Datasheet

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motionCookie SYSTEM IN A PACKAGE motionCookie™

Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical

change reserved. Download newest version at: www.trinamic.com

TMCC160 DATASHEET

Block Diagram

Microcontroller

UART

CAN

SPI0

SPI1

AIN

Gatedriver

PWM

DIAG

Current

TMCC160

ABN HALL

Ref.

Switches

I_U, I_V

DC/DC

(3.3V)

Power

Supply

Power Bridge

Motor

ABN HALL

I_U, I_V

Figure 1: TMCC160 System Block Diagram

Features & Benefits

Integrated BLDC or PMSM Servo Controller

Integrated

Gate Driver up to 1A Gate Current

Voltage

Range 7…24V

Integrated FOC

Controller

UART

, CAN or SPI Interface

Hall Interface

ABN

Incremental Encoder Interface

Integrated

Switching Regulator

Description

The TMCC160 is a ready to use PMSM/

BLDC motor controller in a miniaturized

12x17mm² system in a package. It

integrates a powerful programmed

microcontroller with efficient state of

the art commutation algorithm, gate

driver, different interface options as well

as a step down converter which

generates the digital power supply,

measurement and diagnostic features.

Integrated motionCookie™ microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A

gate curr

ent with a complete servocontroller software stack.

Applications

Robotics

Pump, Fan Applications

Industrial Automation

Medical, Lab Automation

CNC Machines

E-Bikes

Battery Powered Devices

Summary of content (39 pages)

