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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 1

TRINAMIC

Motion Control GmbH & Co. KG

Sternstraße 67

D  20357 Hamburg

GERMANY

www.trinamic.com

1 Features

The TMC603 is a three phase motor driver for highly compact and energy efficient drive solutions. It

contains all power and analog circuitry required for a high performance BLDC motor system. The

TMC603 is designed to provide the frontend for a microcontroller doing motor commutation and control

algorithms. It directly drives 6 external N-channel MOSFETs for motor currents up to 30A and up to

50V and integrates shunt less current measurement, by using the MOSFETs channel resistance for

sensing. Integrated hallFX (pat. fil.) allows for sensorless commutation. Protection and diagnostic

features as well as a step down switching regulator further reduce system cost and increase reliability.

Highlights

Up to 30A motor current

9V to 50V operating voltage

3.3V or 5V interface

8mm x 8mm QFN package

Integrated shunt less current measurement using power MOS transistor RDSon

hallFXensorless back EMF commutation emulates hall sensors

Integrated break-before-make logic: No special microcontroller PWM hardware required

EMV optimized current controlled gate drivers  up to 150mA possible

Overcurrent / short to GND and undervoltage protection and diagnostics integrated

Internal Q

protection: Supports latest generation of power MOSFETs

Integrated supply concept: Step down switching regulator up to 500mA / 300kHz

Common rail charge pump allows for 100% PWM duty cycle

Applications

Motor driver for industrial applications

Integrated miniaturized drives

Robotics

High-reliability drives (dual position sensor possible)

Pump and blower applications with sensorless commutation

Motor type

3 phase BLDC, stepper, DC motor

Sine or block commutation

Rotor position feedback: Sensorless, encoder or hall sensor, or any mix

TMC603 – DATASHEET

Three phase motor driver with BLDC back EMF

commutation hallFX™ and current sensing

Summary of content (41 pages)

