POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2208/2 & TMC2224/0/5 family Datasheet
TMC2202, TMC2208, TMC2220, TMC2224, TMC2225 Step/Dir Drivers for Two-Phase Bipolar Stepper Motors
up to 2A peak - stealthChop™ for Quiet Movement - UART Interface Option.
APPLICATIONS
Compatible Design Upgrade
3D Printers
Printers, POS
Office and home automation
Textile, Sewing Machines
CCTV, Security
ATM, Cash recycler
HVAC
FEATURES
AND
DESCRIPTION
BENEFITS
The TMC2202, TMC2208, TMC2220, TMC2224
and TMC2225 are ultra-silent motor driver
ICs for two phase stepper motors. Their
pinning is compatible to a number of
legacy drivers. TRINAMICs sophisticated
stealthChop2 chopper ensures noiseless
operation, maximum efficiency and best
motor torque. Its fast current regulation
and optional combination with spreadCycle
allow
for
highly
dynamic
motion.
Integrated power-MOSFETs handle motor
current up to 1.4A RMS. Protection and
diagnostic features support robust and
reliable operation. A simple to use UART
interface opens up more tuning and
control options. Application specific tuning
can be stored to OTP memory. Industries’
most advanced STEP/DIR stepper motor
driver family upgrades designs to noiseless
and most precise operation for costeffective and highly competitive solutions.
2-phase stepper motors up to 2A coil current (peak)
STEP/DIR Interface with 2, 4, 8, 16 or 32 microstep pin
setting
Smooth Running 256 microsteps by microPlyer™ interpolation
stealthChop2™ silent motor operation
spreadCycle™ highly dynamic motor control chopper
Low RDSon LS 280mΩ & HS 290mΩ (typ. at 25°C)
Voltage Range 4.75… 36V DC
Automatic Standby current reduction (option)
Internal Sense Resistor option (no sense resistors required)
Passive Braking and Freewheeling
Single Wire UART & OTP for advanced configuration options
Integrated Pulse Generator for standalone motion
Full Protection & Diagnostics
Choice of QFN, TQFP and HTSSOP packages for best fit
BLOCK DIAGRAM
Step/Dir
Power
Supply
IREF optional current scaling
TMC220X
TMC222X
+5V Regulator
Charge Pump
OTP
memory
Step Multiplyer
Standstill Current
Reduction
DAC Reference
Motor
UART
optional control
Configuration
Pins
CLK
UART Control
Mode
Selection
Control
Register
Set
spreadCycle
256 µStep
Sequencer
DRIVER
stealthChop
stealthChop2
Protection
& Diagnostics
CLK Oscillator /
Selector
Pulse Generator
Diag Out /
Index
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
2
APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE
The TMC22xx family scores with power density, integrated power MOSFETs, smooth and quiet
operation, and a congenial simplicity. The TMC22xx covers a wide spectrum of applications from
battery systems to embedded applications with up to 2A motor current per coil. TRINAMICs unique
chopper modes spreadCycle and stealthChop2 optimize drive performance. stealthChop reduces motor
noise to the point of silence at low velocities. Standby current reduction keeps costs for power
dissipation and cooling down. Extensive support enables rapid design cycles and fast time-to-market
with competitive products.
STANDALONE REPLACEMENT
FOR
LEGACY STEPPER DRIVER
0A+
S/D
ERROR, INDEX
TMC22xx
S
0A-
N
0B+
0B-
UART
INTERFACE FOR
FULL DIAGNOSTICS
AND
CONTROL
0A+
S/D
High-Level
Interface
CPU
UART
TMC22xx
0A0B+
0B-
Sense Resistors may be omitted
S
N
In this example, configuration is hard
wired via pins. Software based motion
control generates STEP and DIR
(direction) signals, INDEX and ERROR
signals report back status information.
A CPU operates the driver via step and
direction signals. It accesses diagnostic
information
and
configures
the
TMC22xx via the UART interface. The
CPU manages motion control and the
TMC22xx drives the motor and smoothens and optimizes drive performance.
TMC2208-EVAL EVALUATION BOARD
The
TMC22xx-EVAL
is
part
of
TRINAMICs universal evaluation board
system which provides a convenient
handling of the hardware as well as a
user-friendly
software
tool
for
evaluation. The TMC22xx evaluation
board system consists of three parts:
STARTRAMPE (base board), TMC2208BRIDGE (connector board with several
test points and stand-alone settings),
and TMC22xx-EVAL.
ORDER CODES
Order code
TMC2208-LA
TMC2224-LA
TMC2202-WA
TMC2220-TA
TMC2225-SA
TMC2208-EVAL
TMC2224-EVAL
TMC22xx-Bridge
STARTRAMPE
www.trinamic.com
Description
stealthChop standalone driver; QFN28 (RoHS compliant)
stealthChop standalone driver; QFN28 (RoHS compliant)
stealthChop driver; wettable edge QFN32 (RoHS compliant)
Option package: TQFP 48 – please request for availability!
Option package: HTSSOP28 – please request for availability!
