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.
Applications
Robotics
Pump, Fan Applications
Industrial Automation
Medical, Lab Automation
CNC Machines
E-Bikes
Battery Powered Devices
Features & Benefits
Description
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
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.
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 1: TMCC160 System Block Diagram
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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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 ....................................... 1
2 Pin Assignments ........................................... 1
2.1
Package Pin Numbering ....................... 1
2.2
Package Pin Description ....................... 2
2.3
Wide Range of Control Algorithms ..... 3
3 System Overview .......................................... 5
3.1
Block Diagram ....................................... 5
3.2
System Architecture.............................. 5
3.3
Hall-Sensor Configuration.................... 6
3.4
Encoder Configuration ......................... 7
4 External Components .................................. 8
4.1
Gate Driver Charge Pump (TMC6130) 8
4.2
DC/DC Converter (3.3V) ...................... 10
4.3
CORTEX M4 Crystal ............................. 12
4.4
Supply Filter ......................................... 12
4.5
Power MOSFET Bridge ........................ 15
4.5.1 Direct Coil Current Measurement 15
4.5.2 Recommended Schematic for Direct
Coil Measurement ...................................... 15
4.5.3 Sense Resistor Selection ............... 16
4.5.4 Calculating Power Losses ............. 17
4.5.5 Current Amplifier ........................... 17
4.5.6 Single Shunt Measurement .......... 17
4.5.7 Sense Resistor Selection ............... 18
4.5.8 Dead Time Logic............................. 18
4.5.9 Power MOSFET Selection .............. 18
4.5.10 Gate Driver Clamp Diodes ............ 19
5
6
7
8
4.5.11 Power
Supply
Filtering
Capacitors .................................................... 21
4.6
Interface ............................................... 21
4.6.1 RS232 ............................................... 21
4.6.2 RS485 ............................................... 22
4.6.3 RS485 Bus Structure ...................... 23
4.6.4 RS485 Bus Termination................. 23
4.6.5 No Floating Bus Lines .................... 23
4.6.6 CAN 2.0B Interface ........................ 24
4.6.7 CAN Bus Structure ......................... 24
4.6.8 CAN Bus Termination .................... 25
4.6.9 Number of Nodes .......................... 25
4.6.10 Analog Input ................................... 26
4.7
EEPROM ................................................ 27
4.8
Brake Chopper .................................... 28
4.8.1 Brake resistor selection ................ 28
4.8.2 Brake Chopper Example ............... 29
4.9
Absolute Maximum Ratings............... 30
Operational Ratings ................................... 31
Mechanical Dimensions ............................. 33
6.1
TMCC160 Package Footprint ............. 33
6.1.1 Soldering Profile ............................ 35
SUPPLEMENTAL DIRECTIVES ..................... 36
7.1
ESD Sensitive Device ........................... 36
7.2
Disclaimer ............................................ 36
Revision History .......................................... 37
8.1
Document Revision ............................. 37
8.2
Hardware Revision .............................. 37
8.3
Software Revision ............................... 37
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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. KG, Hamburg, Germany
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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).
Analog current sense amplifier input for PMSM phase V.
7
In (A)
I_U
Analog current sense amplifier input for PMSM phase U.
8
9
In (A)
In (A)
TEMP
AIN
Analog input for temperature measurement.
General purpose analog input.
10
11
Out (D)
In (D)
Brake
REFL
PWM output for brake chopper circuit.
Left reference switch input.
12
In (D)
REFR
Right reference switch input.
13
14
Out
Out
DA
SW
3.3V switch regulator diode anode.
3.3V switch regulator switch cathode.
15
16
Out
In
LS1
BM1
Low side N-channel MOSFET gate output phase 1 (U).
MOSFET bridge output phase 1 (U).
17
18
Out
Out
HS1
HS3
High side N-channel MOSFET gate output phase 1 (U).
High side N-channel MOSFET gate output phase 3 (W).