PAGE 1
motionCookie SYSTEM IN A PACKAGE motionCookie™ TMCC160 DATASHEET Integrated motionCookie™ microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A gate current with a complete servocontroller software stack.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 1 Table of Contents TMCC160 DATASHEET ......................................... 1 Applications ....................................................... 1 Features & Benefits .......................................... 1 Description ........................................................ 1 Block Diagram ................................................... 1 1 Table of Contents ......................................... 2 PRODUCT DETAILS ........................
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motionCookie SYSTEM IN A PACKAGE motionCookie™ PRODUCT DETAILS 2 Pin Assignments TMCC160 has two pad sizes. The pads on the edges measure 0.43mm x 0.43mm with 1mm pitch. The inner pads measure 1.93mm x 1.93mm. Please refer to chapter TMCC160 Package Footprint for further information about the package dimensions. LS2 BM2 HS2 RS+ Package Pin Numbering RS- 2.1 XTAL EXTAL CAN_TXD CAN_RXD TXD RXD Figure 1 TMCC160 pin assignments / bottom view © 2015 TRINAMIC Motion Control GmbH & Co.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 2.2 Package Pin Description Package Pin Description Pad Number Type Name Function 1 2 Out (D) In (D) RS485_DIR CSN_SPI1 RS485 transceiver direction output. SPI1 chip select input (low active) (slave interface). 3 4 In (D) In (D) SCLK_SPI1 MOSI_SPI1 SPI1 serial clock input (slave interface). SPI1 serial input (slave interface). 5 6 Out (D) In (A) MISO_SPI1 I_V SPI1 serial output (slave interface).
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Package Pin Description Pad Number 38 In (D) CAN_RXD CAN interface input. Connect to CAN transceiver. 39 40 Out (D) In (D) TXD RXD UART output. Connect to RS232/RS485 transceiver. UART input. Connect to RS232/RS485 transceiver. 41 42 In (D) IO (D) SWDCLK SWDIO Please do not connect. Please do not connect. In VM VCC Motor supply voltage. 3.3V digital supply voltage. 45 GND System ground connection.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 2.3 Wide Range of Control Algorithms The TMCC160 is a ready to use PMSM/ BLDC motor controller in a miniaturized 12x17mm² package. It integrates a powerful programmed microcontroller with efficient state of the art commutation algorithm, gate driver, measurement and diagnostic features, different interface options as well as a step down converter which generates the digital power supply.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 3 System Overview 3.1 Block Diagram Ref. Switches I_U, I_V Power Bridge TMCC160 VM Motor UART CAN SPI0 SPI1 U PWM Microcontroller AIN DIAG Gatedriver V W Current ABN Power Supply HALL DC/DC (3.3V) ABN HALL I_U, I_V Figure 2: TMCC160 System Block Diagram 3.2 System Architecture Only a few external components are needed to build a complete closed-loop system with maximum flexibility.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 3.3 Hall-Sensor Configuration For applications with reduced requirements concerning positioning accuracy and low speed behavior a hall-sensor configuration is the most cost efficient option. Most BLDC/ PMSM motors already include hall-sensors for commutation. TMCC160 Block Diagram in Hall-Sensor Configuration Optional Brake Circuit Ref.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 3.4 Encoder Configuration For applications which requires high positioning accuracy and a smooth run at low speed a motor with encoder is mandatory. TMCC160 supports incremental ABN encoders with a resolution of up to 16000 lines. Additional hall-sensors or encoder N-channel can be used for encoder initialization after power up. TMCC160 Block Diagram in Encoder Configuration Optional Brake Circuit Ref.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4 External Components 4.1 Gate Driver Charge Pump (TMC6130) For the external N-channel power MOSFET bridge, TMCC160 generates a 12V gate source voltage for high and low side MOSFETs (N-channel). The gate source voltage will also be maintained if the supply voltage falls below 12V. External component example is shown in schematic below. Buffer capacitor for charge pump linear regulator (C3) should not be smaller than 4.7µF.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Charge Pump Component List Example COMPONENT DESCRIPTION C1 2 X 4.7µF/35V ceramic capacitor C2 C3 D1, D2 33nF/50V ceramic capacitor 4.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.2 DC/DC Converter (3.3V) The 3.3V digital supply is generated with an internal step down switch regulator from VM. The step down converter works with a PWM frequency of 2.2MHz and supports a maximum output current of 500mA. A collection of external components like coils and diodes are listed below. Equivalent components can be used. The 3.3V can also be used to supply further external components like current-, hall sensors etc.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) DC/DC Component List Example COMPONENT DESCRIPTION C1 100nF/16V ceramic capacitor C2 10µF/16V ceramic capacitor L1 6.8µH/700mA D1 40V/500mA low capacitance VENDOR Series Murata Electronics LQH43C (assembled on EVAL board) Würth Elektronik WE-TPC, WE-PD2 Toko A916CY Vishay MSS1P6 (assembled on EVAL board) Diodes Inc. SBR1U40LP ON Semi MBRM140 Diodes Inc.