TMC SILENTSTEPSTICK SPI

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2130-LA DATASHEET Universal high voltage driver for two-phase bipolar stepper motor. stealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI. APPLICATIONS Textile, Sewing Machines Factory & Lab Automation 3D printers Liquid Handling Medical Office Automation CCTV, Security ATM, Cash recycler POS Pumps and Valves FEATURES AND DESCRIPTION BENEFITS The TMC2130 is a high performance driver IC for two phase stepper motors. Standard SPI and STEP/DIR simplify communication. TRINAMICs sophisticated stealthChop chopper ensures noiseless operation combined with maximum efficiency and best motor torque. coolStep allows reducing energy consumption by up to 75%. dcStep drives high loads as fast as possible without step loss. Integrated power MOSFETs handle motor currents up to 1.2A RMS (QFN package) / 1.4A RMS (TQFP) or 2.5A short time peak current per coil. Protection and diagnostic features support robust and reliable operation. Industries’ most advanced stepper motor driver enables miniaturized designs with low external component count for costeffective and highly competitive solutions. 2-phase stepper motors up to 2.0A coil current (2.5A peak) Step/Dir Interface with microstep interpolation microPlyer™ SPI Interface Voltage Range 4.75… 46V DC Highest Resolution 256 microsteps per full step stealthChop™ for extremely quiet operation and smooth motion 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% Integrated Current Sense Option Passive Braking and freewheeling mode Full Protection & Diagnostics Small Size 5x6mm2 QFN36 package or TQFP48 package BLOCK DIAGRAM Step/Dir Power Supply +5V Regulator INT Interrupt IREF optional current scaling Charge Pump TMC2130 Step Multiplyer Standstill Current Reduction DAC Reference Motor SPI CLK SPI Control, Config & Diags Control Register Set CLK Oscillator / Selector spreadCycle Programmable 256 µStep Sequencer DRIVER stealthChop Protection & Diagnostics stallGuard2 TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany coolStep dcStep TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 2 APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a wide spectrum of applications from battery systems up to embedded applications with 2.0A motor current per coil. Based on stallGuard2, coolStep, dcStep, spreadCycle, and stealthChop, the TMC2130 optimizes drive performance and keeps costs down. It considers velocity vs. motor load, realizes energy savings, smoothness of the drive and noiselessness. Extensive support at the chip, board, and software levels enables rapid design cycles and fast time-to-market with competitive products. MINIATURIZED DESIGN FOR ONE STEPPER MOTOR In this application, the CPU initializes the TMC2130 motor driver via SPI interface and controls motor movement by sending step and direction signals. A real time software realizes motion control. 0A+ High-Level Interface CPU S/D TMC2130 FOR N 0B+ 0B- SPI DESIGN S 0A- DEMANDING APPLICATIONS WITH S-SHAPED RAMP PROFILES 0A+ High-Level Interface CPU SPI TMC4361 SPI Motion Controller S/D TMC2130 0A- S N 0B+ 0B- SPI COMPACT DESIGN FOR UP TO THREE STEPPER MOTORS 0A+ High-Level Interface CPU SPI TMC429 Motion Controller STEP/ DIR TMC2130 0A- S N 0B+ 0B- SPI STEP/ DIR 0A+ TMC2130 0A- S The CPU initializes the TMC4361 motion controller and the TMC2130. Thereafter, it sends target positions to the TMC4361. Now, the TMC4361 takes control over the TMC2130. Combining the TMC4361 and the TMC2130 offers diverse possibilities for demanding applications including servo drive features. Here, an application with up to three stepper motors is shown. A single CPU combined with a TMC429 motion controller manages the whole stepper motor driver system. This design is highly economical and space saving if more than one stepper motor is needed. N 0B+ 0BSPI STEP/ DIR 0A+ TMC2130 0A- S N 0B+ 0BSPI ORDER CODES Order code TMC2130-LA TMC2130-TA TMC2130-EVAL TMC4361-EVAL STARTRAMPE ESELSBRÜCKE www.trinamic.com Description 1-axis dcStep, coolStep, and stealthChop driver; QFN36 1-axis dcStep, coolStep, and stealthChop driver; TQFP48 Evaluation board for TMC2130 two phase stepper motor controller/driver Motion controller board (part of evaluation board system) Baseboard for TMC2130-EVAL and further evaluation boards Connector board for plug-in evaluation board system Size [mm2] 5x6 9x9 85 x 55 85 x 55 85 x 55 61 x 38 TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 3 Table of Contents 1 2 PRINCIPLES OF OPERATION ......................... 5 8 ANALOG CURRENT CONTROL AIN ............. 54 1.1 KEY CONCEPTS ................................................ 7 1.2 SPI CONTROL INTERFACE ............................... 7 1.3 SOFTWARE ...................................................... 7 1.4 MOVING THE MOTOR ...................................... 7 1.5 STEALTHCHOP DRIVER ..................................... 8 1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8 1.7 COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL ...................................................................... 8 1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9 9 SELECTING SENSE RESISTORS.................... 55 PIN ASSIGNMENTS .........................................10 2.1 2.2 3 PACKAGE OUTLINE ........................................10 SIGNAL DESCRIPTIONS .................................11 SAMPLE CIRCUITS ..........................................13 3.1 STANDARD APPLICATION CIRCUIT ................13 3.2 REDUCED NUMBER OF COMPONENTS .............14 3.3 INTERNAL RDSON SENSING..........................14 3.4 EXTERNAL 5V POWER SUPPLY ......................15 3.5 PRE-REGULATOR FOR REDUCED POWER DISSIPATION..............................................................16 3.6 5V ONLY SUPPLY..........................................17 3.7 HIGH MOTOR CURRENT .................................18 3.8 DRIVER PROTECTION AND EME CIRCUITRY ...20 4 SPI INTERFACE ................................................21 4.1 4.2 4.3 5 SPI DATAGRAM STRUCTURE .........................21 SPI SIGNALS ................................................22 TIMING .........................................................23 REGISTER MAPPING .......................................24 5.1 GENERAL CONFIGURATION REGISTERS ..........25 5.2 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET .............................................27 5.3 SPI MODE REGISTER ....................................29 5.4 DCSTEP MINIMUM VELOCITY REGISTER .........29 5.5 MOTOR DRIVER REGISTERS ...........................30 6 STEALTHCHOP™ ..............................................39 6.1 6.2 6.3 6.4 6.5 6.6 7 TWO MODES FOR CURRENT REGULATION ......39 AUTOMATIC SCALING ....................................40 VELOCITY BASED SCALING ............................42 COMBINING STEALTHCHOP AND SPREADCYCLE 44 FLAGS IN STEALTHCHOP................................45 FREEWHEELING AND PASSIVE MOTOR BRAKING 46 SPREADCYCLE AND CLASSIC CHOPPER ...47 7.1 7.2 7.3 7.4 SPREADCYCLE CHOPPER ................................48 CLASSIC CONSTANT OFF TIME CHOPPER.......51 RANDOM OFF TIME .......................................52 CHOPSYNC2 FOR QUIET 2-PHASE MOTOR .....53 www.trinamic.com 10 INTERNAL SENSE RESISTORS ................. 57 11 VELOCITY BASED MODE CONTROL ....... 59 12 DRIVER DIAGNOSTIC FLAGS .................. 61 12.1 12.2 12.3 14 14.1 14.2 14.3 14.4 15 15.1 15.2 15.3 16 TEMPERATURE MEASUREMENT ....................... 61 SHORT TO GND PROTECTION ....................... 61 OPEN LOAD DIAGNOSTICS ........................... 61 STALLGUARD2 LOAD MEASUREMENT ... 62 TUNING STALLGUARD2 THRESHOLD SGT ..... 63 STALLGUARD2 UPDATE RATE AND FILTER .... 65 DETECTING A MOTOR STALL ......................... 