19
In
BM3
MOSFET bridge output phase 3 (W).
20
21
Out
Out
LS3
VCP_REG
22
In
VCP
Low side N-channel MOSFET gate output phase 3 (W).
Gate driver linear regulator output. Connect 4.7µF
capacitor.
Gate driver charge pump input.
23
Out
VCP_SW
24
25
In (D)
In (D)
HALL_1
HALL_2
Gate driver charge pump output.
Hall sensor 1 input.
Hall sensor 2 input.
26
27
In (D)
In (D)
HALL_3
ENC_N
Hall sensor 3 input.
Encoder N (index) input.
28
In (D)
ENC_B
Encoder B input.
29
30
In (D)
Out (D)
ENC_A
MOSI_SPI0
Encoder A input.
SPI0 serial output (EEPROM master).
31
32
In (D)
Out (D)
MISO_SPI0
SCLK_SPI0
SPI0 serial input (EEPROM master).
SPI0 serial clock output (EEPROM master).
33
34
Out (D)
IO (D)
CSN_SPI0
ENABLE
35
Out
XTAL
SPI0 chip select output (low active) (EEPROM master).
Motor driver enable (high active). ENABLE signal is also
connected to the internal µC. Please connect ENABLE pin
only to open drain outputs.
Crystal oscillator output.
36
37
In
Out (D)
EXTAL
CAN_TXD
Crystal oscillator input.
CAN interface output. Connect to CAN transceiver.
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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.
46
47
Out
GND
LS2
System ground connection.
Low side N-channel MOSFET gate output phase 2 (V).
48
49
In
Out
BM2
HS2
MOSFET bridge output phase 2 (V).
High side N-channel MOSFET gate output phase 2 (V).
50
In (A)
RS+
51
In (A)
RS-
Positive current sense input
measurement.
Negative current sense input
measurement.
43
44
Type
Name
Function
for
single
shunt
for
single
shunt
Table Key: (D): digital IO, (A): analog IO
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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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.
TMCC supports
FOC and six-step
mode
TMCC160 supports state of the art field oriented control algorithm (FOC) using
hall or encoder signals for PMSM motors as well as block hall commutation (six
step mode) for BLDC motors. Current-, velocity- and position controller are
implemented for all commutation modes. They can be parameterized via the
installed TMCL protocol.
Scope of TMCL
Operating System
Only few external hardware components are needed to build a complete servo
drive without spending time developing complicated control and
communication software. With the programmed operating system, TMCL, it is
possible to directly connect a host PC to the TMCC160 via one of the supported
interface connections. All parameters for motion control and global functions
can be configured by only reading or writing registers.
i
Software customization and custom package labeling are available upon request.
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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. To interconnect TMCC160 with a host PC or microcontroller, the following
interfaces are available: UART(RS232, RS485), CAN, SPI. An analog input supports simple
standalone applications.
Avoiding Power
Overshoots
To avoid power supply overshoots during deceleration/ energy feedback from
the motor, TMCC160 provides a brake chopper output which can be connected
to a low side N-channel MOSFET. The brake chopper duty cycle will be
automatically controlled depending on the supply voltage.
TMCL storage in
external EEPROM
TMCL programs can be stored in an external EEPROM. Programs can be
automatically executed after power up or triggered from the host system.
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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.
Switches
35
36
11
12
VM
R
10
22
23
43
21
VM
6/ 7
UART
CAN
Host PC
or
microcontroller
I_U, I_V
or
RS+, RS-
39/40
Motor
50/ 51
37/38
U
PWM
30/31/32/33
SPI1
2/3/4/5
AIN
9
Microcontroller
DIAG
Gatedriver
V
HSx, LSx, BMx
9
W
Current
15/16/17
18/19/20
47/48/49
SPI0
DC/DC
(3.3V)
14
13 44
HALL
VM
TMCC160
3.3V
24/25/26
Power Bridge
3
3
EEPROM
3.3V
Figure 3: TMCC160 Hall-Sensor Block Diagram
Special
Areas of
Concern
!