Evaluation board for TMC2208 stepper motor driver
Evaluation board for TMC2224 stepper motor driver
Connector and jumper board fitting to TMC22xx family
Baseboard for TMC2208-EVAL and further evaluation boards
Size [mm2]
5x5
5x5
5x5
9x9
9.7 x 6.4
85 x 55
85 x 55
61 x 38
85 x 55
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
3
Table of Contents
1
PRINCIPLES OF OPERATION ......................... 4
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
PIN ASSIGNMENTS ........................................... 8
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
3
DATAGRAM STRUCTURE .................................19
CRC CALCULATION .......................................21
UART SIGNALS ............................................21
ADDRESSING MULTIPLE SLAVES ....................22
REGISTER MAP .................................................23
5.1
5.2
5.3
5.4
6
STANDARD APPLICATION CIRCUIT ................15
INTERNAL RDSON SENSING..........................15
5V ONLY SUPPLY..........................................16
CONFIGURATION PINS ..................................17
HIGH MOTOR CURRENT .................................17
DRIVER PROTECTION AND EME CIRCUITRY ...18
UART SINGLE WIRE INTERFACE ................19
4.1
4.2
4.3
4.4
5
PACKAGE OUTLINE TMC2208 ........................ 8
SIGNAL DESCRIPTIONS TMC2208 .................. 8
PACKAGE OUTLINE TMC2202 ........................ 9
SIGNAL DESCRIPTIONS TMC2202 .................. 9
PACKAGE OUTLINE TMC2224 ......................10
SIGNAL DESCRIPTIONS TMC2224 ................11
PACKAGE OUTLINE TMC2225 ......................12
SIGNAL DESCRIPTIONS TMC2225 ................12
PACKAGE OUTLINE TMC2220 ......................13
SIGNAL DESCRIPTIONS TMC2220 ................13
SAMPLE CIRCUITS ..........................................15
3.1
3.2
3.3
3.4
3.5
3.6
4
KEY CONCEPTS ................................................ 5
CONTROL INTERFACES ..................................... 6
MOVING AND CONTROLLING THE MOTOR ........ 6
STEALTHCHOP2 & SPREADCYCLE DRIVER ........ 6
PRECISE CLOCK GENERATOR AND CLK INPUT... 7
AUTOMATIC STANDSTILL POWER DOWN......... 7
INDEX OUTPUT ................................................ 7
GENERAL REGISTERS .....................................24
VELOCITY DEPENDENT CONTROL ...................29
SEQUENCER REGISTERS .................................30
CHOPPER CONTROL REGISTERS .....................31
STEALTHCHOP™ ..............................................37
6.1
6.2
6.3
6.4
6.5
6.6
6.7
AUTOMATIC TUNING .....................................37
STEALTHCHOP OPTIONS ................................39
STEALTHCHOP CURRENT REGULATOR .............39
VELOCITY BASED SCALING ............................41
COMBINING STEALTHCHOP AND SPREADCYCLE ..
.....................................................................43
FLAGS IN STEALTHCHOP................................44
FREEWHEELING AND PASSIVE BRAKING ........45
www.trinamic.com
7
SPREADCYCLE CHOPPER ............................... 47
7.1
SPREADCYCLE SETTINGS ............................... 48
8
SELECTING SENSE RESISTORS.................... 51
9
MOTOR CURRENT CONTROL ........................ 52
9.1
ANALOG CURRENT SCALING VREF ............... 53
10
INTERNAL SENSE RESISTORS ..................... 55
11
STEP/DIR INTERFACE .................................... 57
11.1 TIMING ......................................................... 57
11.2 CHANGING RESOLUTION ............................... 58
11.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION ....................................................... 59
11.4 INDEX OUTPUT ............................................. 60
12
INTERNAL STEP PULSE GENERATOR ......... 61
13
DRIVER DIAGNOSTIC FLAGS ...................... 62
13.1
13.2
13.3
13.4
TEMPERATURE MEASUREMENT ....................... 62
SHORT PROTECTION ...................................... 62
OPEN LOAD DIAGNOSTICS ........................... 63
DIAGNOSTIC OUTPUT ................................... 63
14
QUICK CONFIGURATION GUIDE ................ 64
15
EXTERNAL RESET ............................................. 67
16
CLOCK OSCILLATOR AND INPUT ............... 67
17
ABSOLUTE MAXIMUM RATINGS................. 68
18
ELECTRICAL CHARACTERISTICS ................. 68
18.1
18.2
18.3
19
LAYOUT CONSIDERATIONS ......................... 74
19.1
19.2
19.3
19.4
20
OPERATIONAL RANGE ................................... 68
DC AND TIMING CHARACTERISTICS .............. 69
THERMAL CHARACTERISTICS.......................... 73
EXPOSED DIE PAD ........................................ 74
WIRING GND .............................................. 74
SUPPLY FILTERING........................................ 74
LAYOUT EXAMPLE TMC2208 ........................ 75
PACKAGE MECHANICAL DATA .................... 76
20.1
20.2
20.3
DIMENSIONAL DRAWINGS QFN28............... 76
DIMENSIONAL DRAWINGS QFN32-WA ....... 78
PACKAGE CODES ........................................... 79
21
TABLE OF FIGURES ......................................... 80
22
REVISION HISTORY ....................................... 81
23
REFERENCES ...................................................... 81
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
1
4
Principles of Operation
The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low cost stepper
driver applications. Its silent drive technology stealthChop enables non-bugging motion control for
home and office applications. A highly efficient power stage enables high current from a tiny package.
The TMC22xx requires just a few control pins on its tiny package. They allow selection of the most
important setting: the desired microstep resolution. A choice of 2, 4, 8, 16 or 32 microsteps adapts the
driver to the capabilities of the motion controller. Some package options also allow chopper mode
selection by pin.
STEP
DIR
5V Voltage
regulator
Step&Dir input
Analog Scaling
(only TMC222x)
PDN/UART
Configuration
Interface
B. Dwersteg, ©
TRINAMIC 2016
UART interface
+ Register Block
Driver error
Index pulse
DIAG
INDEX
(not with TMC2202)
opt. ext. clock
10-16MHz
CLK_IN
3.3V or 5V
I/O voltage
VCC_IO
100µF
VCP
CPI
Low ESR type
OA1
Full Bridge A
OA2
BRA
stealthChop2
256 Microstep
Sequencer
100n
Driver
Integrated
Rsense
N
stepper
motor
RSA
IREF
Connect directly
to GND plane
Use low inductivity SMD
type, e.g. 1206, 0.5W for
RSA and RSB
spreadCycle
Programmable
Diagnostic
Outputs
S
OB1
Full Bridge B
Trimmed
CLK oscillator/
selector
OB2
BRB
RSB
Connect directly
to GND plane
ENN
100n
GND
optional UART interface
Configuration
Memory (OTP)
100n
charge pump
IREF
Stand Still
Current
Reduction
microPlyer
MS2
SPREAD
+VM
VS
VREF
MS1
100n
16V
TMC22xx
Step Pulse
Generator
Configuration
(GND or VCC_IO)
22n
50V
DIE PAD
Step and Direction
motion control
CPO
2.2µ
6.3V
5VOUT
Place near IC with
short path to die pad
VREF Analog current
scaling or leave
open
Even at low microstepping rate, the TMC22xx offers a number of unique enhancements over
comparable products: TRINAMICs sophisticated stealthChop2 chopper plus the microstep enhancement
microPlyer ensure noiseless operation, maximum efficiency and best motor torque. Its fast current
regulation and optional combination with spreadCycle allow for highly dynamic motion. Protection
and diagnostic features support robust and reliable operation. A simple-to-use 8 bit UART interface
opens up more tuning and control options. Application specific tuning can be stored to on-chip OTP
memory. Industries’ most advanced step & direction stepper motor driver family upgrades designs to
noiseless and most precise operation for cost-effective and highly competitive solutions.
