Datasheet

TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16)
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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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
Microcontroller
UART
CAN
SPI1
AIN
Gatedriver
PWM
DIAG
Current
TMCC160
Ref.
Switches
DC/DC
(3.3V)
VM
VM
Motor
V
Optional HALL
U
W
HSx, LSx, BMx
Power Bridge
EEPROM
SPI0
3.3V
3.3V
Host PC
or
microcontroller
VM
R
Optional Brake
Circuit
35 36 11
12
10 22 23 43 21
6/ 7
15/16/17
18/19/20
47/48/49
24/
25/
26
441314
39/40
37/38
30/31/32/33
2/3/4/5
9
Encoder
27/
28/
29
2
9
3
3
3
Figure 4: TMCC160 Encoder Block Diagram
i If encoder configuration is used motor will be controlled by field oriented control, FOC.