65 LIMITS OF STALLGUARD2 OPERATION .......... 65 COOLSTEP OPERATION ............................. 66 USER BENEFITS............................................. 66 SETTING UP FOR COOLSTEP .......................... 66 TUNING COOLSTEP........................................ 68 STEP/DIR INTERFACE ................................ 69 16.1 TIMING ......................................................... 69 16.2 CHANGING RESOLUTION ............................... 70 16.3 MICROPLYER STEP INTERPOLATOR AND STAND STILL DETECTION ....................................................... 71 17 DIAG OUTPUTS ........................................... 72 18 DCSTEP .......................................................... 73 18.1 18.2 18.3 18.4 19 19.1 19.2 USER BENEFITS............................................. 73 DESIGNING-IN DCSTEP ................................. 73 DCSTEP WITH STEP/DIR INTERFACE ........... 74 STALL DETECTION IN DCSTEP MODE ............ 77 SINE-WAVE LOOK-UP TABLE................... 78 USER BENEFITS............................................. 78 MICROSTEP TABLE ........................................ 78 20 EMERGENCY STOP ...................................... 79 21 DC MOTOR OR SOLENOID ....................... 80 21.1 SOLENOID OPERATION.................................. 80 22 QUICK CONFIGURATION GUIDE ............ 81 23 GETTING STARTED ..................................... 84 23.1 INITIALIZATION EXAMPLE ............................. 84 24 STANDALONE OPERATION ...................... 85 25 EXTERNAL RESET ........................................ 88 26 CLOCK OSCILLATOR AND INPUT ........... 88 26.1 27 CONSIDERATIONS ON THE FREQUENCY .......... 88 ABSOLUTE MAXIMUM RATINGS ............ 89 TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 28 28.1 28.2 28.3 29 29.1 29.2 29.3 29.4 30 ELECTRICAL CHARACTERISTICS .............89 4 30.1 30.2 30.3 DIMENSIONAL DRAWINGS QFN36 5X6 ....... 97 DIMENSIONAL DRAWINGS TQFP-EP48 ....... 99 PACKAGE CODES ......................................... 100 OPERATIONAL RANGE ...................................89 DC AND TIMING CHARACTERISTICS ..............90 THERMAL CHARACTERISTICS ..........................93 31 DISCLAIMER ............................................... 101 LAYOUT CONSIDERATIONS .....................94 32 ESD SENSITIVE DEVICE.......................... 101 EXPOSED DIE PAD ........................................94 WIRING GND ...............................................94 SUPPLY FILTERING ........................................94 LAYOUT EXAMPLE (QFN36) ..........................95 33 TABLE OF FIGURES .................................. 102 34 REVISION HISTORY ................................. 103 35 REFERENCES ............................................... 103 PACKAGE MECHANICAL DATA ................97 www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 1 5 Principles of Operation THE TMC2130 OFFERS THREE BASIC MODES OF OPERATION: In Step/Direction Driver Mode, the TMC2130 is the microstep sequencer and power driver between a motion controller and a two phase stepper motor. Configuration of the TMC2130 is done via SPI. A dedicated motion controller IC or the CPU sends step and direction signals to the TMC2130. The TMC2130 provides the related motor coil currents to operate the motor. In Standalone Mode, the TMC2130 can be configured using pins. In this mode of operation CPU interaction is not necessary. The third mode of operation is the SPI Driver Mode, which is used in combination with TRINAMICs TMC4361 motion controller chip. This mode of operation offers several possibilities for sophisticated applications. OPERATION MODE 1: Step/Direction Driver Mode An external motion controller is used or a central CPU generates step and direction signals. The motion controller (e.g. TMC429) controls the motor position by sending pulses on the STEP signal while indicating the direction on the DIR signal. The TMC2130 provides a microstep counter and a sine table to convert these signals into the coil currents which control the position of the motor. The TMC2130 automatically takes care of intelligent current and mode control and delivers feedback on the state of the motor. The microPlyer automatically smoothens motion. To optimize power consumption and heat dissipation, software may also adjust coolStep and stallGuard2 parameters in real-time, for example to implement different tradeoffs between speed and power consumption. VCP 100n CPI charge pump CPO VSA 4.7µ 2R2 and 470n are optional filtering components for best chopper precision AIN_IREF DIR F step multiplier microPlyer SPI™ IREF SCK PU SDI PU SDO PU f ace Inter programmable sine table 4*256 entry Control register set Diganostics DIAG0 PMD RS current comparator Stepper driver Protection & diagnostics current comparator IREF DAC DAC RS BRB DIAG out stallGuard2™ Half Bridge 2 leave open PU DRV_ENN PU PU dcStep control Tie DCEN to GND if dcStep is not used Figure 1.1 TMC2130 STEP/DIR application diagram www.trinamic.com DCO GNDA DIE PAD SPI_MODE TST_MODE 100n Half Bridge 1 DCIN PU VCC_IO OB2 ISENSE ISENSE DCEN CLK oscillator/ selector PU=166K pullup to VCC CLK_IN phase stepper motor GNDP coolStep™ dcStep™ opt. ext. clock 10-16MHz +VIO 3.3V or 5V I/O voltage RS=0R15 allows for maximum coil current. Use low inductance SMD resistor type. Tie BRA and BRB to GND for internal 2 current sensing IREF PDD=100k pulldown PMD=50k to VCC/2 PDD BRA GNDP spreadCycle & stealthChop Chopper x OA2 Half Bridge 2 ISENSE DRV_ENN SPI interface B.Dwersteg, © TRINAMIC 2014 DIAG1 ISENSE tep & coolS Chop th steal driver r o t o m PU=166K pullup resistor to VCC PD=166k pull down resistor to GND CSN +VM OA1 Half Bridge 1 DAC Reference VCC PU 5VOUT 100n 2R2 470n RREF Optional for internal current sensing. RREF=9K1 allows for maximum coil current. VS 5V Voltage regulator 5VOUT optional current scaling Standstill current reduction 22n 100n STEP TMC2130 Stepper Motor Driver +VM F F = 60ns spike filter step & dir input opt. driver enable OB1 VS 100n +VM S N TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 6 OPERATION MODE 2: Standalone Mode The TMC2130 positions the motor based on step and direction signals. The microPlyer automatically smoothens motion. No CPU interaction is required. Configuration is done by hardware pins. Basic standby current control can be done by the TMC2130. Optional feedback signals allow error detection and synchronization. AIN_IREF optional current scaling DIR STEP step & dir input RREF 5VOUT Optional for internal current sensing. RREF=9K1 allows for maximum coil current. +VM VCP 100n charge pump CPO CFG1 step multiplier microPlyer VSA 4.7µ 2R2 VCC 2R2 and 470n are optional filtering components for best chopper precision 470n TG= toggle with 166K resistor between VCC and GND to detect open pin TG CFG1 TG CFG2 TG CFG3 TG CFG4 TG CFG5 TG DRV_ENN_CFG6 TG TRISTATE configuration (GND, VCC_IO or open) Opt. driver enable input CFG0 CFG4 Configuration interface with TRISTATE detection B.Dwersteg, © TRINAMIC 2014 PDD=100k pulldown PMD=50k to VCC/2 Index pulse Driver error opt. ext. clock 10-16MHz +VIO 3.3V or 5V I/O voltage DIAG1 PDD DIAG0 PMD CLK_IN IREF ISENSE sine table 4*256 entry CFG2 BRA ISENSE RS GNDP CFG1 CFG5 spreadCycle & stealthChop Chopper DRV_ENN Stepper driver Protection & diagnostics x OA2 Half Bridge 2 CFG0 CFG1 OA1 Half Bridge 1 DAC Reference le & dCyc sprea hChop t steal driver r o t o m 5V Voltage regulator 5VOUT CFG3 Standstill current reduction CFG6 22n 100n +VM VS CFG2 CPI 100n F F F = 60ns spike filter TMC 2130 Standalone Stepper Motor Driver CFG2 current comparator current comparator IREF DAC RS=0R15 allows for maximum coil current; Tie BRA and BRB to GND for internal current sensing DAC IREF f ace Inter GNDP S N 2 phase stepper motor RS BRB Half Bridge 2 Status out (open drain) OB2 ISENSE Half Bridge 1 CLK oscillator/ selector ISENSE PU VCC_IO VS 100n +VM GNDA DIE PAD TST_MODE 100n SPI_MODE OB1 Figure 1.2 TMC2130 standalone driver application diagram OPERATION MODE 3: SPI Driver Mode Together with the TMC4361 high-performance S-ramp motion controller the TMC2130 stepper motor driver offers an SPI control mode, which gives full control over the motor coil currents to the TMC4361. Combining these two ICs offers several possibilities for demanding applications including servo features. Please refer to Figure 1.1 for more information about the pinning, which is identical to step/direction driver mode, except that the STEP & DIR pins are not required for operation. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 7 1.1 Key Concepts The TMC2130 implements advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor. spreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean current wave. dcStep™ Load dependent speed control. The motor moves as fast as possible and never loses a step. stallGuard2™ Sensorless stall detection and mechanical load measurement. coolStep™ Load-adaptive current control reducing energy consumption by as much as 75%. microPlyer™ Microstep interpolator for obtaining increased smoothness of microstepping when using the STEP/DIR interface. In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment malfunctions. 1.2 SPI Control Interface The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus master to the bus slave another bit is sent simultaneously from the slave to the master. Communication between an SPI master and the TMC2130 slave always consists of sending one 40-bit command word and receiving one 40-bit status word. The SPI command rate typically is a single initialization after power-on. 1.3 Software From a software point of view the TMC2130 is a peripheral with a number of control and status registers. Most of them can either be written only or read only. Some of the registers allow both read and write access. In case read-modify-write access is desired for a write only register, a shadow register can be realized in master software. 1.4 Moving the Motor 1.4.1 STEP/DIR Interface The motor can be controlled by a step and direction input. Active edges on the STEP input can be rising edges or both rising and falling edges as controlled by a mode bit (dedge). Using both edges cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as optically isolated interfaces. On each active edge, the state sampled from the DIR input determines whether to step forward or back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. A step impulse with a low state on DIR increases the microstep counter and a high decreases the counter by an amount controlled by the microstep resolution. An internal table translates the counter value into the sine and cosine values which control the motor current for microstepping. 1.4.2 SPI Direct Mode The direct mode allows control of both motor coil currents and polarity via SPI. It mainly is intended for use with a dedicated external motion controller IC with integrated sequencer. The sequencer applies sine and cosine waves to the motor coils. This mode also allows control of DC motors, etc. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 8 1.5 stealthChop Driver stealthChop is a voltage chopper based principle. It guarantees absolutely quiet motor standstill and silent slow motion, except for noise generated by ball bearings. stealthChop can be combined with classic cycle-by-cycle chopper modes for best performance in all velocity ranges. Two additional chopper modes are available: a traditional constant off-time mode and the spreadCycle mode. The constant off-time mode provides high torque at highest velocity, while spreadCycle offers smooth operation and good power efficiency over a wide range of speed and load. spreadCycle automatically integrates a fast decay cycle and guarantees smooth zero crossing performance. The extremely smooth motion of stealthChop is beneficial for many applications. Programmable microstep shapes allow optimizing the motor performance for low cost motors. Benefits of using stealthChop: - Significantly improved microstepping with low cost motors - Motor runs smooth and quiet - Absolutely no standby noise - Reduced mechanical resonances yields improved torque 1.6 stallGuard2 – Mechanical Load Sensing 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. This gives more information on the drive allowing functions like sensorless homing and diagnostics of the drive mechanics. 1.7 coolStep – Load Adaptive Current Control coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement information to adjust the motor current to the minimum amount required in the actual load situation. This saves energy and keeps the components cool. Benefits are: - Energy efficiency - Motor generates less heat - Less or no cooling - Use of smaller motor power consumption decreased up to 75% improved mechanical precision improved reliability less torque reserve required → cheaper motor does the job Figure 1.3 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example. 0,9 Efficiency with coolStep 0,8 Efficiency with 50% torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 1.3 Energy efficiency with coolStep (example) www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 9 1.8 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. In addition to the increased torque at a lower velocity, dynamic inertia will allow the motor to overcome mechanical overloads by decelerating. dcStep feeds back status information to the external motion controller or to the system CPU, so that the target position will be reached, even if the motor velocity needs to be decreased due to increased mechanical load. A dynamic range of up to factor 10 or more can be covered by dcStep without any step loss. By optimizing the motion velocity in high load situations, this feature further enhances overall system efficiency. Benefits are: - Motor does not loose steps in overload conditions - Application works as fast as possible - Highest possible acceleration automatically - Highest energy efficiency at speed limit - Highest possible motor torque using fullstep drive - Cheaper motor does the job www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 2 10 Pin Assignments BRA OA2 VS VSA VCP 31 30 29 34 32 OA1 35 33 TST_MODE GNDP 36 2.1 Package Outline CLK 1 28 CSN_CFG3 2 27 CPI CPO SCK_CFG2 3 26 VCC 25 5VOUT 24 GNDA 23 AIN_IREF 22 DRV_ENN_CFG6 21 DIAG1 20 DIAG0 19 DCIN_CFG5 SDI_CFG1 4 SDO_CFG0 5 STEP 6 TMC2130-LA QFN-36 DIR 7 5mm x 6mm VCC_IO 8 - 9 SPI_MODE 10 18 17 16 VS DCO DCEN_CFG4 15 OB2 BRB 14 13 OB1 12 - GNDP 11 PAD = GNDD OA2 - VS VSA VCP CPI 41 40 39 38 37 43 42 - BRA OA1 46 44 47 45 GNDP 48 Figure 2.1 TMC2130-LA package and pinning QFN36 (5x6mm² body) TST_MODE 1 36 CLK 2 35 CPO CSN_CFG3 3 34 VCC SCK_CFG2 4 33 5VOUT SDI_CFG1 5 32 GNDA - 6 31 - SDO_CFG0 7 30 AIN_IREF STEP 8 29 DRV_ENN_CFG6 DIR 9 28 - VCC_IO 10 27 DIAG1 - 11 26 DIAG0 SPI_MODE 12 25 DCIN_CFG5 TMC2130-TA TQFP-48 9mm x 9mm 17 18 19 20 21 22 - BRB - OB2 - VS - 24 16 OB1 23 15 DCO 14 - DCEN_CFG4 13 GNDP PAD = GNDD Figure 2.2 TMC2130-TA package and pinning TQFP-EP 48-EP (7x7mm² body, 9x9mm² with leads) www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 11 2.2 Signal Descriptions Pin QFN36 TQFP48 Type CLK 1 2 DI CSN_CFG3 2 3 SCK_CFG2 3 4 SDI_CFG1 4 5 SDO_CFG0 5 7 STEP DIR VCC_IO 6 7 8 8 9 10 11, 18, 28, 45, DNC 9 DI (tpu) DI (tpu) DI (tpu) DIO (tpu) DI DI 14, 16, 20, 22, 41, 43, 47 - DI (pu) SPI_MODE 10 12 N.C. 11 6, 31, 36 GNDP OB1 12, 35 13 13, 48 15 BRB 14 17 OB2 15 19 VS 16, 31 21, 40 DCO 17 23 DIO DCEN_CFG4 18 24 DI (tpu) DCIN_CFG5 19 25 DI (tpu) DIAG0 20 26 