opt. driver enable
Figure 1.1 TMC22xx basic application block diagram
THREE MODES OF OPERATION:
OPTION 1: Standalone STEP/DIR Driver (Legacy Mode)
A CPU (µC) generates step & direction signals synchronized to additional motors and other
components within the system. The TMC22xx operates the motor as commanded by the configuration
pins and STEP/DIR signals. Motor run current either is fixed, or set by the CPU using the analog input
VREF. The pin PDN_UART selects automatic standstill current reduction. Feedback from the driver to
the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN
pin.
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
5
OPTION 2: Standalone STEP/DIR Driver with OTP pre-configuration
UART
Additional options enabled by pre-programming OTP memory (label UART & OTP):
+
+
+
OTP
Tuning of the chopper to the application for application tailored performance
Cost reduction by switching the driver to internal sense resistor mode
Adapting the automatic power down level and timing for best application efficiency
0A+
S/D
High-Level
Interface
CPU
ERROR, INDEX
TMC22xx
0A-
S
N
0B+
TXD only or bit
bang UART
Other drivers
0B-
External preprogramming
Figure 1.2 Stand-alone driver with pre-configuration
To enable the additional options, either one-time program the driver’s OTP memory, or store
configuration in the CPU and transfer it to the on-chip registers following each power-up. Operation
uses the same signals as Option 1. Programming does not need to be done within the application - it
can be executed during testing of the PCB! Alternatively, use bit-banging by CPU firmware to configure
the driver. Multiple drivers can be programmed at the same time using a single TXD line.
OPTION 3: STEP/DIR Driver with Full Diagnostics and Control
UART
Similar to Option 2, but pin PDN_UART is connected to the CPU UART interface.
Additional options (label UART):
+
+
+
+
Detailed diagnostics and thermal management
Passive braking and freewheeling for flexible, lowest power stop modes
More options for microstep resolution setting (fullstep to 256 microstep)
Software controlled motor current setting and more chopper options
This mode allows replacing all control lines like ENN, DIAG, INDEX, MS1, MS2, and analog current
setting VREF by a single interface line. This way, only three signals are required for full control: STEP,
DIR and PDN_UART. Even motion without external STEP pulses is provided by an internal
programmable step pulse generator: Just set the desired motor velocity. However, no ramping is
provided by the TMC22xx. Access to multiple driver ICs is possible using an analog multiplexer IC.
1.1 Key Concepts
The TMC22xx 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.
stealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor. Allows faster motor acceleration and deceleration than
stealthChop™ and extends stealthChop to low stand still motor currents.
spreadCycle™
High-precision
movements.
cycle-by-cycle
current
control
algorithm
for
highest
dynamic
microPlyer™
Microstep interpolator for obtaining full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
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.
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
6
1.2 Control Interfaces
The TMC22xx supports both, discrete control lines for basic mode selection and a UART based single
wire interface with CRC checking. The UART interface automatically becomes enabled when correct
UART data is sent. When using UART, the pin selection may be disabled by control bits.
1.2.1
UART Interface
UART
The single wire interface allows unidirectional operation (for parameter setting only), or bi-directional
operation for full control and diagnostics. It can be driven by any standard microcontroller UART or
even by bit banging in software. Baud rates from 9600 Baud to 500k Baud or even higher (when
using an external clock) may be used. No baud rate configuration is required, as the TMC22xx
automatically adapts to the masters’ baud rate. The frame format is identical to the intelligent
TRINAMIC controller & driver ICs TMC5130 and TMC5072. A CRC checksum allows data transmission
over longer distance. For fixed initialization sequences, store the data including CRC into the µC, thus
consuming only a few 100 bytes of code for a full initialization. CRC may be ignored during read
access, if not desired. This makes CRC use an optional feature! The IC has a fixed address. Multiple
drivers can be programmed in parallel by tying together all interface pins, in case no read access is
required. An optional addressing can be provided by analog multiplexers, like 74HC4066.
From a software point of view the TMC22xx is a peripheral with a number of control and status
registers. Most of them can either be written only or are 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.
1.3 Moving and Controlling the Motor
1.3.1
STEP/DIR Interface
The motor is 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 special 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. The state sampled from the DIR input upon an active STEP edge
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.
1.3.2 Internal Step Pulse Generator
UART
Some applications do not require a precisely co-ordinate motion – the motor just is required to move
for a certain time and at a certain velocity. The TMC22xx comes with an internal pulse generator for
these applications: Just provide the velocity via UART interface to move the motor. The velocity sign
automatically controls the direction of the motion. However, the pulse generator does not integrate a
ramping function. Motion at higher velocities will require ramping up and ramping down the velocity
value via software.
STEP/DIR mode and internal pulse generator mode can be mixed in an application!