Depending on the used motor, the customer can use a direct coil current
measurement with external current sensors for field oriented control; typically
used for Permanent Magnet Synchronous Motors (PMSM) or single shunt
measurement if block hall/six step mode is configured in TMCC160 software
(typical used for Brushless DC motors, BLDC).
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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.
Switches
35
36
11
VM
R
12
10
22
23
43
21
VM
6/ 7
2
Motor
UART
CAN
37/38
PWM
2/3/4/5
AIN
9
9
Microcontroller
DIAG
Gatedriver
V
15/16/17
18/19/20
47/48/49
Current
W
VM
SPI0
DC/DC
(3.3V)
14
13 44
TMCC160
3.3V
27/
28/
29
24/
25/
26
Power Bridge
3
3
3
EEPROM
3.3V
Figure 4: TMCC160 Encoder Block Diagram
i
If encoder configuration is used motor will be controlled by field oriented control, FOC.
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Encoder
SPI1
U
HSx, LSx, BMx
30/31/32/33
Optional HALL
Host PC
or
microcontroller
39/40
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.
If the supply voltage does not fall below 12V charge pump circuitry can be left away without
performance loss (connect VCP to VM, omit D1, D2, C2, VCP_SW not connected).
VM
D1
C1
D2
C3
C2
VM
VCP_REG
VCP
VCP_SW
VM
VREG
40V
1µF/25V
1µF/25V
Trickle
Charge Pump
HSx
BMx
TMCC160
LSx
GND
Figure 5: Charge Pump Example Schematic
i
A component list example is provided on the next page.
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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
4.7µF/25V ceramic capacitor
60V/1A
VENDOR
Murata
Electronics
TDK
Multicomp
AVX
Corporation
Kemet
Murata
Electronics
TDK
Vishay
ORDER CODE
GRM219R6YA475MA73D
C2012X7R1V475K125AC
MC0603B333J500CT
06035C333JAT2A
C0805C475K3PACTU
GRM21BR61E475KA12L
CGA4J1X7R1E475K125AC
MSS1P6 (assembled on EVAL
board)
Table 1: Charge Pump Component List Example
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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. if the consumption does not exceed 400mA.
NOTE:
→ Place D1, L1, C1-C2 close to the TMCC160 pins SW, DA and VCC
3.3V
L1
C1
D1
SW
DA
C2
VCC
DC/DC
TMCC160
Figure 6: DC/DC Converter Example Schematic
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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.
DFLS140
Table 2:DC/DC Component List Example
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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.
NOTE:
→ Place C1-C2, Q1 close to the TMCC160 pins
Q1
C1
C2
EXTAL
XTAL
Microcontroller
TMCC160
Figure 7: Crystal Example Schematic
Crystal Component List Example
COMPONENT
DESCRIPTION
C1
15pF/50V ceramic capacitor
C2
15pF/50V ceramic capacitor
Q1
16MHz crystal
VENDOR
Series
NDK
NX3225SA
Table 3: Crystal Component List Example
4.4
Supply Filter
To ensure proper operation VM and 3.3V supply voltage must be stable. TMCC160 already
includes small buffer capacitors to stabilize the supply voltages. Nevertheless are additional
capacitors mandatory.
NOTE:
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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
3.3V Output
C4
C3
C1
C2
SW
VCC
VM
2X100nF
470nF
100nF
Microcontroller
DC/DC
Gate Driver
TMCC160
Figure 8: Supply Filter Example Schematic
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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
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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.
4.5.1
Direct Coil Current
Measurement
A power MOSFET schematic including two phase direct coil current amplifier
(e.g. AD8418) is shown below. The coil current measurement amplifiers can be
powered by the 3.3V supply of the TMCC160.
NOTE:
→ Integrate coil current amplifiers in motor coil connection U and V.