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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 1 TMC603 – DATASHEET Three phase motor driver with BLDC back EMF commutation hallFX™ and current sensing ® TRINAMIC Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg GERMANY www.trinamic.com 1 Features The TMC603 is a three phase motor driver for highly compact and energy efficient drive solutions. It contains all power and analog circuitry required for a high performance BLDC motor system.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 3 2 Table of contents 1 FEATURES .......................................................................................................................................... 1 2 TABLE OF CONTENTS ........................................................................................................................ 3 3 SYSTEM ARCHITECTURE USING THE TMC603 ................................................................................... 5 4 PINOUT ........
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 10 10.1 4 REVISION HISTORY .................................................................................................................... 41 DOCUMENTATION REVISION ......................................................................................................... 41 Copyright © 2008 TRINAMIC Motion Control GmbH & Co.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 4.2 Package dimensions QFN52 REF MIN NOM MAX A 0.80 0.85 0.90 A1 0.00 0.035 0.05 A2 - 0.65 0.67 A3 b 0.203 0.2 0.25 D 8.0 E 8.0 e 0.5 0.3 J 6.1 6.2 6.3 K 6.1 6.2 6.3 L 0.35 0.4 0.45 All dimensions are in mm. Attention: Drawing not to scale. Copyright © 2008 TRINAMIC Motion Control GmbH & Co.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 8 5 TMC603 functional blocks 5.1 Block diagram and pin description +VM 220n 220n 100n (2x) BAV99 (70V) BAS40-04W (40V) 4µ7 Tantal 25V 16V LSW SS16 TP0610K or BSS84 (opt. BC857) 12V supply 100µ 100n (2x) (150mA with sel.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Pin Number Type Function VLS 1, 44 Low side driver supply voltage for driving low side gates GNDP 2, 40, 52 Power GND for MOSFET drivers, connect directly to GND VM 3 Motor and MOSFET bridge supply voltage GND 4, 36 Digital and analog low power GND RS2G 5 AI 5V Short to GND control resistor.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 5.2 10 MOSFET Driver Stage The TMC603 provides three half bridge drivers, each capable of driving two MOSFET transistors, one for the high-side and one for the low-side. In order to provide a low RDSon, the MOSFET gate driving voltage is about 10V to 12V.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 11 A zener diode at the gate (range 12V to 15V) protects the high-side MOSFET in case of a short to GND event: Should the bridge be shorted, the gate driver output is forced to stay at a maximum of the zener voltage above the source of the transistor. Further it prevents the gate voltage from dropping below source level.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 12 Control signals Internal BBM control BLx 0V BHx 0V External BBM control VVLS Miller plateau LSx MOSFET drivers 0V VVM BMx 0V VVCP VVM HSx 0V HSxBMx Miller plateau VVCP VVM 0V tLSON tLSOFF tBBMHL tHSON tBBMLH Load pulling BMx down Load pulling BMx up to +VM figure 6: bridge driver timing Pin Comments BBM_EN Enables internal break-before-make circuitry (high = enable) 5.2.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 14 The slope time tSLOPE can be calculated as follows: Whereas QMILLER is the charge the power transistor needs for the switching event, and I GATE is the driver current setting of the TMC603. Taking into account, that a slow switching event means high power dissipation during switching, and, on the other side a fast switching event can cause EMV problems, the desired slope will be in some ratio to the switching (chopper) frequency of the system.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 15 5.2.6 Considerations for QGD protection This chapter gives the background understanding to ensure a safe operation for MOSFETs with a gate-drain (Miller) charge QGD substantially larger than the gate-source charge QGS. In order to guarantee a safe operation of the QGD protection, it is important to spend a few thoughts on the slope control setting.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 16 Note: Do not add gate series resistors to your MOSFETs! This would eliminate the effect of the Q GD protection. Gate series resistors of a few Ohms only may make sense, when paralleling multiple MOSFETs in order to avoid parasitic oscillations due to interconnection inductivities. 5.2.7 Effects of the MOSFET bulk diode Whenever inductive loads are driven, the inductivity will try to sustain current when current becomes switched off.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 17 +VM HS1 Z 12V BM1 Motor 220R LS1 GNDP figure 11: parallel Schottky diode avoids current spikes due to bulk diode recovery 5.2.9 Short to GND detection An overload condition of the high side MOSFET (“short to GND”) is detected by the TMC603, by monitoring the BM voltage during high side on time. Under normal conditions, the high side power MOSFET reaches the bridge supply voltage minus a small voltage drop during on time.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 18 Pull-up resistor can be internal to microcontroller +VCC TMC603 error logic Drive with open drain output, if feedback is provided ENABLE CLR_ERR undervoltage VLS undervoltage VCP 100k S: priority D short to GND 1 short to GND 2 short to GND 3 D /ERR_OUT S Q R Q D GND Feedback connection for automatic self-protection figure 13: error logic Pin Comments /ERR_OUT Error output (open drain). Signals undervoltage or overcurrent.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 5.3 19 Current measurement amplifiers The TMC603 amplifies the voltage drop in the three lower MOSFET transistors in order to allow current measurement without the requirement for current sense (shunt) resistors. This saves cost and board space, as well as the additional power dissipation in the shunt resistors. However, additional shunt resistors can be added, e.g.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 20 External control Current sense out Bridge voltage drop Control signals Internal sample control SAMPLEx 0V BLx 0V BMx VVM 0.25V 0V -0.25V CURx VVCC/3 0V tBLHICURX Phase tBLHICURX Hold (undef.) CURx tracking -BMx Hold CURx tracking -BMx Hold figure 15: timing of the current measurement The SAMPLEx pins will normally be unused and can be tied to VCC. For advanced applications, where a precise setting of the current sampling point is desired, e.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 5.4 21 hallFX sensorless commutation hallFX provides emulated hall sensor signals. The emulated hall sensor signals are available without a phase shift and there is no error-prone PLL necessary, like with many other systems, nor is the knowledge of special motor parameters required. Since it is based on the motors’ back-EMF, a minimum motor velocity is required to get a valid signal.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 22 Calculating the commutation frequency fCOM of the motor: SRPM is the rotation velocity in RPM nPOLE is the pole count of the actual motor, or the double of the number of pole pairs The spike suppression time can be chosen as high, as the commutation frequency required for maximum motor velocity allows. As a thumb rule, we take half of this time to have enough spare. Example: Given a 4 pole motor operating at 4000 RPM: CSUP = 6.25nF. The nearest value is 6.