1.4 stealthChop2 & spreadCycle Driver
stealthChop is a voltage chopper based principle. It especially guarantees that the motor is absolutely
quiet in standstill and in slow motion, except for noise generated by ball bearings. Unlike other
voltage mode choppers, stealthChop2 does not require any configuration. It automatically learns the
best settings during the first motion after power up and further optimizes the settings in subsequent
motions. An initial homing sequence is sufficient for learning. Optionally, initial learning parameters
can be stored to OTP. stealthChop2 allows high motor dynamics, by reacting at once to a change of
motor velocity.
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
7
For highest velocity applications, spreadCycle is an option to stealthChop2. It can be enabled via input
pin (TMC222x) or via UART and OTP. stealthChop2 and spreadCycle may even be used in a combined
configuration for the best of both worlds: stealthChop2 for no-noise stand still, silent and smooth
performance, spreadCycle at higher velocity for high dynamics and highest peak velocity at low
vibration.
spreadCycle is an advanced cycle-by-cycle chopper mode. It offers smooth operation and good
resonance dampening over a wide range of speed and load. The spreadCycle chopper scheme
automatically integrates and tunes fast decay cycles to guarantee smooth zero crossing performance.
Benefits of using stealthChop2:
- Significantly improved microstepping with low cost motors
- Motor runs smooth and quiet
- Absolutely no standby noise
- Reduced mechanical resonance yields improved torque
1.5 Precise clock generator and CLK input
The TMC22xx provides a factory trimmed internal clock generator for precise chopper frequency and
performance. However, an optional external clock input is available for cases, where quartz precision
is desired, or where a lower or higher frequency is required. For safety, the clock input features
timeout detection, and switches back to internal clock upon fail of the external source.
1.6 Automatic Standstill Power Down
An automatic current reduction drastically reduces application power dissipation and cooling
requirements. Per default, the stand still current reduction is enabled by pulling PDN_UART input to
GND. It reduces standstill power dissipation to less than 33% by going to slightly more than half of
the run current.
Modify stand still current, delay time and decay via UART, or pre-programmed via internal OTP.
Automatic freewheeling and passive motor braking are provided as an option for stand still. Passive
braking reduces motor standstill power consumption to zero, while still providing effective
dampening and braking!
STEP
CURRENT
IRUN
IHOLD
RMS motor current trace with pin PDN=0
TPOWERDOWN IHOLDDELAY
power down power down
ramp time
delay time
t
Figure 1.3 Automatic Motor Current Power Down
1.7 Index Output
The index output gives one pulse per electrical rotation, i.e. one pulse per each four fullsteps. It
shows the internal sequencer microstep 0 position (MSTEP near 0). This is the power on position. In
combination with a mechanical home switch, a more precise homing is enabled.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
2
8
Pin Assignments
The TMC22xx family comes in a number of package variants in order to fit different footprints. Please
check for availability.
VS
BRB
OB1
OA1
BRA
VS
2.1 Package Outline TMC2208
26
25
24
23
22
3
19
2
20
1
6
© B. Dwersteg,
TRINAMIC
7
Pad=GND
9
10
11
12
13
OA2
DIR
GND
VREF
STEP
VCC_IO
14
5VOUT
MS1
MS2
DIAG
INDEX
CLK
PDN_UART
8
15
16
5
17
18
TMC2208
QFN28
4
OB2
ENN
GND
CPO
CPI
VCP
-
27
21
28
Figure 2.1 TMC2208 Pinning Top View – type: QFN28, 5x5mm², 0.5mm pitch
2.2 Signal Descriptions TMC2208
Pin
OB2
Number
1
Type
ENN
2
DI
GND
CPO
CPI
VCP
3, 18
4
5
6
7, 20,
25
N.C.
5VOUT
8
MS1
MS2
DIAG
INDEX
9
10
11
12
DI (pd)
DI (pd)
DO
DO
CLK
13
DI
PDN_UART
14
DIO
VCC_IO
15
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Function
Motor coil B output 2
Enable not input. The power stage becomes switched off (all motor
outputs floating) when this pin becomes driven to a high level.
GND. Connect to GND plane near pin.
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Unused pin, leave open or connect to GND for compatibility to future
versions.
Output of internal 5V regulator. Attach 2.2µF to 4.7µF ceramic
capacitor to GND near to pin for best performance. Provide the
shortest possible loop to the GND pad.
Microstep resolution configuration (internal pull down resistors)
MS2, MS1: 00: 1/8, 01: 1/2, 10: 1/4 11: 1/16
Diagnostic output. Hi level upon driver error. Reset by ENN=high.
Configurable index output. Provides index pulse.
CLK input. Tie to GND using short wire for internal clock or supply
external clock.
Power down not control input (low = automatic standstill current
reduction).
Optional UART Input/Output. Power down function can be disabled
in UART mode.
3.3V to 5V IO supply voltage for all digital pins.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
Pin
STEP
Number
16
Type
DI
VREF
17
AI
DIR
19
DI (pd)
VS
22, 28
OA2
21
BRA
23
OA1
OB1
24
26
BRB
27
Exposed
die pad
-
9
Function
STEP input
Analog reference voltage for current scaling or reference current for
use of internal sense resistors (optional mode)
DIR input (internal pull down resistor)
Motor supply voltage. Provide filtering capacity near pin with
shortest possible loop to GND pad.
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil A output 1
Motor coil B output 1
Sense resistor connection for coil B. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
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
power drivers and analogue circuitry.
BRB
OB1
OA1
BRA
2.3 Package Outline TMC2202
30
29
28
27
26
25
3
22
2
23
1
6
19
5
20
21
TMC2202
QFN32
4
8
Pad=GND
10
11
12
13
14
15
OA2
VS
DIR
GND
VREF
STEP
16
VCP
5VOUT
MS1
MS2
DIAG
CLK
PDN_UART
VCC_IO
9
17
18
© B. Dwersteg,
TRINAMIC
7
OB2
VS
ENN
GND
CPO
CPI
31
24
32
Figure 2.2 TMC2202 Pinning Top View – type: QFN32, 5x5mm², 0.5mm pitch
2.4 Signal Descriptions TMC2202
Pin
OB2
N.C.