4.5.2
Recommended
Schematic for
Direct Coil
Measurement
VM
C1
C3
C4
C5
C6
I_U
HS1
HS2
-
+
C2
HS3
BM1
R
BM2
R
U
V
BM3
LS2
-
+
LS1
BLDC
W
LS3
I_V
Figure 9: Direct Coil Current Measurement Schematic
i
Direct coil current measurement is recommended for field oriented control
(FOC) in hall- or encoder mode. It can also be used in block hall commutation
(six step mode).
NOTE:
→ Please note that the current amplifier has to be configured for bidirectional
measurement. A sample schematic for direct coil current measurement
with AD8418 is published in the TMCC160-EVAL board schematic.
Current Sense
Inputs
The input voltage range of the TMCC160 current sense inputs I_U, I_V is 0..VCC.
Both signals will be routed to the TMCC160 microcontroller and converted with
a resolution of 12 bits. For a symmetric motor current measurement in positive
and negative direction, the current amplifier must output VCC/2 at zero motor
current to meet the TMCC160 offset configured.
NOTE:
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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
4.5.3
Sense Resistor
Selection
Use formula below to calculate the sense resistors for direct coil current
measurement.
𝑅𝑅𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 =
1.48𝑉𝑉
𝐺𝐺
𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
1.48𝑉𝑉
𝐺𝐺
=
√2 ∗ 𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑅𝑅𝑅𝑅𝑅𝑅
(𝐺𝐺 = 𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶𝐶 𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴𝐴 𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺)
G=20 (AD8418)
Formulae 1: Direct Coil Current Sense Resistor Calculation
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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
4.5.6
Single Shunt
Measurement
DESCRIPTION
VENDOR
AD8418
ANALOG
DEVICES
AD8206
ANALOG
DEVICES
Series
The single shunt measurement uses only one resistor in the bottom GND
connection of the power MOSFET bridge. TMCC160 supports a high speed, high
bandwidth, and low offset current sense amplifier with configurable input range
for signal conditioning.
VM
C1
C2
HS1
C3
C4
C5
HS2
C6
HS3
BM1
U
BM2
V
BM3
W
LS1
LS2
RS+
BLDC
LS3
100Ω
100pF
R
100pF
RS-
100Ω
Figure 11: Single Shunt Measurement Schematic
NOTE:
→ Single shunt measurement is only possible for block hall (six step mode)
commutation.
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→ 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%. The maximum input voltage between RS+
and RS- depends on the configured amplifier gain:
𝑈𝑈𝑀𝑀𝑀𝑀𝑀𝑀 =
1.48𝑉𝑉
𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺
Formulae 3: Maximum Input Voltage Calculation
With the given 𝑈𝑈𝑀𝑀𝑀𝑀𝑀𝑀 it is possible to calculate the sense resistor for a given
maximum target current. Calculation formula for 𝑅𝑅𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 is given below. The
maximum current can be measured in both directions depending on the power
MOSFET state.
𝑅𝑅𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆 =
1.48𝑉𝑉
𝐺𝐺𝐺𝐺𝐺𝐺𝐺𝐺
𝐼𝐼𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡_𝑝𝑝𝑝𝑝𝑝𝑝𝑝𝑝
Formulae 4: Single Shunt Sense Resistor Calculation
4.5.8
Dead Time Logic
To protect each half bridge against cross-conduction during switching high- and
low-side MOSFETs, TMCC160 includes a programmable dead time delay between
high- and low-side MOSFET of the same phase. During the dead time high- and
low-side MOSFETs are off. The dead time can be configured in software.
Dead time:
0.00µS/ 0.51µS/ 0.80µS/ 1.10µS/ 1.67µS/ 2.30µS/ 3.40µS/ 6.9µS
i
4.5.9
Power MOSFET
Selection
To avoid high losses during switch event a proper dead time adaption is
needed. A value of 1.1µS is a good start value for further tuning.