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 23 is determined by the start-up scheme, since the hallFX signals depend on the direction. Thus, the same commutation scheme is used for turn right and turn left! Only a single commutation table is required.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 24 available and allows checking success of the starting phase. The turning direction of the start-up sequence automatically determines the direction of motor operation with hallFX. You can check velocity and direction, as soon as valid hallFX signals are available. When you experience commutation sequence errors during motor operation, probably motor velocity has dropped below the lower threshold.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 5.5 25 Power supply The TMC603 integrates a +12V switching regulator for the gate driver supply and a +5V linear regulator for supply of the low voltage circuitry. The switching regulator is designed in a way, that it provides the charge pump voltage by using a Villard voltage doubler circuit. It is able to provide enough current to supply a number of digital circuits by adding an additional 3.3V or 5V low voltage linear or switching regulator.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 26 transistor type manufacturer gate charge (typ.) max. frequency max. voltage max. load current BC857 div. - (bipolar) 100 kHz 40V 80 mA BSS84 Fairchild, NXP 0.9 nC 300 kHz 50V 120 mA TP0610K Vishay 1.3 nC 230 kHz 60V 150 mA NDS0605 Fairchild 1.8 nC 175 kHz 60V 150 mA TP0202K Vishay 1 nC 300 kHz 30V 350 mA For the catching diode, use a Schottky type with sufficient voltage and current rating.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 27 Example: fOSC = 175 kHz, IOUT = 0.2 A, VVM = 48 V: For continuous operation, a 330µH or 470µH coil would be required. The minimum inductivity would be around 100µH. Note: Use an inductor, which has a sufficient nominal current rating. Keep switching regulator wiring away from sensitive signals. When using an open core inductor, please pay special care to not disturbing sensitive signals. 5.5.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 28 ICs which are directly supplied by the battery. In order to safely switch off the motor bridges during standby, the gates of the high side MOSFETs become actively held in a discharged state using a low current signal MOSFET in SOT23 package. Before entering standby mode, the motor shall be stopped and the TMC603 should be disabled. +Vbattery +VM to bridge, only 100K 220n POWER SWITCH FDC5614P electronic ON switch +VM switched, 3A max.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 5.6 Test output The test output is reserved for manufacturing test. Leave open for a normal application. Pin Comments TEST Output for test voltages. Output resistance 25kOhm +-30%. Reset: ENABLE(=low); Clock: SCCLK (rising edge). Test voltage sequence: 0: 0V 1..3 / 4..6 / 7..9: Gate_HS_Off, Gate_LS_On, Gate_LS_Off (driver 1/2/3) 10..14: currently unused 15: 0V (no further counts: Reset for restart) Copyright © 2008 TRINAMIC Motion Control GmbH & Co.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 30 6 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. Parameter Symbol Supply voltage Supply and bridge voltage max. 20000s VVM Min Max Unit -0.5 50 V 55 V Low side driver supply voltage VVLS -0.5 14 V Low side driver supply voltage max. 20000s VVLS -0.5 16 V -0.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 7.2 31 DC Characteristics 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.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) NMOS high side driver note 1) Parameter 32 DC-Characteristics VVCC = 5.0 V, VVLS = 12V, VCPD = 10.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) RSLP input and RS2G input Parameter Typical voltage at RSLP and RS2G input, depending on the external resistor 33 DC-Characteristics VVCC = 5.0 V Symbol Conditions VRSLP VRS2G RSLP = 100 k Min Typ Max 3.8 Unit V RS2G = 100 k 4.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Switching regulator / Charge pump Parameter 34 DC-Characteristics VVCC = V5VOUT Symbol Conditions Min Typ Max Unit -1.5 -2.2 -3.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Digital logic level Parameter 35 DC-Characteristics VVCC = 5.0 V +/-10% Symbol Conditions Min Typ Max Unit Input voltage low level VINLO -0.3 0.8 V Input voltage high level VINHI 2.0 VVCC+0.3 V 0.4 V Output voltage low (H1, H2, H3, ERR_OUT) VOUTLO IOUTLO = 1mA Output voltage high (H1, H2, H3) VOUTHI IOUTHI = -1mA Copyright © 2008 TRINAMIC Motion Control GmbH & Co. KG 0.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Current measurement block 36 DC-Characteristics, Timing-Characteristics VVM = 24 V, VVCC = 5.0 V Parameter Symbol Conditions Min Typ Max Unit Amplification of voltage VBMX to VCURX for positive voltage (VBMX > 0V) ACURLO+ SENSE_HI = GND -4.3 -4.6 -4.9 V/V ACURHI+ SENSE_HI = VCC -17 -18.0 -19 V/V Amplification of voltage VBMX to VCURX for negative voltage (VBMX < 0V) ACURLO- SENSE_HI = GND -4.1 -4.4 -4.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) Switched capacitor filter 2 order nd Parameter DC-Characteristics, AC-Characteristics VVM = 24 V, VVCC = 5.0 V Symbol Conditions Attenuation of voltage VBMX to VFILTX AFILTLO VBMX > 0.9V Output resistance of FILTX RFILTX Output current limit at FILTX IFILTX Noise voltage on FILTX 3dB bandwidth 37 Min fCUTOFF 3.0 fSCCLK = 2.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 38 8 Designing the application 8.1 Choosing the best fitting power MOSFET There is a huge choice of power MOSFETs available. MOSFET technology has been improved dramatically in the last 20 years, and gate drive requirements have shifted from generation to generation. The first generations of MOSFETs have a comparatively high gate capacity at a moderate RDSon. Their gate-source capacity is two to five times as high as the capacity of the gate-drain junction.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 39 where IMOTOR is the motor current, e.g. 10A RDSON is the on-resistance of the MOSFETs at a gate voltage of about 10V, e.g. 20mΩ tDUTY is the actual duty cycle of the chopper, e.g. 80% = 0.8 VVM is the motor supply voltage, e.g. 24V or 48V fCHOP is the chopper frequency, e.g. 20kHz tSLOPE is the slope (transition) time, e.g. 300ns Example: With the example data for a 10A motor at 24V, we get the following power dissipation: PSTAT = 3.2W PDYN24 = 2.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 8.2 40 MOSFET examples There is a huge number of MOSFETs on the market, which can be used in combination with the TMC603. The user choice will depend on the electrical data (voltage, current, RDSon) and on the package and configuration (single / dual). The following table gives a few examples of SMD MOSFETs for different motor currents. The MOSFETs explicitly are modern types with a low total gate charge.
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TMC603 DATA SHEET (V. 1.05 / 11. Mar. 2009) 41 9 Table of figures FIGURE 1: APPLICATION BLOCK DIAGRAM ..................................................................................................... 5 FIGURE 2: PINNING / QFN52 PACKAGE (TOP VIEW) ....................................................................................... 6 FIGURE 3: APPLICATION DIAGRAM ................................................................................................................