Number
1
2, 4, 21,
23, 26,
28, 29,
31
VS
3, 22
ENN
5
www.trinamic.com
Type
DI
Function
Motor coil B output 2
Unused pin, leave open to provide for higher creeping voltage
distances.
Motor supply voltage. Provide filtering capacity near pin with
shortest possible loop to GND pad.
Enable not input. The power stage becomes switched off (all motor
outputs floating) when this pin becomes driven to a high level.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
Pin
GND
CPO
CPI
VCP
Number
6, 19
7
8
9
Type
5VOUT
10
MS1
MS2
DIAG
11
12
13
DI (pd)
DI (pd)
DO
CLK
14
DI
PDN_UART
15
DIO
VCC_IO
STEP
16
17
DI
VREF
18
AI
DIR
OA2
20
24
DI (pd)
BRA
25
OA1
OB1
27
30
BRB
32
Exposed
die pad
-
Function
GND. Connect to GND plane near pin.
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Output of internal 5V regulator. Attach 2.2µF to 4.7µF ceramic
capacitor to GND near to pin for best performance. Provide the
shortest possible loop to the GND pad.
Microstep resolution configuration (internal pull down resistors)
MS2, MS1: 00: 1/8, 01: 1/2, 10: 1/4 11: 1/16
Diagnostic output. Hi level upon driver error. Reset by ENN=high.
CLK input. Tie to GND using short wire for internal clock or supply
external clock.
Power down not control input (low = automatic standstill current
reduction).
Optional UART Input/Output. Power down function can be disabled
in UART mode.
3.3V to 5V IO supply voltage for all digital pins.
STEP input
Analog reference voltage for current scaling or reference current for
use of internal sense resistors (optional mode)
DIR input (internal pull down resistor)
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil A output 1
Motor coil B output 1
Sense resistor connection for coil B. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
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
power drivers and analogue circuitry.
MS1
CLK
STEP
ENN
DIR
SPREAD
2.5 Package Outline TMC2224
26
25
24
23
22
3
19
2
20
1
7
© B. Dwersteg,
TRINAMIC
Pad=GND
9
10
11
12
13
DIAG
PDN_UART
VCC_IO
5VOUT
GND
TEST
VREF
14
OA2
BRA
OA1
OB1
BRB
OB2
VS
8
15
6
16
5
17
18
TMC2224
QFN28
4
MS2
INDEX
GND
CPO
CPI
VCP
VS
27
21
28
Figure 2.3 TMC2224 Pinning Top View – type: QFN28, 5x5mm², 0.5mm pitch
www.trinamic.com
10
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
11
2.6 Signal Descriptions TMC2224
Pin
MS1
MS2
INDEX
GND
CPO
CPI
VCP
Number
28
1
2
3, 17
4
5
6
VS
7, 14
OA2
8
BRA
9
OA1
OB1
10
11
BRB
12
OB2
13
VREF
15
TEST
16
5VOUT
18
VCC_IO
19
PDN_UART
20
DIO
(pd)
DIAG
SPREAD
DIR
21
22
23
DO
DI (pd)
DI (pd)
ENN
24
DI
STEP
25
DI (pd)
N.C.
26
CLK
27
Exposed
die pad
-
www.trinamic.com
Type
DI (pd)
DI (pd)
DO
AI
DI
Function
Microstep resolution configuration (internal pull down resistors)
MS2, MS1: 00: 1/4, 01: 1/8, 10: 1/16, 11: 1/32
Configurable index output. Provides index pulse.
GND. Connect to GND plane near pin.
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Motor supply voltage. Provide filtering capacity near pin with
shortest possible loop to GND pad.
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil A output 1
Motor coil B output 1
Sense resistor connection for coil B. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil B output 2
Analog reference voltage for current scaling or reference current for
use of internal sense resistors (optional mode)
Connect to GND. May alternatively be left open or connected to VREF.
Output of internal 5V regulator. Attach 2.2µF to 4.7µF ceramic
capacitor to GND near to pin for best performance. Provide the
shortest possible loop to the GND pad.
3.3V to 5V IO supply voltage for all digital pins.
Power down not control input (low = automatic standstill current
reduction). (internal pull down resistor)
Optional UART Input/Output. Power down function can be disabled
in UART mode.
Diagnostic output. Hi level upon driver error. Reset by ENN=high.
Chopper mode selection: Low=stealthChop, High=spreadCycle
DIR input (internal pull down resistor)
Enable not input. The power stage becomes switched off (all motor
outputs floating) when this pin becomes driven to a high level.
STEP input (internal pull down resistor)
Unused pin, leave open or connect to GND for compatibility to future
versions.
CLK input. Tie to GND using short wire for internal clock or supply
external clock.
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
power drivers and analogue circuitry.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
12
6
23
5
24
4
25
3
26
2
27
1
20
9
© B. Dwersteg,
TRINAMIC
Pad=GND
10
11
18
19
8
21
22
TMC2225
HTSSOP28
7
17
12
16
13
15
14
CPO
CPI
VCP
VS
OA2
BRA
OA1
OB1
BRB
OB2
VS
VREF
TEST
GND
28
2.7 Package Outline TMC2225
GND
INDEX
MS2
MS1
CLK
STEP
ENN
DIR
SPREAD
DIAG
PDN_UART
VCC_IO
5VOUT
Figure 2.4 TMC2225 Pinning Top View – type: HTSSOP28, 9.7x6.4mm² over pins, 0.65mm pitch
2.8 Signal Descriptions TMC2225
Pin
CPO
CPI
VCP
Number
1
2
3
VS
4, 11
OA2
5
BRA
6
OA1
OB1
7
8
BRB
9
OB2
10
VREF
12
TEST
GND
13
14, 28
5VOUT
15
VCC_IO
16
PDN_UART
17
DIO
(pd)
DIAG
SPREAD
DIR
18
19
20
DO
DI (pd)
DI (pd)
ENN
21
DI
www.trinamic.com
Type
AI
Function
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Motor supply voltage. Provide filtering capacity near pin with
shortest possible loop to GND pad.