TMCC160 provides an integrated 3-phase gate driver for pure N-channel
MOSSFET bridge. The gate driver is capable to drive the high- and low-side gate
with up to 1A source, sink. This allows fast and high efficient switching of power
MOSFETs with a gate charge up to 350nC. To drive the high- and low-side
MOSFETs down to a supply voltage of 7V a charge pump is integrated. Gatesource voltage of high- and low-side gate driver output is 12V.
The duration of the switching event depends on the total gate charge of the
MOSFET and can be calculated with the formula below.
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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
4.5.10
Gate Driver Clamp
Diodes
To avoid that negative voltage spikes (high frequency oscillation) reach the
TMCC160 gate driver output pins during switch events, high- and low-side gate
series resistors (R) as well as optional clamp diodes (D) on low-side gate output
are recommend.
The negative voltage oscillation roots from the recovery effect of the MOSFETs
body diodes during switching. A clamp circuit for BMx pins is integrated in the
TMCC160.
Depending on the gate charge, the following gate series resistors are recommended:
Gate Charge Resistors Table
GATE CHARGE:
MIN GATE SERIES RESISTOR [Ω]:
LOW SIDE CLAMP DIODE:
100nC
2.2R
required
Table 5: Gate Charge Resistor and Clamp Diode Recommendation
NOTE:
→ Values in table above have to be validated in layout.
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→ It is important to place the clamp diode close to LSx pin.
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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. Additional a regulated power supply is
recommended, especially if the system is operated close to the maximum supply
voltage or a long power supply line is used.
For power supply filtering capacitor value, the following rule of thumb can
be used to calculate the system capacity (depending on the motor velocity
𝑰𝑰𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺 varies between 10% to 100% of the motor current):
i
4.6
𝐶𝐶𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹𝐹 = 1000µ𝐹𝐹 ∗ 𝐼𝐼𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆𝑆
To reduce power losses in the capacitors and increase voltage stability use
low ESR-capacitor type.
Interface
The TMCC160 system in a package supports RS232, RS485, CAN and SPI interface as well as an
analog input which can be used for control and parameterization.
4.6.1
RS232
For easy intercommunication with a microcontroller or a host PC TMCC160
system in a package provides a 3.3V UART interface which can be directly
connected to a microcontroller UART (3.3V TTL level) or connected to an external
RS232 transceiver supporting a full RS232 signal interface.
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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.
4.6.2
RS485
For remote control and host communication the TMCC160 provides a two wire
RS485 bus interface. An external RS485 transceiver is required to integrate the
TMCC160 into a RS485 bus structure. An example circuit is shown below, several
other RS485 transceivers are available.
3.3V
100nF
8
RS485+
RS485-
6
7
5
VCC
REN
A
R
B
D
GND
DE
2
RS485_DIR
1
RXD
4
TXD
TMCC160
3
SN65HVD1781D
Figure 15: RS485 Interface Example Schematic
NOTE:
→ TMCC160 is capable to supply a RS485 transceiver with the internal 3.3V
power supply.
→ For a proper RS485 operation following items should be taken into account
when setting up an RS485 network:
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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.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
termination
resistor
(120 Ohm)
keep distance as
short as possible
RS485
Figure 16: RS485 Bus Interface Structure
4.6.4
RS485 Bus
Termination
Especially for longer busses and/or multiple nodes connected to the bus and/or
high communication speeds, the bus should be properly terminated at both
ends. Therefore, a 120 Ohm termination resistors at both ends of the bus have
to be added.
4.6.5
No Floating Bus
Lines
Avoid floating bus lines while neither the host/master nor one of the slaves along
the bus line is transmitting data (all bus nodes switched to receive mode).
Floating bus lines may lead to communication errors. In order to ensure valid
signals on the bus it is recommended to use a resistor network connecting both
bus lines in order to define logic levels appropriately.
Two configuration options can be recommended. They are explained on the next
page.
