because no current flows through the sense resistor during the slow decay phases. CALCULATION OF PEAK SENSE RESISTOR POWER DISSIPATION 𝑃𝑅𝑆𝑀𝐴𝑋 = 𝐼𝐶𝑂𝐼𝐿 2 ∗ 𝑅𝑆𝐸𝑁𝑆𝐸 Hint For best precision of current setting, it is advised to measure and fine tune the current in the application. Choose the sense resistors to the next value covering the desired motor current.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 75 10 Velocity Based Mode Control The TMC5160 allows the configuration of different chopper modes and modes of operation for optimum motor control. Depending on the motor load, the different modes can be optimized for lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the features like coolStep or stallGuard2 are useful in a limited velocity range.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Parameter stst 76 Description Setting This flag indicates motor stand still in each operation 0/1 Comment Status bit, read only mode. This occurs 2^20 clocks after the last step pulse. TPOWER DOWN TSTEP TPWMTHRS TCOOLTHRS THIGH small_ hysteresis vhighfs vhighchm en_pwm_ mode This is the delay time after stand still (stst) of the motor to motor current power down. Time range is about 0 to 4 seconds.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 77 11 Diagnostics and Protection The TMC5160 supplies a complete set of diagnostic and protection capabilities, like short circuit protection and undervoltage detection. Open load detection allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details. 11.
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TMC5160 DATASHEET (Rev. 1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 79 11.3 Open Load Diagnostics Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly plugged. The TMC5160 detects open load conditions by checking, if it can reach the desired motor coil current. This way, also undervoltage conditions, high motor velocity settings or short and overtemperature conditions may cause triggering of the open load flag, and inform the user, that motor torque may suffer.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 80 12 Ramp Generator The ramp generator allows motion based on target position or target velocity. It automatically calculates the optimum motion profile taking into account acceleration and velocity settings. The TMC5160 integrates a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 81 12.2 Motion Profiles For the ramp generator register set, please refer to the chapter 6.3. 12.2.1 Ramp Mode The ramp generator delivers two phase acceleration and two phase deceleration ramps with additional programmable start and stop velocities (see Figure 12.1). Note The start velocity can be set to zero, if not used. The stop velocity can be set to ten (or down to one), if not used. Take care to always set VSTOP identical to or above VSTART.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 82 torque high deceleration 2xMFRICT MNOM2 Torque for VSTART MNOM1 high acceleration Torque available for acceleration A1 VMAX Torque required for static loads V1 0 reduced accel. Torque available for AMAX VSTART MFRICT reduced decel. motor torque MMAX velocity [RPM] MFRICT Portion of torque required for friction and static load within the system MMAX Motor pull-out torque at v=0 MNOM1/2 Torque available at V1 resp.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 83 12.2.5 Application Example: Joystick Control Applications like surveillance cameras can be optimally enhanced using the motion controller: while joystick commands operate the motor at a user defined velocity, the target ramp generator ensures that the valid motion range never is left. REALIZE JOYSTICK CONTROL 1. 2. 3. 4. Use positioning mode in order to control the motion direction and to set the motion limit(s).
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 84 12.4 Reference Switches Prior to normal operation of the drive an absolute reference position must be set. The reference position can be found using a mechanical stop which can be detected by stall detection, or by a reference switch. In case of a linear drive, the mechanical motion range must not be left. This can be ensured also for abnormal situations by enabling the stop switch functions for the left and the right reference switch.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 4. 5. 6. 85 As soon as the switch is hit, the position becomes latched and the motor is stopped. Wait until the motor is in standstill again by polling the actual velocity VACTUAL or checking vzero or the standstill flag. Switch the ramp generator to hold mode and calculate the difference between the latched position and the actual position.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 86 13 stallGuard2 Load Measurement stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolStep loadadaptive current reduction. The stallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in Figure 13.1. At maximum motor load, the value goes to zero or near to zero.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 87 13.1 Tuning stallGuard2 Threshold SGT The stallGuard2 value SG_RESULT is affected by motor-specific characteristics and application-specific demands on load and velocity. Therefore the easiest way to tune the stallGuard2 threshold SGT for a specific motor type and operating conditions is interactive tuning in the actual application. INITIAL PROCEDURE FOR TUNING STALLGUARD SGT 1. 2. 3. 4.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 88 13.1.1 Variable Velocity Limits TCOOLTHRS and THIGH The SGT setting chosen as a result of the previously described SGT tuning can be used for a certain velocity range. Outside this range, a stall may not be detected safely, and coolStep might not give the optimum result.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 89 13.2 stallGuard2 Update Rate and Filter The stallGuard2 measurement value SG_RESULT is updated with each full step of the motor. This is enough to safely detect a stall, because a stall always means the loss of four full steps. In a practical application, especially when using coolStep, a more precise measurement might be more important than an update for each fullstep because the mechanical load never changes instantaneously from one step to the next.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 90 14 coolStep Operation coolStep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them “green”. 14.