DIO DIAG1 21 27 DIO DRV_ENN_ CFG6 22 29 DI (tpu) AIN_IREF 23 30 AI www.trinamic.com Function CLK input. Tie to GND using short wire for internal clock or supply external clock. SPI chip select input (negative active) (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SPI serial clock input (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SPI data input (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SPI data output (tristate) (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). STEP input DIR input 3.3V to 5V IO supply voltage for all digital pins. Do not connect. Leave open to ensure highest distance for high voltage pins in TQFP package! Mode selection input with pullup resistor. When tied low, the chip is in standalone mode and pins have their CFG functions. When tied high, the SPI interface is available for control. Integrated pull-up resistor. Unused pin, connect to GND for compatibility to future versions. Power GND. Connect to GND plane near pin. Motor coil B output 1 Sense resistor connection for coil B. Place sense resistor to GND near pin. An additional 100nF capacitor to GND (GND plane) is recommended for best performance. Motor coil B output 2 Motor supply voltage. Provide filtering capacity near pin with short loop to nearest GNDP pin (respectively via GND plane). dcStep ready output dcStep enable input (SPI_MODE=1) - tie to GND for normal operation (no dcStep) or Configuration input (SPI_MODE=0) (tristate detection). dcStep gating input for axis synchronization (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). Diagnostics output DIAG0. Use external pull-up resistor with 47k or less in open drain mode. Diagnostics output DIAG1. Use external pull-up resistor with 47k or less in open drain mode. Enable input (SPI_MODE=1) or configuration / Enable input (SPI_MODE=0) (tristate detection). The power stage becomes switched off (all motor outputs floating) when this pin becomes driven to a high level. Analog reference voltage for current scaling (optional mode) or reference current for use of internal sense resistors TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) Pin GNDA QFN36 24 TQFP48 32 5VOUT 25 33 VCC 26 34 CPO 27 35 CPI 28 37 VCP 29 38 VSA 30 39 OA2 32 42 BRA 33 44 OA1 TST_MODE 34 36 46 1 Exposed die pad - - Type DI 12 Function Analog GND. Tie to GND plane. Output of internal 5V regulator. Attach 2.2µF or larger ceramic capacitor to GNDA near to pin for best performance. May be used to supply VCC of chip. 5V supply input for digital circuitry within chip and charge pump. Attach 470nF capacitor to GND (GND plane). May be supplied by 5VOUT. A 2.2 or 3.3 Ohm resistor is recommended for decoupling noise from 5VOUT. When using an external supply, make sure, that VCC comes up before or in parallel to 5VOUT or VCC_IO, whichever comes up later! Charge pump capacitor output. Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor. Charge pump voltage. Tie to VS using 100nF capacitor. Analog supply voltage for 5V regulator. Normally tied to VS. Provide a 100nF filtering capacitor. Motor coil A output 2 Sense resistor connection for coil A. Place sense resistor to GND near pin. An additional 100nF capacitor to GND (GND plane) is recommended for best performance. Motor coil A output 1 Test mode input. Tie to GND using short wire. Connect the exposed die pad to a GND plane. Provide as many as possible vias for heat transfer to GND plane. Serves as GND pin for digital circuitry. *(pu) denominates a pin with pullup resistor; (tpu) denominates a pin with pullup resistor or toggle detection. Toggle detection is active in standalone mode, only (SPI_MODE=0) * Digital Pins: All pins of type DI, DI(pu), DI(tpu), DIO and DIO(tpu) refer to VCC_IO and have intrinsic protective clamping diodes to GND and VCC_IO and use Schmitt trigger inputs. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 3 13 Sample Circuits The sample circuits show the connection of external components in different operation and supply modes. The connection of the bus interface and further digital signals is left out for clarity. Optional use lower voltage down to 6V VCP CPI CPO AIN_IREF 22n 63V +VM 100n 16V +VM VS VSA 5VOUT 100n DIR STEP 3.1 Standard Application Circuit 4.7µ 5V Voltage regulator Step & Dir input with microPlyer charge pump DAC Reference 100n 100n 100µF IREF 2R2 VCC OA1 TMC2130 470n CSN SCK SDI SDO OA2 S N stepper motor SPI interface Use low inductivity SMD type, e.g. 1206, 0.5W Sequencer DIAG1 Full Bridge A BRA Driver RSA B.Dwersteg, © TRINAMIC 2014 DIAG / INT out DIAG0 OB1 Full Bridge B opt. ext. clock 12-16MHz +VIO 3.3V or 5V I/O voltage OB2 CLK_IN dcStep Controller Interface Use low inductivity SMD type, e.g. 1206, 0.5W VCC_IO BRB RSB leave open opt. dcStep control GNDP GNDA DIE PAD TST_MODE DRV_ENN DCO DC_IN DC_EN SPI_MODE 100n opt. driver enable Figure 3.1 Standard application circuit The standard application circuit uses a minimum set of additional components. Two sense resistors set the motor coil current. See chapter 9 to choose the right sense resistors. Use low ESR capacitors for filtering the power supply. The capacitors need to cope with the current ripple cause by chopper operation. A minimum capacity of 100µF near the driver is recommended for best performance. Current ripple in the supply capacitors also depends on the power supply internal resistance and cable length. VCC_IO can be supplied from 5VOUT, or from an external source, e.g. a low drop 3.3V regulator. In order to minimize linear voltage regulator power dissipation of the internal 5V voltage regulator in applications where VM is high, a different (lower) supply voltage can be used for VSA, if available. For example, many applications provide a 12V supply in addition to a higher driver supply voltage. Using the 12V supply for VSA rather than 24V will reduce the power dissipation of the internal 5V regulator to about 37% of the dissipation caused by supply with the full motor voltage. Basic layout hints Place sense resistors and all filter capacitors as close as possible to the related IC pins. Use a solid common GND for all GND connections, also for sense resistor GND. Connect 5VOUT filtering capacitor directly to 5VOUT and GNDA pin. See layout hints for more details. Low ESR electrolytic capacitors are recommended for VS filtering. Attention In case VSA is supplied by a different voltage source, make sure that VSA does not exceed VS by more than one diode drop, especially also upon power up or power down. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 14 3.2 Reduced Number of Components Optional use lower voltage down to 6V +VM VSA 5VOUT 100n 5V Voltage regulator 4.7µ VCC Figure 3.2 Reduced number of filtering components The standard application circuit uses RC filtering to de-couple the output of the internal linear regulator from high frequency ripple caused by digital circuitry supplied by the VCC input. For cost sensitive applications, the RC-Filtering on VCC can be eliminated. This leads to more noise on 5VOUT caused by operation of the charge pump and the internal digital circuitry. There is a slight impact on microstep vibration and chopper noise performance. 3.3 Internal RDSon Sensing 5VOUT For cost critical or space limited applications, sense resistors can be omitted. For internal current sensing, a reference current set by a tiny external resistor programs the output current. For calculation of the reference resistor, refer chapter 10. AIN_IREF RREF DAC Reference IREF OA1 Full Bridge A OA2 S N stepper motor BRA Driver OB1 Full Bridge B OB2 BRB Figure 3.3 RDSon based sensing eliminates high current sense resistors www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 15 3.4 External 5V Power Supply When an external 5V power supply is available, the power dissipation caused by the internal linear regulator can be eliminated. This especially is beneficial in high voltage applications, and when thermal conditions are critical. There are two options for using an external 5V source: either the external 5V source is used to support the digital supply of the driver by supplying the VCC pin, or the complete internal voltage regulator becomes bridged and is replaced by the external supply voltage. 