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil A output 1
Motor coil B output 1
Sense resistor connection for coil B. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil B output 2
Analog reference voltage for current scaling or reference current for
use of internal sense resistors (optional mode)
Connect to GND. May alternatively be left open or connected to VREF.
GND. Connect to GND plane near pin.
Output of internal 5V regulator. Attach 2.2µF to 4.7µF ceramic
capacitor to GND near to pin for best performance. Provide the
shortest possible loop to the GND pad.
3.3V to 5V IO supply voltage for all digital pins.
Power down not control input (low = automatic standstill current
reduction). (internal pull down resistor)
Optional UART Input/Output. Power down function can be disabled
in UART mode.
Diagnostic output. Hi level upon driver error. Reset by ENN=high.
Chopper mode selection: Low=stealthChop, High=spreadCycle
DIR input (internal pull down resistor)
Enable not input. The power stage becomes switched off (all motor
outputs floating) when this pin becomes driven to a high level.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
Pin
STEP
Number
22
Type
DI (pd)
N.C.
23
CLK
24
DI
MS1
MS2
INDEX
25
26
27
DI (pd)
DI (pd)
DO
Exposed
die pad
-
13
Function
STEP input (internal pull down resistor)
Unused pin, leave open or connect to GND for compatibility to future
versions.
CLK input. Tie to GND using short wire for internal clock or supply
external clock.
Microstep resolution configuration (internal pull down resistors)
MS2, MS1: 00: 1/4, 01: 1/8, 10: 1/16, 11: 1/32
Configurable index output. Provides index pulse.
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
power drivers and analogue circuitry.
BRB
BRB
-
OB2
OB2
-
-
OA2
OA2
-
BRA
BRA
48
47
46
45
44
43
42
41
40
39
38
37
2.9 Package Outline TMC2220
OB1
1
36
OB1
2
35
OA1
OA1
-
3
34
-
VS
4
33
VS
VS
5
32
VS
-
6
31
VCP
-
7
30
CPI
TEST
8
29
-
TMC2220-TA
TQFP-48
9mm x 9mm
GND
9
28
CPO
VCC_IO
10
27
GND
PDN_UART
11
26
VREF
25
MS2
21
22
23
24
STEP
INDEX
CLK
MS1
VCC_IO
19
ENN
20
18
5VIN
17
16
5VOUT
DIR
15
SPREAD
14
-
GND
12
13
DIAG
Pad = GND
Figure 2.5 TMC2220 Pinning Top View – type: TQFP-EP 48, 9x9mm² over pins, 0.5mm pitch
2.10 Signal Descriptions TMC2220
Pin
OB1
VS
TEST
GND
VCC_IO
Number
1, 2
4, 5, 32,
33
8
9, 14,
27
10, 24
www.trinamic.com
Type
Function
Motor coil B output 1
Motor supply voltage. Provide filtering capacity near pin with
shortest possible loop to GND pad.
Connect to GND. May alternatively be left open.
GND. Connect to GND plane near pin.
3.3V to 5V IO supply voltage for all digital pins.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
Pin
Number
Type
PDN_UART
11
DIO
(pd)
5VOUT
15
5VIN
DIAG
SPREAD
DIR
16
12
17
18
DO
DI (pd)
DI (pd)
ENN
19
DI
STEP
INDEX
20
21
DI (pd)
DO
CLK
22
DI
MS1
MS2
23
25
DI (pd)
DI (pd)
VREF
26
AI
CPO
CPI
VCP
OA1
28
30
31
35, 36
BRA
37, 38
OA2
OB2
40, 41
44, 45
BRB
47, 48
N.C.
Exposed
die pad
-
www.trinamic.com
14
Function
Power down not control input (low = automatic standstill current
reduction). (internal pull down resistor)
Optional UART Input/Output. Power down function can be disabled
in UART mode.
Output of internal 5V regulator. Attach 2.2µF to 4.7µF ceramic
capacitor to GND near to pin for best performance. Provide the
shortest possible loop to the GND pad.
Input of 5V supply. Directly connect to 5VOUT terminal.
Diagnostic output. Hi level upon driver error. Reset by ENN=high.
Chopper mode selection: Low=stealthChop, High=spreadCycle
DIR input (internal pull down resistor)
Enable not input. The power stage becomes switched off (all motor
outputs floating) when this pin becomes driven to a high level.
STEP input (internal pull down resistor)
Configurable index output. Provides index pulse.
CLK input. Tie to GND using short wire for internal clock or supply
external clock.
Microstep resolution configuration (internal pull down resistors)
MS2, MS1: 00: 1/4, 01: 1/8, 10: 1/16, 11: 1/32
Analog reference voltage for current scaling or reference current for
use of internal sense resistors (optional mode)
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Motor coil A output 1
Sense resistor connection for coil A. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Motor coil A output 2
Motor coil B output 2
Sense resistor connection for coil B. Place sense resistor to GND near
pin. Tie to GND when using internal sense resistor.
Unused pin, leave open or connect to GND for compatibility to future
versions.
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
power drivers and analogue circuitry.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
3
15
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.