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stallGuard2 reading mechanical load 91 motor current TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) current setting I_RUN (upper limit) motor current reduction area SEMAX+SEMIN+1 SEMIN ½ or ¼ I_RUN (lower limit) motor current increment area 0=maximum load load angle optimized Zeit slow current reduction due to reduced motor load load angle optimized current increment due to increased load stall possible load angle optimized Figure 14.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 92 14.3 Tuning coolStep Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the load measurement value SG_RESULT. coolStep uses SG_RESULT to operate the motor near the optimum load angle of +90°. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN. They can be tuned separately because they are triggered by different events that may need different responses.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 93 15 STEP/DIR Interface The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion controllers. The microPlyer STEP pulse interpolator brings the smooth motor operation of highresolution microstepping to applications originally designed for coarser stepping. In case an external step source is used, the complete integrated motion controller can be switched off.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 94 15.2 Changing Resolution The TMC5160 includes an internal microstep table with 1024 sine wave entries to generate sinusoidal motor coil currents. These 1024 entries correspond to one electrical revolution or four fullsteps. The microstep resolution setting determines the step width taken within the table. Depending on the DIR input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the step width.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 95 15.3 microPlyer and Stand Still Detection For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure 15.2. It interpolates the time in between of two step impulses at the step input based on the last step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256 microsteps (full step input to 256 microsteps) are driven for a single step pulse.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 96 16 DIAG Outputs 16.1 STEP/DIR Mode Operation with an external motion controller often requires quick reaction to certain states of the stepper motor driver. Therefore, the DIAG outputs supply a configurable set of different real time information complementing the STEP/DIR interface. Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output (low active open drain – default setting, or high active push-pull).
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 97 the end of the reset condition cannot be determined by monitoring DIAG0 in this configuration, because event_pos_reached flag also becomes active upon reset and thus the pin stays actively low after the reset condition. In order to safely determine a reset condition, monitor the reset flag by SPI or read out any register to confirm that the chip is powered up.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 98 17 dcStep dcStep is an automatic commutation mode for the stepper motor. It allows the stepper to run with its target velocity as commanded by the ramp generator as long as it can cope with the load. In case the motor becomes overloaded, it slows down to a velocity, where the motor can still drive the load. This way, the stepper motor never stalls and can drive heavy loads as fast as possible.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 99 17.3 dcStep Integration with the Motion Controller dcStep requires only a few settings. It directly feeds back motor motion to the ramp generator, so that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded with respect to the target velocity. dcStep operates the motor in fullstep mode at the ramp generator target velocity VACTUAL or at reduced velocity if the motor becomes overloaded.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Parameter vhighfs & vhighchm TOFF VDCMIN DC_TIME DC_SG Description These chopper configuration flags in CHOPCONF need to be set for dcStep operation. As soon as VDCMIN becomes exceeded, the chopper becomes switched to fullstepping. dcStep often benefits from an increased off time value in CHOPCONF. Settings >2 should be preferred. This is the lower threshold for dcStep operation when using internal ramp generator.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 101 17.6 dcStep with STEP/DIR Interface The TMC5160 provides two ways to use dcStep when interfaced to an external motion controller. The first way gives direct control of the dcStep step execution to the external motion controller, which must react to motor overload and is allowed to override a blocked motor situation. The second way assumes that the external motion controller cannot directly react to dcStep signals.