3.4.1 Support for the VCC Supply This scheme uses an external supply for all digital circuitry within the driver (Figure 3.4). As the digital circuitry makes up for most of the power dissipation, this way the internal 5V regulator sees only low remaining load. The precisely regulated voltage of the internal regulator is still used as the reference for the motor current regulation as well as for supplying internal analog circuitry. When cutting VCC from 5VOUT, make sure that the VCC supply comes up before or synchronously with the 5VOUT supply to ensure a correct power up reset of the internal logic. A simple schematic uses two diodes forming an OR of the internal and the external power supplies for VCC. In order to prevent the chip from drawing part of the power from its internal regulator, a low drop 1A Schottky diode is used for the external 5V supply path, while a silicon diode is used for the 5VOUT path. An enhanced solution uses a dual PNP transistor as an active switch. It minimizes voltage drop and thus gives best performance. In certain setups, switching of VCC voltage can be eliminated. A third variant uses the VCC_IO supply to ensure power-on reset. This is possible, if VCC_IO comes up synchronously with or delayed to VCC. Use a linear regulator to generate a 3.3V VCC_IO from the external 5V VCC source. This 3.3V regulator will cause a certain voltage drop. A voltage drop in the regulator of 0.9V or more (e.g. LD1117-3.3) ensures that the 5V supply already has exceeded the lower limit of about 3.0V once the reset conditions ends. The reset condition ends earliest, when VCC_IO exceeds the undervoltage limit of minimum 2.1V. Make sure that the power-down sequence also is safe. Undefined states can result when VCC drops well below 4V without safely triggering a reset condition. Triggering a reset upon power-down can be ensured when VSA goes down synchronously with or before VCC. +VM +VM VSA 5VOUT +5V 100n 4.7µ VSA 5V Voltage regulator 5VOUT +5V LL4448 100n 4.7µ VCC MSS1P3 5V Voltage regulator VCC VCC_IO 3.3V regulator 470n 470n 100n 3.3V VCC supplied from external 5V. 5V or 3.3V IO voltage. VCC supplied from external 5V. 3.3V IO voltage generated from same source. +VM VSA 5VOUT 100n 5V Voltage regulator 4.7µ +5V BAT54 10k VCC 2x BC857 or 1x BC857BS 470n 4k7 VCC supplied from external 5V using active switch. 5V or 3.3V IO voltage. Figure 3.4 Using an external 5V supply for digital circuitry of driver (different options) www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 3.4.2 16 Internal Regulator Bridged In case a clean external 5V supply is available, it can be used for complete supply of analog and digital part (Figure 3.5). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1% regulator. A precise supply guarantees increased motor current precision, because the voltage at 5VOUT directly is the reference voltage for all internal units of the driver, especially for motor current control. For best performance, the power supply should have low ripple to give a precise and stable supply at 5VOUT pin with remaining ripple well below 5mV. Some switching regulators have a higher remaining ripple, or different loads on the supply may cause lower frequency ripple. In this case, increase capacity attached to 5VOUT. In case the external supply voltage has poor stability or low frequency ripple, this would affect the precision of the motor current regulation as well as add chopper noise. Well-regulated, stable supply, better than +-5% +5V VSA 5VOUT 4.7µ 5V Voltage regulator 10R VCC 470n Figure 3.5 Using an external 5V supply to bypass internal regulator 3.5 Pre-Regulator for Reduced Power Dissipation When operating at supply voltages up to 46V for VS and VSA, the internal linear regulator will contribute with up to 1W to the power dissipation of the driver. This will reduce the capability of the chip to continuously drive high motor current, especially at high environment temperatures. When no external power supply in the range 5V to 24V is available, an external pre-regulator can be built with a few inexpensive components in order to dissipate most of the voltage drop in external components. Figure 3.6 shows different examples. In case a well-defined supply voltage is available, a single 1W or higher power Zener diode also does the job. +VM +VM 22k BCX56 or similar 22k BCX56 or similar 4k7 Z5.6V e.g. MM5Z5V6 VSA 5VOUT 470n 16V 4.7µ 5V Voltage regulator 2R2 100R VSA 5VOUT 470n 16V 4.7µ VCC 470n Simple pre-regulator for 24V up to 46V Figure 3.6 Examples for simple pre-regulators www.trinamic.com 5V Voltage regulator 2R2 VCC 470n Simple short circuit protected pre-regulator for 24V up to 46V TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 17 VCP 22n 63V CPI CPO AIN_IREF DIR STEP 3.6 5V Only Supply +5V 100n 16V +5V VS VSA 5VOUT 5V Voltage regulator Step & Dir input with microPlyer charge pump DAC Reference 4.7µ 100n 100n 100µF IREF VCC OA1 TMC2130 470n CSN SCK SDI SDO SPI interface OA2 S N stepper motor Use low inductivity SMD type, e.g. 1206, 0.5W Sequencer DIAG1 Full Bridge A BRA Driver RSA DIAG / INT out DIAG0 OB1 Full Bridge B opt. ext. clock 12-16MHz +VIO 3.3V or 5V I/O voltage OB2 CLK_IN dcStep Controller Interface VCC_IO A B Use low inductivity SMD type, e.g. 1206, 0.5W BRB N RSB leave open opt. dcStep control GNDP GNDA DIE PAD TST_MODE DRV_ENN DCO DC_IN DC_EN SPI_MODE 100n opt. driver enable Figure 3.7 5V only operation While the standard application circuit is limited to roughly 5.5 V lower supply voltage, a 5 V only application lets the IC run from a normal 5 V +/-5% supply. In this application, linear regulator drop must be minimized. Therefore, the major 5 V load is removed by supplying VCC directly from the external supply. In order to keep supply ripple away from the analog voltage reference, 5VOUT should have an own filtering capacity and the 5VOUT pin does not become bridged to the 5V supply. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 18 3.7 High Motor Current When operating at a high motor current, the driver power dissipation due to MOSFET switch onresistance significantly heats up the driver. This power dissipation will heat up the PCB cooling infrastructure also, if operated at an increased duty cycle. This in turn leads to a further increase of driver temperature. An increase of temperature by about 100°C increases MOSFET resistance by roughly 50%. This is a typical behavior of MOSFET switches. Therefore, under high duty cycle, high load conditions, thermal characteristics have to be carefully taken into account, especially when increased environment temperatures are to be supported. Refer the thermal characteristics and the layout hints for more information. As a thumb rule, thermal properties of the PCB design become critical for the QFN-36 at or above about 1000mA RMS motor current for increased periods of time. Keep in mind that resistive power dissipation raises with the square of the motor current. On the other hand, this means that a small reduction of motor current significantly saves heat dissipation and energy. An effect which might be perceived at medium motor velocities and motor sine wave peak currents above roughly 1.2A peak is a slight sine distortion of the current wave when using spreadCycle. It results from an increasing negative impact of parasitic internal diode conduction, which in turn negatively influences the duration of the fast decay cycle of the spreadCycle chopper. This is, because the current measurement does not see the full coil current during this phase of the sine wave, because an increasing part of the current flows directly from the power MOSFETs’ drain to GND and does not flow through the sense resistor. This effect with most motors does not negatively influence the smoothness of operation, as it does not impact the critical current zero transition. The effect does not occur with stealthChop. 