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.3 CORTEX M4 Crystal For system clock generation an external crystal is mandatory. As default, a crystal with 16MHz frequency and a frequency stability of ±50ppm should be used. Crystal frequency can be modified for customized firmware versions. Load capacitors C1, C2 depends on the used crystal. Values are typically in a range of 8-22pF.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) → Place C1 –C4 close to the TMCC160 pins VCC and VM. Configuration for step down converter output For a step down converter output current of 500mA a minimal total capacity of 10µF (C1 + C2) should be selected. i VM should be stabilized with minimum 2pcs. 4.7µF ceramic capacitors. VM 3.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Supply Filter Component List Example COMPONENT C1 C2 DESCRIPTION 100nF/16V ceramic capacitor 10µF/16V ceramic capacitor C3 4.7µF/35V ceramic capacitor C4 4.7µF/35V ceramic capacitor VENDOR Murata Electronics TDK Murata Electronics TDK Series GRM219R6YA475MA73D C2012X7R1V475K125AC GRM219R6YA475MA73D C2012X7R1V475K125AC Table 4: Supply Filter Component List Example © 2015 TRINAMIC Motion Control GmbH & Co.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.5 Power MOSFET Bridge TMCC160 provides a powerful gate driver for a three phase bridge using N-channel MOSFETs only. The system is capable to drive MOSFETs with up to 350nC gate charge. The gates of the MOSFETs will be charged with a current of ±1A. This helps to reduce dynamic losses and to building high efficient systems in a wide power range. 4.5.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) → Keep a safety margin for the current control of about 10% in order to avoid reaching the internal TMCC160 ADC limits. This margin shall be respected for the current limit setting. Vcc (3.3V) +I target_peak 0A TMCC160 ADC Value I_U, I_V Input Voltage Motor Current U, V TMCC160 Direct Coil Current Signal Example 4095 Safety Margin 3890 Vcc/2 (1.65V) -I target_peak 2048 205 0V Safety Margin 0 Figure 10: Direct Coil Current Signal Example 4.5.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.5.4 Calculating Power Losses The power losses which are generated in the sense resistor can be calculated with formula below. 2 𝑃𝑃𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 = 𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡_𝑅𝑅𝑅𝑅𝑅𝑅 2 ∗ 𝑅𝑅𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 = �𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡_𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝 /√2� ∗ 𝑅𝑅𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 Formulae 2: Direct Coil Current Sense Resistor Losses 4.5.5 Current Amplifier Current Amplifier COMPONENT 4.5.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) → A low pass with cut off frequency of approximately 16MHz should be placed on TMCC160 input RS+, RS- to filter high frequency. → Place RC low pass close to the TMCC160. 4.5.7 Sense Resistor Selection Gain of the internal current sense amplifier can be configured by software. Following gain values are available: Gain values: 8/ 10.3/ 13.3/ 17.2/ 22.2/ 28.7/ 37/ 47.8 The accuracy of the amplifier is ±3%.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 𝑡𝑡𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 = 𝑄𝑄𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀𝑀 ±1𝐴𝐴 Formulae 5: MOSFET Switch Slope Calculation Rdson drain source resistance [R] Vgs gate to source voltage [V] Diagram: MOSFET Parameters During Switch Event QMiller Rdson Qg gate charge [nC] Figure 12: MOSFET Parameters During Switch Event 4.5.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) → It is important to place the clamp diode close to LSx pin. © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Diagram VCP VCP_REG 40V VREG 1µF/25V VM HSx R BMx 2R2 40V U, V, W LSx R TMCC160 D Figure 13: Gate Charge Resistor and Clamp Diode Example Schematic 4.5.11 Power Supply Filtering Capacitors To ensure stable power supply voltage, please ensure that enough power supply filtering capacitors are available in the system to absorb kinetic energy during deceleration and load control.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 100nF C1+ 3.3V C1100nF 16 15 RS232 TXD RS232 RXD VCC C2+ GND C2- 1 100nF 3 4 100nF 5 14 11 TXD 13 12 RXD 7 10 8 9 TMCC160 MAX3232CSE Figure 14: RS232 Interface Example Schematic NOTE: → Circuit above shows an example of a RS232 interface configuration with external transceiver powered by the TMCC160 internal generated 3.3V supply voltage. Circuit above only shows an example, many other RS232 transceivers are available. 4.6.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.6.3 RS485 Bus Structure The network topology should follow a bus structure as closely as possible. That is, the connection between each node and the bus itself should be as short as possible. Basically, it should be short compared to the length of the bus.