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TMC5160 DATASHEET (Rev. 1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 103 Increasing mechanical load forces slower motion Theoretical sine wave corresponding to fullstep pattern +IMAX Phase Current (one phase shown) 0 -IMAX Long pulse = override motor block situation STEP STEP_FILT_INTERN ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 ∆2 DCEN INTCOM DCO DC_OUT TIMEOUT (in controller) TIMOUT counter in controller ∆2 = MRES (number of microsteps per fullstep) Figure 17.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 104 18 Sine-Wave Look-up Table The TMC5160 driver provides a programmable look-up table for storing the microstep current wave. As a default, the table is pre-programmed with a sine wave, which is a good starting point for most stepper motors. Reprogramming the table to a motor specific wave allows drastically improved microstepping especially with low-cost motors. 18.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 105 When the microstep sequencer advances within the table, it calculates the actual current values for the motor coils with each microstep and stores them to the registers CUR_A and CUR_B. However the incremental coding requires an absolute initialization, especially when the microstep table becomes modified. Therefore CUR_A and CUR_B become initialized whenever MSCNT passes zero.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 106 20 ABN Incremental Encoder Interface The TMC5160 is equipped with an incremental encoder interface for ABN encoders. The encoder inputs are multiplexed with other signals in order to keep the pin count of the device low. The basic selection of the peripheral configuration is set by the register GCONF.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) - 107 Decimal mode encoder factor -25.6: 0xFFE6.4000 = 0xFFE6.0x0FAO. This equals (2^16(FACTOR+1)).(10000-DECIMALS) THE ENCODER COUNTER X_ENC The encoder counter X_ENC holds the current encoder position ready for read out. Different modes concerning handling of the signals A, B, and N take into account active low and active high signals found with different types of encoders. For more details please refer to the register mapping in section 6.4.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 108 20.3 Closing the Loop Depending on the application, an encoder can be used for different purposes. Medical applications often require an additional and independent monitoring to detect hard or soft failure. Upon failure, the machine can be stopped and restarted manually. Use ENC_DEVIATION setting and interrupt to safely detect a step loss failure / mismatch between motor and encoder.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 109 21 DC Motor or Solenoid The TMC5160 can drive one or two DC motors using one coil output per DC motor. Either a torque limited operation, or a voltage based velocity control with optional torque limit is possible. CONFIGURATION AND CONTROL Set the flag direct_mode in the GCONF register. In direct mode, the coil current polarity and coil current, respectively the PWM duty cycle become controlled by register XTARGET (0x2D). Bits 8..
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 110 22 Quick Configuration Guide This guide is meant as a practical tool to come to a first configuration and do a minimum set of measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may decide to explore additional features, e.g. freewheeling and further functionality in more detail.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 111 TUNING STEALTHCHOP AND SPREADCYCLE SC2 spreadCycle Configuration Try motion above TPWMTRHRS, if used GCONF set en_spreadCycle Coil current overshoot upon deceleration? Y PWMCONF decrease PWM_LIM (do not go below about 5) N Move the motor by slowly accelerating from 0 to VMAX operation velocity Go to motor stand still and check motor current at IHOLD=IRUN Stand still current too high? CHOPCONF Enable chopper using basic config.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 112 MOVING THE MOTOR USING THE MOTION CONTROLLER Move Motor Move to Target Configure Ramp Parameters RAMPMODE set velocity_positive RAMPMODE set position Start Velocity Set VSTART=0. Higher velcoity for abrupt start (limited by motor). Set AMAX=1000, set VMAX=100000 or different values Configure ramp parameters Stop Velocity Set VSTOP=10, but not below VSTART. Higher velocity for abrupt stop.
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TMC5160 DATASHEET (Rev. 1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 114 SETTING UP DCSTEP Enable dcStep Configure dcStep Stall Detection CHOPCONF Make sure, that TOFF is not less than 3. Use lowest good TBL.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 115 23 Getting Started Please refer to the TMC5160 evaluation board to allow a quick start with the device, and in order to allow interactive tuning of the device setup in your application. Chapter 22 will guide you through the process of correctly setting up all registers. 23.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 116 24 Standalone Operation For standalone operation, no SPI interface is required to configure the TMC5160. All pins with suffix CFG0 to CFG6 have a special meaning in this mode and can bei tied either to VCC_IO or to GND. +VM 100n VSA 12VOUT 100n 2.2µ 2.2µ 5VOUT CE VS 100n 16V VCP CPI 22n 100V CPO +VM DIR STEP Optional use lower voltage down to 12V CB2 11.