3.7.1 Reduce Linear Regulator Power Dissipation When operating at high supply voltages, as a first step the power dissipation of the integrated 5V linear regulator can be reduced, e.g. by using an external 5V source for supply. This will reduce overall heating. It is advised to reduce motor stand still current in order to decrease overall power dissipation. If applicable, also use coolStep. A decreased clock frequency will reduce power dissipation of the internal logic. Further a decreased chopper frequency also can reduce power dissipation. 3.7.2 Operation near to / above 2A Peak Current The driver can deliver up to 2.5A motor peak current. Considering thermal characteristics, this only is possible in duty cycle limited operation. When a peak current up to 2.5A is to be driven, the driver chip temperature is to be kept at a maximum of 105°C. Linearly derate the design peak temperature from 125°C to 105°C in the range 2A to 2.5A output current (see Figure 3.8). Exceeding this may lead to triggering the short circuit detection. Limit by lower limit of overtemperature threshold High temperature range 125°C 115°C d de en e m tim om of ec s t r i od no er n dp tio e ra as ea cre Op r in fo Die Temperature 135°C Specified operational range for max. 125°C 105°C 1.5A 1.75A 2A Current limitation Derating for >2A 2.25A 2.5A Peak coil current Figure 3.8 Derating of maximum sine wave peak current at increased die temperature www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 3.7.3 19 Reduction of Resistive Losses by Adding Schottky Diodes Schottky Diodes can be added to the circuit to reduce driver power dissipation when driving high motor currents (see Figure 3.9). The Schottky diodes have a conduction voltage of about 0.5V and will take over more than half of the motor current during the negative half wave of each output in slow decay and fast decay phases, thus leading to a cooler motor driver. This effect starts from a few percent at 1.2A and increases with higher motor current rating up to roughly 20%. As a 30V Schottky diode has a lower forward voltage than a 50V or 60V diode, it makes sense to use a 30V diode when the supply voltage is below 30V. The diodes will have less effect when working with stealthChop due to lower times of diode conduction in the chopper cycle. At current levels below 1.2A coil current, the effect of the diodes is negligible. OA1 Full Bridge A OA2 BRA Driver S N stepper motor RSA OB1 Full Bridge B OB2 1A Schottky Diodes like MSS1P6 or MSS1P3 (VM limited to 30V) BRB RSB Figure 3.9 Schottky diodes reduce power dissipation at high peak currents up to 2A (2.5A) www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 20 3.8 Driver Protection and EME Circuitry Some applications have to cope with ESD events caused by motor operation or external influence. Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset or even a destruction of the motor driver, depending on their energy. Especially plastic housings and belt drive systems tend to cause ESD events of several kV. It is best practice to avoid ESD events by attaching all conductive parts, especially the motors themselves to PCB ground, or to apply electrically conductive plastic parts. In addition, the driver can be protected up to a certain degree against ESD events or live plugging / pulling the motor, which also causes high voltages and high currents into the motor connector terminals. A simple scheme uses capacitors at the driver outputs to reduce the dV/dt caused by ESD events. Larger capacitors will bring more benefit concerning ESD suppression, but cause additional current flow in each chopper cycle, and thus increase driver power dissipation, especially at high supply voltages. The values shown are example values – they might be varied between 100pF and 1nF. The capacitors also dampen high frequency noise injected from digital parts of the application PCB circuitry and thus reduce electromagnetic emission. A more elaborate scheme uses LC filters to de-couple the driver outputs from the motor connector. Varistors in between of the coil terminals eliminate coil overvoltage caused by live plugging. Optionally protect all outputs by a varistor against ESD voltage. 470pF 100V OA1 Full Bridge A OA1 OA2 S N stepper motor Full Bridge A 50Ohm @ 100MHz V1A V1 OA2 50Ohm @ 100MHz 470pF 100V BRA Driver RSA 470pF 100V S N stepper motor V1B 470pF 100V Driver 100nF 16V 470pF 100V OB1 Full Bridge B OB1 Full Bridge B OB2 50Ohm @ 100MHz V2A V2 OB2 50Ohm @ 100MHz 470pF 100V BRB RSB 100nF 16V 470pF 100V V2B 470pF 100V Fit varistors to supply voltage rating. SMD inductivities conduct full motor coil current. Figure 3.10 Simple ESD enhancement and more elaborate motor output protection www.trinamic.com Varistors V1 and V2 protect against inductive motor coil overvoltage. V1A, V1B, V2A, V2B: Optional position for varistors in case of heavy ESD events. TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 4 21 SPI Interface 4.1 SPI Datagram Structure The TMC2130 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. Each datagram sent to the device is composed of an address byte followed by four data bytes. This allows direct 32 bit data word communication with the register set. Each register is accessed via 32 data bits even if it uses less than 32 data bits. For simplification, each register is specified by a one byte address: - For a read access the most significant bit of the address byte is 0. - For a write access the most significant bit of the address byte is 1. Most registers are write only registers, some can be read additionally, and there are also some read only registers. SPI DATAGRAM STRUCTURE MSB (transmitted first) 40 bit 39 ... → 8 bit address  8 bit SPI status ... 0  → 32 bit data 39 ... 32 → to TMC2130 RW + 7 bit address  from TMC2130 8 bit SPI status W 39 / 38 ... 32 38...32 LSB (transmitted last) 31 ... 0 8 bit data 8 bit data 31 ... 24 31...28 27...24 23 ... 16 23...20 19...16 8 bit data 8 bit data 15 ... 8 15...12 7 ... 0 11...8 7...4 3...0 3 3 3 3 3 3 3 3 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 4.1.1 Selection of Write / Read (WRITE_notREAD) The read and write selection is controlled by the MSB of the address byte (bit 39 of the SPI datagram). This bit is 0 for read access and 1 for write access. So, the bit named W is a WRITE_notREAD control bit. The active high write bit is the MSB of the address byte. So, 0x80 has to be added to the address for a write access. The SPI interface always delivers data back to the master, independent of the W bit. The data transferred back is the data read from the address which was transmitted with the previous datagram, if the previous access was a read access. If the previous access was a write access, then the data read back mirrors the previously received write data. So, the difference between a read and a write access is that the read access does not transfer data to the addressed register but it transfers the address only and its 32 data bits are dummies, and, further the following read or write access delivers back the data read from the address transmitted in the preceding read cycle. A read access request datagram uses dummy write data. Read data is transferred back to the master with the subsequent read or write access. Hence, reading multiple registers can be done in a pipelined fashion. Whenever data is read from or written to the TMC2130, the MSBs delivered back contain the SPI status, SPI_STATUS, a number of eight selected status bits. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 22 Example: For a read access to the register (DRV_STATUS) with the address 0x6F, the address byte has to be set to 0x6F in the access preceding the read access. For a write access to the register (CHOPCONF), the address byte has to be set to 0x80 + 0x6C = 0xEC. For read access, the data bit might have any value (-). So, one can set them to 0. action read DRV_STATUS read DRV_STATUS write CHOPCONF:= 0x00ABCDEF write CHOPCONF:= 0x00123456 data sent to TMC2130 → 0x6F00000000 → 0x6F00000000 → 0xEC00ABCDEF → 0xEC00123456 data received from TMC2130  0xSS & unused data  0xSS & DRV_STATUS  0xSS & DRV_STATUS  0xSS00ABCDEF *)S: is a placeholder for the status bits SPI_STATUS 4.1.2 SPI Status Bits Transferred with Each Datagram Read Back New status information becomes latched at the end of each access and is available with the next SPI transfer. SPI_STATUS – status flags transmitted with each SPI access in bits 39 to 32 Bit 7 6 5 4 3 2 1 0 Name Comment standstill sg2 driver_error reset_flag unused unused unused unused DRV_STATUS[31] – 1: Signals motor stand still DRV_STATUS[24] – 1: Signals stallguard flag active GSTAT[1] – 1: Signals driver 1 driver error (clear by reading GSTAT) GSTAT[0] – 1: Signals, that a reset has occurred (clear by reading GSTAT) 4.1.3 Data Alignment All data are right aligned. Some registers represent unsigned (positive) values, some represent integer values (signed) as two’s complement numbers, single bits or groups of bits are represented as single bits respectively as integer groups. 4.2 SPI Signals The SPI bus on the TMC2130 has four signals: - SCK – bus clock input - SDI – serial data input - SDO – serial data output - CSN – chip select input (active low) The slave is enabled for an SPI transaction by a low on the chip select input CSN. Bit transfer is synchronous to the bus clock SCK, with the slave latching the data from SDI on the rising edge of SCK and driving data to SDO following the falling edge. The most significant bit is sent first. A minimum of 40 SCK clock cycles is required for a bus transaction with the TMC2130. If more than 40 clocks are driven, the additional bits shifted into SDI are shifted out on SDO after a 40-clock delay through an internal shift register. This can be used for daisy chaining multiple chips. CSN must be low during the whole bus transaction. When CSN goes high, the contents of the internal shift register are latched into the internal control register and recognized as a command from the master to the slave. If more than 40 bits are sent, only the last 40 bits received before the rising edge of CSN are recognized as the command. www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 23 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 4.1 shows the timing parameters of an SPI bus transaction, and the table below specifies their values. CSN tCC tCL tCH tCH tCC SCK tDU SDI bit39 tDH bit38 bit0 tDO SDO tZC bit39 bit38 bit0 Figure 4.1 SPI timing Hint Usually this SPI timing is referred to as SPI MODE 3 SPI interface timing Parameter SCK valid before or after change of CSN AC-Characteristics clock period: tCLK Symbol tCC fSCK fSCK assumes synchronous CLK tCSH SCK low time tCL SCK high time tCH www.trinamic.com Min Typ Max 10 *) Min time is for synchronous CLK with SCK high one tCH before CSN high only *) Min time is for synchronous CLK only *) Min time is for synchronous CLK only assumes minimum OSC frequency CSN high time SCK frequency using internal clock SCK frequency using external 16MHz clock SDI setup time before rising edge of SCK SDI hold time after rising edge of SCK Data out valid time after falling SCK clock edge SDI, SCK and CSN filter delay time Conditions Unit ns tCLK*) >2tCLK+10 ns tCLK*) >tCLK+10 ns tCLK*) >tCLK+10 ns 4 MHz 8 MHz tDU 10 ns tDH 10 ns tDO no capacitive load on SDO tFILT rising and falling edge 12 20 tFILT+5 ns 30 ns TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 5 24 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. - Add 0x80 to the address Addr for write accesses! NOTATION OF HEXADECIMAL AND BINARY NUMBERS 0x % precedes a hexadecimal number, e.g. 0x04 precedes a multi-bit binary number, e.g. %100 NOTATION OF R/W FIELD R W R/W R+C Read only Write only Read- and writable register Clear upon read OVERVIEW REGISTER MAPPING REGISTER DESCRIPTION General Configuration Registers These registers contain global configuration global status flags interface configuration and I/O signal configuration This register set offers registers for driver current control setting thresholds for coolStep operation setting thresholds for different chopper modes setting thresholds for dcStep operation This register set offers registers for setting / reading out microstep table and counter chopper and driver configuration coolStep and stallGuard2 configuration dcStep configuration reading out stallGuard2 values and driver error flags Setting for minimum dcStep velocity Velocity Dependent Driver Feature Control Register Set Motor Driver Register Set dcStep Minimum Velocity www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 25 5.1 General Configuration Registers GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n RW 0x00 17 Register GCONF Description / bit names Bit GCONF – Global configuration flags 0 I_scale_analog 0: Normal operation, use internal reference voltage 1: Use voltage supplied to AIN as current reference 1 internal_Rsense 0: Normal operation 1: Internal sense resistors. Use current supplied into AIN as reference for internal sense resistor 2 en_pwm_mode 1: stealthChop voltage PWM mode enabled (depending on velocity thresholds). Switch from off to on state while in stand still, only. 3 enc_commutation (Special mode - do not use, leave 0) 1: Enable commutation by full step encoder (DCIN_CFG5 = ENC_A, DCEN_CFG4 = ENC_B) 4 shaft 1: Inverse motor direction 5 diag0_error 1: Enable DIAG0 active on driver errors: Over temperature (ot), short to GND (s2g), undervoltage chargepump (uv_cp) DIAG0 always shows the reset-status, i.e. is active low during reset condition. 6 diag0_otpw 1: Enable DIAG0 active on driver over temperature prewarning (otpw) 7 diag0_stall 1: Enable DIAG0 active on motor stall (set TCOOLTHRS before using this feature) 8 diag1_stall 1: Enable DIAG1 active on motor stall (set TCOOLTHRS before using this feature) 9 diag1_index 1: Enable DIAG1 active on index position (microstep look up table position 0) 10 diag1_onstate 1: Enable DIAG1 active when chopper is on (for the coil which is in the second half of the fullstep) 11 12 13 14 www.trinamic.com diag1_steps_skipped 1: Enable output toggle when steps are skipped in dcStep mode (increment of LOST_STEPS). Do not enable in conjunction with other DIAG1 options. diag0_int_pushpull 0: DIAG0 is open collector output (active low) 1: Enable DIAG0 push pull output (active high) diag1_pushpull 0: DIAG1 is open collector output (active low) 1: Enable DIAG1 push pull output (active high) small_hysteresis 0: Hysteresis for step frequency comparison is 1/16 1: Hysteresis for step frequency comparison is 1/32 TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 26 GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register R+C 0x01 3 GSTAT R 0x04 8 + 8 IOIN www.trinamic.com Description / bit names 15 stop_enable 0: Normal operation 1: Emergency stop: DCIN stops the sequencer when tied high (no steps become executed by the sequencer, motor goes to standstill state). 