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) +5V pull-up (390R) Slave Slave node n- 1 node n +5V pull-up (390R) RS485+ / RS485A termination resistor (220R) termination resistor (220R) RS485- / RS485B pull-down (390R) pull-down (390R) GND GND Figure 17: Bus lines with resistor (Bias) network at both ends Certain RS485 interface converters available for PCs already include these additional resistors (e.g. USB-2-485 with bias network at one end of the bus). 4.6.6 CAN 2.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.6.8 CAN Bus Termination CAN bus must be properly terminated at both ends with a resistor of 120R between CANH, CANL signal. 4.6.9 Number of Nodes TMCC160 software supports CAN addresses up to 0x7FF (2047) but the maximum number of nodes highly depends on the used transceiver and the bus structure itself. i Please see datasheet of used CAN transceiver for maximum number of CAN nodes. © 2015 TRINAMIC Motion Control GmbH & Co.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.6.10 Analog Input The analog input signal of the TMCC160 can be used as a target value to e.g. control torque, velocity or other parameters. The analog input voltage is routed directly to the TMCC160 µC and will be converted with a resolution of 12 bit. AIN is designed for a voltage range between 0 and Vcc (3.3V). For higher voltages use a voltage divider plus optional protection diode as in example below. 3.3V 0..
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.7 EEPROM To store and execute TMCL programs a EEPROM is needed. Interconnection between TMCC160 and EEPROM is done via SPI_0 interface. To ensure compatibility between TMCC160 default firmware and EEPROM, please use dedicated Atmel EEPROM listed below. It is possible to use TMCC160 internal generated 3.3V supply to power the EEPROM. EEPROM Connection Schematic 3.3V IC1 3.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.8 Brake Chopper A servo system feeds back energy to the power supply line during deceleration and load control. The energy can lead to a voltage rise on the power supply system if it is not dissipated. The voltage overshoot of a system without brake chopper depends on the motor deceleration time, kinetic energy and the servo module buffer capacity. The brake chopper dissipates this energy from the system, and thus avoids system damage.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.8.2 Brake Chopper Example The figure below shows brake chopper in operation. The supply voltage threshold is configured at approximately 26V. The yellow line represents the supply voltage of the TMCC160. Start decceleration Activate brake chopper Figure 22: Supply Voltage Monitoring (Activated Brake Chopper) © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 4.9 Absolute Maximum Ratings NOTE: → The maximum values must NOT be exceeded; under no circumstance. Absolute Maximum Ratings Parameter SYMBOL MIN Supply voltage, t<200ms Logic supply voltage VM VCC -0.3 -0.3 TYP MAX 35 3.8 Table 6: TMCC160 Absolute Maximum Ratings © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 5 Operational Ratings The operational ratings show the intended - or the characteristic - ranges and should be used as design values. NOTE: → The maximum values must NOT be exceeded; under no circumstance. Operational Ratings Parameter SYMBOL MIN TYP MAX Unit Supply voltage VM 7V 24 28 V Logic supply voltage VCC 3.0 3.3 3.6 V VI VIH VIL VIA -0.3 0.7*VCC VCC+0.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Operational Ratings [000] [001] [010] [011] [100] [101] [110] [111] Programmable drain-source voltage monitor blanking time: VDS_BLANK_TIME [1:0]: [10] = 3,4µs default value. [00] TVDS_BL [01] [10] [11] 0.40 0.60 0.85 1.05 1.25 1.50 1.70 dis. 0.50 0.75 1.00 1.25 1.50 1.75 2.00 0.60 0.90 1.15 1.45 1.75 2.00 2.30 0.60 1.28 2.55 5.10 0.80 1.70 3.40 6.80 1.00 2.13 4.25 8.50 3.14 3.3 1.8 2.25 3.47 500 2.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 6 Mechanical Dimensions 6.1 TMCC160 Package Footprint The TMCC160 uses a special LGA package (similar to QFNs) with 51 leads. LGA51 Package Drawing © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Figure 23: TMCC160 LGA51 Package Drawing Table 8 Package Dimensions TMCC160 Package Dimension Attribute SYMBOL Total Thickness A D E W L Body Size Lead Width Lead Length DIMENSION [mm] MIN 17 12 0.38 0.38 TYP - MAX 1.4 0.43 0.43 0.48 0.48 © 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved. Download newest version at: www.
PAGE 37
TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) Lead Pitch Lead Count Edge Ball Center to Center Body Center to Contact Ball Package Edge Tolerance Mold Flatness Coplanarity e n D1 E1 SD SE aaa bbb ddd 1 51 16 5 0.5 0.1 0.2 0.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 7 SUPPLEMENTAL DIRECTIVES Read the entire documentation before you make use of this product: Keep this manual and all other applicable and related documents complete, legible and accessible to the specified user at all times. Failure to observe the Supplemental Directives could result in damage to product and things; to property or persons; or economic loss. i 7.
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16) 8 Revision History 8.1 Document Revision Version Date Author JM Description JM Initial version. JM Add periphery sample schematics. 0.92 0.93 2015-APRIL09 2015-APRIL10 2015-MAY-26 2015-JULY-15 0.94 2015-AUG-15 0.95 0.96 1.00 2015-SEPT-03 JM 2015-OCT-30 JP 2015-NOV-11 BD, JM 0.90 0.