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 117 CFG4/CFG3/CFG2: CONFIGURATION OF RUN CURRENT CFG4 GND GND GND GND VCC_IO VCC_IO VCC_IO VCC_IO CFG3 GND GND VCC_IO VCC_IO GND GND VCC_IO VCC_IO CFG2 GND VCC_IO GND VCC_IO GND VCC_IO GND VCC_IO IRUN Setting IRUN=16 IRUN=18 IRUN=20 IRUN=22 IRUN=24 IRUN=26 IRUN=28 IRUN=31 CFG5: SELECTION OF CHOPPER MODE CFG5 GND VCC_IO Chopper Setting spreadCycle operation. (TOFF=3) stealthChop operation. (GCONF.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 118 25 External Reset The chip is loaded with default values during power on via its internal power-on reset. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched off during operation of the chip.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 119 27 Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 120 28.2 DC and Timing Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typical values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. Power supply current DC-Characteristics VVS = VVSA = 24.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Linear regulator 121 DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit 4.80 5.0 5.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 122 Detector levels DC-Characteristics Parameter VVSA undervoltage threshold for RESET V5VOUT undervoltage threshold for RESET VVCC_IO undervoltage threshold for RESET VVCC_IO undervoltage detector hysteresis Overtemperature prewarning 120°C Overtemperature shutdown 136 °C Overtemperature shutdown 143 °C Overtemperature shutdown 150 °C Symbol VUV_VSA Conditions VVSA rising VUV_5VOUT V5VOUT rising VUV_VIO VVCC_IO rising (delay typ.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Parameter Symbol 123 Conditions Typ Unit Typical power dissipation PD stealthChop or spreadCycle, 40 or 20kHz chopper, 24V, internal supply regulators 0.6 W Thermal resistance junction to ambient on a multilayer board RTMJA Dual signal and two internal power plane board (2s2p) as defined in JEDEC EIA JESD51-5 and JESD51-7 (FR4, 35µm CU, 70mm x 133mm, d=1.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 124 29 Layout Considerations 29.1 Exposed Die Pad The TMC5160 uses its die attach pad to dissipate heat from the gate drivers and the linear regulator to the board. For best electrical and thermal performance, use a reasonable amount of solid, thermally conducting vias between the die attach pad and the ground plane. The printed circuit board should have a solid ground plane spreading heat into the board and providing for a stable GND reference. 29.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 125 29.4 Layout Example Schematic (TMC5160+MOSFETs shown) 1- Top Layer (assembly side) www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 3- Inner Layer (supply VS) Components Figure 29.1 Layout example www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 30 Package Mechanical Data 30.1 Dimensional Drawings TQFP48-EP Drawings not to scale. Figure 30.1 Dimensional drawings TQFP48-EP www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Parameter total thickness stand off mold thickness lead width (plating) lead width lead frame thickness (plating) lead frame thickness body size X (over pins) body size Y (over pins) body size X body size Y lead pitch lead footprint exposed die pad size X exposed die pad size Y package edge tolerance lead edge tolerance coplanarity lead offset mold flatness www.trinamic.com 128 Ref A A1 A2 b b1 c Min 0.05 0.95 0.17 0.17 0.09 Nom 1 0.22 0.2 - Max 1.2 0.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 30.2 Dimensional Drawings QFN-WA Figure 30.2 Dimensional drawings wettable QFN www.trinamic.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) Parameter total thickness stand off mold thickness lead frame thickness lead width body size X body size Y lead pitch exposed die pad size X exposed die pad size Y lead length lead length package edge tolerance mold flatness coplanarity lead offset exposed pad offset half-cut depth half-cut depth Ref A A1 A2 A3 b D E e J K L L1 aaa bbb ccc ddd eee R S Min 0.8 0 0.2 6.15 6.15 0.35 0.3 Nom 0.85 0.035 0.65 0.203 0.25 8.0 8.0 0.5 6.25 6.25 0.4 0.4 0.1 0.1 0.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 131 31 Design Philosophy The TMC50XX and TMC51XX family brings premium functionality, reliability and coherence previously reserved to costly motion control units to smart applications. Integration at street level cost was possible by squeezing know-how into a few mm² of layout using one of the most modern smart power processes.
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 132 34 Table of Figures FIGURE 1.1 TMC5160 BASIC APPLICATION BLOCK DIAGRAM (MOTION CONTROLLER) ................................................................. 5 FIGURE 1.2 TMC5160 STEP/DIR APPLICATION DIAGRAM......................................................................................................... 6 FIGURE 1.3 TMC5160 STANDALONE DRIVER APPLICATION DIAGRAM .........................................................................................
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TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 133 FIGURE 22.4 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE) .................................................................. 113 FIGURE 22.5 SETTING UP DCSTEP ........................................................................................................................................... 114 FIGURE 24.1 STANDALONE OPERATION WITH TMC5160 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES).................. 116 FIGURE 29.1 LAYOUT EXAMPLE .......