16 direct_mode 0: Normal operation 1: Motor coil currents and polarity directly programmed via serial interface: Register XDIRECT (0x2D) specifies signed coil A current (bits 8..0) and coil B current (bits 24..16). In this mode, the current is scaled by IHOLD setting. Velocity based current regulation of stealthChop is not available in this mode. The automatic stealthChop current regulation will work only for low stepper motor velocities. 17 test_mode 0: Normal operation 1: Enable analog test output on pin DCO. IHOLD[1..0] selects the function of DCO: 0…2: T120, DAC, VDDH Attention: Not for user, set to 0 for normal operation! Bit GSTAT – Global status flags 0 reset 1: Indicates that the IC has been reset since the last read access to GSTAT. All registers have been cleared to reset values. 1 drv_err 1: Indicates, that the driver has been shut down due to overtemperature or short circuit detection since the last read access. Read DRV_STATUS for details. The flag can only be reset when all error conditions are cleared. 2 uv_cp 1: Indicates an undervoltage on the charge pump. The driver is disabled in this case. Bit INPUT Reads the state of all input pins available 0 STEP 1 DIR 2 DCEN_CFG4 3 DCIN_CFG5 4 DRV_ENN_CFG6 5 DCO 6 This bit always shows 1. 7 Don’t care. 31.. VERSION: 0x11=first version of the IC 24 Identical numbers mean full digital compatibility. TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 27 5.2 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..8 IRUN Motor run current (0=1/32…31=32/32) IHOLD_IRUN 19..16 Hint: Choose sense resistors in a way, that normal IRUN is 16 to 31 for best microstep performance. IHOLDDELAY Controls the number of clock cycles for motor power down after a motion as soon as standstill is detected (stst=1) and TPOWERDOWN has expired. The smooth transition avoids a motor jerk upon power down. 0: 1..15: W R W 0x11 0x12 0x13 8 20 20 www.trinamic.com TPOWER DOWN TSTEP TPWMTHRS instant power down Delay per current reduction step in multiple of 2^18 clocks TPOWERDOWN sets the delay time after stand still (stst) of the motor to motor current power down. Time range is about 0 to 4 seconds. 0…((2^8)-1) * 2^18 tCLK Actual measured time between two 1/256 microsteps derived from the step input frequency in units of 1/fCLK. Measured value is (2^20)-1 in case of overflow or stand still. All TSTEP related thresholds use a hysteresis of 1/16 of the compare value to compensate for jitter in the clock or the step frequency. The flag small_hysteresis modifies the hysteresis to a smaller value of 1/32. (Txxx*15/16)-1 or (Txxx*31/32)-1 is used as a second compare value for each comparison value. This means, that the lower switching velocity equals the calculated setting, but the upper switching velocity is higher as defined by the hysteresis setting. In dcStep mode TSTEP will not show the mean velocity of the motor, but the velocities for each microstep, which may not be stable and thus does not represent the real motor velocity in case it runs slower than the target velocity. This is the upper velocity for stealthChop voltage PWM mode. TSTEP ≥ TPWMTHRS - stealthChop PWM mode is enabled, if configured - dcStep is disabled TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 28 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W W Addr 0x14 n 20 Register TCOOLTHRS Description / bit names This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature. (unsigned) Set this parameter to disable coolStep at low speeds, where it cannot work reliably. The stall detection and stallGuard output signal becomes enabled when exceeding this velocity. In nondcStep mode, it becomes disabled again once the velocity falls below this threshold. TCOOLTHRS ≥ TSTEP ≥ THIGH: - coolStep is enabled, if configured - stealthChop voltage PWM mode is disabled TCOOLTHRS ≥ TSTEP - stallGuard status output signal is enabled, if configured This velocity setting allows velocity dependent switching into a different chopper mode and fullstepping to maximize torque. (unsigned) The stall detection feature becomes switched off for 2-3 electrical periods whenever passing THIGH threshold to compensate for the effect of switching modes. W 0x15 20 THIGH TSTEP ≤ THIGH: - coolStep is disabled (motor runs with normal current scale) - stealthChop voltage PWM mode is disabled - If vhighchm is set, the chopper switches to chm=1 with TFD=0 (constant off time with slow decay, only). - chopSync2 is switched off (SYNC=0) - If vhighfs is set, the motor operates in fullstep mode and the stall detection becomes switched over to dcStep stall detection. microstep velocity time reference t for velocities: TSTEP = fCLK / fSTEP www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 29 5.3 SPI Mode Register This register cannot be used in STEP/DIR mode. SPI MODE REGISTER (0X2D) R/W Addr n Register Description / bit names direct_mode 0: Normal operation 1: Directly SPI driven motor current Range [Unit] ±255 for both coils Direct mode operation: XDIRECT specifies Motor coil currents and polarity directly programmed via the serial interface. Use signed, two’s complement numbers. RW 0x2D 32 XDIRECT Coil A current (bits 8..0) (signed) Coil B current (bits 24..16) (signed) Range: +-248 for normal operation, up to +-255 with stealthChop In this mode, the current is scaled by IHOLD setting. Velocity based current regulation of voltage PWM is not available in this mode. The automatic voltage PWM current regulation will work only for low stepper motor velocities. dcStep is not available in this mode. coolStep and stallGuard only can be used, when additionally supplying a STEP signal. This will also enable automatic current scaling. 5.4 dcStep Minimum Velocity Register DCSTEP MINIMUM VELOCITY REGISTER R/W Addr n Register W 0x33 23 VDCMIN (0X33) Description / bit names The automatic commutation dcStep becomes enabled by the external signal DCEN. VDCMIN is used as the minimum step velocity when the motor is heavily loaded. Hint: Also set DCCTRL parameters in order to operate dcStep. time reference t for VDCMIN: t = 2^24 / fCLK www.trinamic.com TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09) 30 5.5 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.com microstep table entries 32…255 MSLUTSEL MSLUTSTART MSCNT MSCURACT Description / bit names Each bit gives the difference between entry x and entry x+1 when combined with the corresponding MSLUTSEL W bits: 0: W= %00: -1 %01: +0 %10: +1 %11: +2 1: W= %00: +0 %01: +1 %10: +2 %11: +3 This is the differential coding for the first quarter of a wave. Start values for CUR_A and CUR_B are stored for MSCNT position 0 in START_SIN and START_SIN90. ofs31, ofs30, …, ofs01, ofs00 … ofs255, ofs254, …, ofs225, ofs224 This register defines four segments within each quarter MSLUT wave. Four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of MSLUT. See separate table! bit 7… 0: START_SIN bit 23… 16: START_SIN90 START_SIN gives the absolute current at microstep table entry 0. START_SIN90 gives the absolute current for microstep table entry at positions 256. Start values are transferred to the microstep registers CUR_A and CUR_B, whenever the reference position MSCNT=0 is passed. Microstep counter. Indicates actual position in the microstep table for CUR_A. CUR_B uses an offset of 256 (2 phase motor). Hint: Move to a position where MSCNT is zero before re-initializing MSLUTSTART or MSLUT and MSLUTSEL. bit 8… 0: CUR_A (signed): Actual microstep current for motor phase A as read from MSLUT (not scaled by current) bit 24… 16: CUR_B (signed): Actual microstep current for motor phase B as read from MSLUT (not scaled by current) Range [Unit] 32x 0 or 1 reset default= sine wave table 7x 32x 0 or 1 reset default= sine wave table 0