STEP
DIR
5V Voltage
regulator
Step&Dir input
Analog Scaling
(only TMC222x)
PDN/UART
B. Dwersteg, ©
TRINAMIC 2016
UART interface
+ Register Block
Driver error
Index pulse
DIAG
INDEX
(not with TMC2202)
opt. ext. clock
10-16MHz
CLK_IN
3.3V or 5V
I/O voltage
VCC_IO
100µF
VCP
CPI
Low ESR type
OA1
Full Bridge A
OA2
BRA
stealthChop2
256 Microstep
Sequencer
100n
Driver
Integrated
Rsense
N
stepper
motor
RSA
IREF
Connect directly
to GND plane
Use low inductivity SMD
type, e.g. 1206, 0.5W for
RSA and RSB
spreadCycle
Programmable
Diagnostic
Outputs
S
OB1
Full Bridge B
Trimmed
CLK oscillator/
selector
OB2
BRB
RSB
Connect directly
to GND plane
ENN
100n
GND
optional UART interface
Configuration
Interface
100n
charge pump
IREF
Stand Still
Current
Reduction
Configuration
Memory (OTP)
microPlyer
MS2
SPREAD
+VM
VS
VREF
Configuration
(GND or VCC_IO)
100n
16V
TMC22xx
Step Pulse
Generator
MS1
22n
50V
DIE PAD
Step and Direction
motion control
CPO
2.2µ
6.3V
5VOUT
Place near IC with
short path to die pad
VREF Analog current
scaling or leave
open
3.1 Standard Application Circuit
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 8 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 3.3V regulator.
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 the die pad. See layout hints for more details. Low ESR electrolytic capacitors
are recommended for VS filtering.
3.2 Internal RDSon Sensing
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 9.1.
Attention
Be sure to switch the IC to RDSon mode, before enabling drivers: Set otp_internalRsense = 1.
www.trinamic.com
STEP
Step and Direction
motion control
DIR
RREF
5V Voltage
regulator
Step&Dir input
Configuration
Interface
(only TMC222x)
PDN/UART
B. Dwersteg, ©
TRINAMIC 2016
UART interface
+ Register Block
DIAG
INDEX
(not with TMC2202)
opt. ext. clock
10-16MHz
CLK_IN
3.3V or 5V
I/O voltage
VCC_IO
256 Microstep
Sequencer
100n
100µF
charge pump
IREF
Low ESR type
OA1
Full Bridge A
OA2
BRA
stealthChop2
microPlyer
MS2
SPREAD
Driver error
+VM
100n
Analog Scaling
Stand Still
Current
Reduction
Configuration
Memory (OTP)
MS1
Integrated
Rsense
Driver
Programmable
Diagnostic
Outputs
S
N
stepper
motor
Connect directly
to GND plane
IREF
Attention:
Start with ENN=high!
Set GCONF.1 or OTP0.6
prior to enabling the driver!
spreadCycle
OB1
Full Bridge B
OB2
Trimmed
CLK oscillator/
selector
BRB
Connect directly
to GND plane
100n
GND
ENN
DIE PAD
Index pulse
100n
16V
VS
VREF
optional UART interface
22n
50V
TMC22xx
Step Pulse
Generator
Configuration
(GND/open or VCC_IO)
CPO
VREF
5VOUT
2.2µ
6.3V
VCP
Place near IC with
short path to die pad
16
CPI
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
opt. driver enable
Figure 3.2 Application circuit using RDSon based sensing
3.3 5V Only Supply
STEP
DIR
5V Voltage
regulator
Step&Dir input
Configuration
Interface
PDN/UART
B. Dwersteg, ©
TRINAMIC 2016
UART interface
+ Register Block
INDEX
(not with TMC2202)
opt. ext. clock
10-16MHz
CLK_IN
3.3V or 5V
I/O voltage
VCC_IO
256 Microstep
Sequencer
100n
100µF
VCP
CPI
IREF
Low ESR type
OA1
Full Bridge A
OA2
BRA
Driver
Integrated
Rsense
N
stepper
motor
RSA
IREF
Connect directly
to GND plane
Use low inductivity SMD
type, e.g. 1206, 0.5W for
RSA and RSB
spreadCycle
Programmable
Diagnostic
Outputs
S
OB1
Full Bridge B
Trimmed
CLK oscillator/
selector
OB2
BRB
RSB
Connect directly
to GND plane
ENN
100n
GND
Driver error
100n
charge pump
stealthChop2
microPlyer
MS2
SPREAD
(only TMC222x)
Index pulse
CPO
Analog Scaling
Stand Still
Current
Reduction
Configuration
Memory (OTP)
MS1
DIAG
4.7-5.4V
VS
VREF
optional UART interface
100n
16V
TMC22xx
Step Pulse
Generator
Configuration
(GND/open or VCC_IO)
22n
50V
DIE PAD
Step and Direction
motion control
5VOUT
10µ
6.3V
VREF
10R
Optional – bridges the
internal 5V reference
Place near IC with
short path to die pad
opt. driver enable
Figure 3.3 5V only operation
While the standard application circuit is limited to roughly 5.2 V lower supply voltage, a 5 V only
application lets the IC run from a 5 V +/-5% supply. In this application, linear regulator drop must be
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
17
minimized. Therefore, the internal 5V regulator is filtered with a higher capacitance. An optional
resistor bridges the internal 5V regulator by connecting 5VOUT to the external power supply. This RC
filter keeps chopper ripple away from 5VOUT. With this resistor, the external supply is the reference
for the absolute motor current and must not exceed 5.5V.
3.4 Configuration Pins
The TMC22xx family members provide three or four configuration pins depending on the package
option. These pins allow quick configuration for standalone operation. Several additional options can
be set by OTP programming. In UART mode, the configuration pins can be disabled in order to set a
different configuration via registers.
PDN_UART: CONFIGURATION OF STANDSTILL POWER DOWN
PDN_UART
GND
VCC_IO
UART interface
Current Setting
Enable automatic power down in standstill periods
Disable
When using the UART interface, the configuration pin should be disabled via
GCONF.pdn_disable = 1. Program IHOLD as desired for standstill periods.
OPTIONS FOR TMC220X DEVICES, ONLY:
MS1/MS2: CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT (TMC220X)
MS2
GND
GND
VCC_IO
VCC_IO
MS1
GND
VCC_IO
GND
VCC_IO
Microstep Setting
8 microsteps
2 microsteps (half step)
4 microsteps (quarter step)
16 microsteps
OPTIONS FOR TMC222X DEVICES, ONLY:
SPREAD (ONLY WITH TMC222X): SELECTION OF CHOPPER MODE
SPREAD
GND or
Pin open / not
available
VCC_IO
Chopper Setting
stealthChop is selected. Automatic switching to spreadCycle in dependence of
the step frequency can be programmed via OTP.
spreadCycle operation.