Configuration
Option 1
Add resistor (Bias) network on one side of the bus, only (120R termination
resistor still at both ends):
termination
resistor
(220R)
Slave
Slave
node
n- 1
node
n
+5V
pull-up (680R)
RS485+ / RS485A
termination
resistor
(120R)
RS485- / RS485B
pull-down (680R)
GND
Bus lines with resistor (Bias) network on one side, only
Configuration
Option 2
Or add resistor (bias) network at both ends of the bus (like Profibus™
termination):
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+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 2.0B Interface
TMCC160 supports a full CAN 2.0B interface with up to 1Mbit/s. An external CAN
transceiver is needed to integrate TMCC160 into a CAN bus network. It is possible
to use TMCC160 internal generated 3.3V supply to power the IO voltage of a CAN
transceiver like in picture below.
4.6.7
CAN Bus Structure
5V
3.3V
100nF
100nF
3
7
CANL
6
CANH
2
VCC
VIO
CANL
TXD
CANH
RXD
GND
S
5
1
CAN_TXD
4
CAN_RXD
TMCC160
8
TJA1051T/3
Figure 18: CAN Interface Example Schematic
NOTE:
→ The network topology should follow a bus structure as closely as possible.
The connection between each node and the CAN bus itself should be as
short as possible to avoid signal reflections.
Host
c:>
Slave
Slave
Slave
node
1
node
n-1
node
n
}
termination
resistor
(120 Ohm)
CAN
termination
resistor
(120 Ohm)
keep distance as
short as possible
Figure 19: CAN Bus Structure
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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.
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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..10V
22k
AIN
TMCC160
10k
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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
3.3V
8
VCC
1
CS
3
WP
7
HOLD
CSN_SPI0 33
6
SCK
5
SI
2
SO
4
GND
SCLK_SPI0 32
MOSI_SPI0 30
MISO_SPI0 31
TMCC160
100nF
Figure 20: EEPROM Connection Schematic
COMPONENT
DESCRIPTION
AT25128B-SSHL
VENDOR
Atmel
Series
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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.
Brake Chopper
Output
TMCC160 provides a continuous motor voltage monitoring (20kHz) as well as a
brake chopper output. The brake chopper output pin is controlled from a
comparator implemented in TMCC160 software. Voltage threshold, hysteresis,
enable/ disable is configurable via software.
Motor voltage should be limited to 90% - 95% of the maximum possible
operation voltage.
Brake Chopper
Example
Schematic
VM
VM
R
Brake (10)
Gate Driver
Software voltage threshold
Software hysteresis
TMCC160
Figure 21: Brake Chopper Example Schematic
4.8.1
Brake resistor
selection
For a full speed ramp stop, the brake resistor should be able to dissipate the
complete kinetic energy which is fed back during deceleration ramp (𝑡𝑡𝑑𝑑𝑑𝑑𝑑𝑑. ).
Kinetic energy:
1
2
[𝐽𝐽 = 𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚𝑚 𝑜𝑜𝑜𝑜 𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖, 𝜔𝜔 = 𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠]
𝐸𝐸𝐾𝐾𝐾𝐾𝐾𝐾 = ∗ 𝐽𝐽 ∗ 𝜔𝜔𝑚𝑚𝑚𝑚𝑚𝑚.
2
Deceleration time:
𝑡𝑡𝑑𝑑𝑑𝑑𝑑𝑑.
Electrical energy:
𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸. = 𝑃𝑃 ∗ 𝑡𝑡𝑑𝑑𝑑𝑑𝑑𝑑. =
Brake resistor:
𝑅𝑅𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵𝐵 =
2
�𝑈𝑈𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 �
𝑅𝑅
∗ 𝑡𝑡𝑑𝑑𝑑𝑑𝑑𝑑.
2
�𝑈𝑈𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠 � ∗𝑡𝑡𝑑𝑑𝑑𝑑𝑑𝑑.
𝐸𝐸𝐾𝐾𝐾𝐾𝐾𝐾
Formulae 6: Brake Chopper Resistor Calculation
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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)
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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
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