MS1/MS2: CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT (TMC222X)
MS2
GND
GND
VCC_IO
VCC_IO
MS1
GND
VCC_IO
GND
VCC_IO
Microstep Setting
4 microsteps (quarter step)
8 microsteps
16 microsteps
32 microsteps
3.5 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 significantly heat up the PCB
cooling infrastructure, 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
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
18
critical for the tiny QFN 5mm x 5mm package at or above 1A 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.
Pay special attention to good thermal properties of your PCB layout, when going for 1A RMS current
or more.
An effect which might be perceived at medium motor velocities and motor sine wave peak currents
above roughly 1.4A 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.
3.6 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 may 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 to GND 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
Fit varistors to supply voltage
rating. SMD inductivities
conduct full motor coil
current.
Figure 3.4 Simple ESD enhancement and more elaborate motor output protection
www.trinamic.com
V2B
470pF
100V
Varistors V1 and V2 protect
against inductive motor coil
overvoltage.
V1A, V1B, V2A, V2B:
Optional position for varistors
in case of heavy ESD events.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
4
19
UART Single Wire Interface
UART
The UART single wire interface allows control of the TMC22xx with any microcontroller UART. It shares
transmit and receive line like an RS485 based interface. Data transmission is secured using a cyclic
redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can be
bridged without danger of wrong or missed commands even in the event of electro-magnetic
disturbance. The automatic baud rate detection makes this interface easy to use.
4.1 Datagram Structure
4.1.1
Write Access
UART WRITE ACCESS DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
0 … 63
8 bit slave
RW + 7 bit
sync + reserved
32 bit data
address
register addr.
56…63
63
…
CRC
56
55
…
24…55
data bytes 3, 2, 1, 0
(high to low byte)
24
1
23
…
16…23
register
address
16
15
3
…
2
SLAVEADDR=0
8
1
7
0
6
1
5
0
8…15
Reserved (don’t cares
but included in CRC)
4
1
0
0…7
CRC
A sync nibble precedes each transmission to and from the TMC22xx and is embedded into the first
transmitted byte, followed by an addressing byte (0 for TMC22xx). Each transmission allows a
synchronization of the internal baud rate divider to the master clock. The actual baud rate is adapted
and variations of the internal clock frequency are compensated. Thus, the baud rate can be freely
chosen within the valid range. Each transmitted byte starts with a start bit (logic 0, low level on
SWIOP) and ends with a stop bit (logic 1, high level on SWIOP). The bit time is calculated by
measuring the time from the beginning of start bit (1 to 0 transition) to the end of the sync frame (1
to 0 transition from bit 2 to bit 3). All data is transmitted bytewise. The 32 bit data words are
transmitted with the highest byte first.
A minimum baud rate of 9000 baud is permissible, assuming 20 MHz clock (worst case for low baud
rate). Maximum baud rate is fCLK/16 due to the required stability of the baud clock.
The slave address SLAVEADDR is always 0 for the TMC22xx.
The communication becomes reset if a pause time of longer than 63 bit times between the start bits
of two successive bytes occurs. This timing is based on the last correctly received datagram. In this
case, the transmission needs to be restarted after a failure recovery time of minimum 12 bit times of
bus idle time. This scheme allows the master to reset communication in case of transmission errors.
Any pulse on an idle data line below 16 clock cycles will be treated as a glitch and leads to a timeout
of 12 bit times, for which the data line must be idle. Other errors like wrong CRC are also treated the
same way. This allows a safe re-synchronization of the transmission after any error conditions.
Remark, that due to this mechanism an abrupt reduction of the baud rate to less than 15 percent of
the previous value is not possible.
Each accepted write datagram becomes acknowledged by the receiver by incrementing an internal
cyclic datagram counter (8 bit). Reading out the datagram counter allows the master to check the
success of an initialization sequence or single write accesses. Read accesses do not modify the
counter.
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
20
The UART line must be logic high during idle state. Therefore, the power down function cannot be
assigned by the pin PDN_UART in between of transmissions. In an application using the UART
interface, set the desired power down function by register access and set pdn_disable in GCONF to
disable the pin function.
4.1.2
Read Access
UART READ ACCESS REQUEST DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
sync + reserved
8 bit slave address
RW + 7 bit register
address
CRC
0...7
8…15
16…23
24…31
31
…
CRC
24
0
23
…
16
register address
15
3
…
2
SLAVEADDR=0
8
1
7
0
6
1
5
0
4
1
0
Reserved (don’t cares
but included in CRC)
The read access request datagram structure is identical to the write access datagram structure, but
uses a lower number of user bits. Its function is the addressing of the slave and the transmission of
the desired register address for the read access. The TMC22xx responds with the same baud rate as
the master uses for the read request.
In order to ensure a clean bus transition from the master to the slave, the TMC22xx does not
immediately send the reply to a read access, but it uses a programmable delay time after which the
first reply byte becomes sent following a read request. This delay time can be set in multiples of
eight bit times using SENDDELAY time setting (default=8 bit times) according to the needs of the
master.
UART READ ACCESS REPLY DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
24…55
data bytes 3, 2, 1, 0
(high to low byte)
56…63
…
CRC
56
55
CRC
…
32 bit data
24
0
23
…
15
3
…
2
16…23
register
address
0xFF
8
1
reserved (0)
7
0
6
1
5
0
8…15
4
1
0
0…7
16
sync + reserved
63
0 ...... 63
8 bit master
RW + 7 bit
address
register addr.
The read response is sent to the master using address code %11111111. The transmitter becomes
switched inactive four bit times after the last bit is sent.
Address %11111111 is reserved for read access replies going to the master.
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
21
4.2 CRC Calculation
An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to
eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB,
including the sync- and addressing byte. The sync nibble is assumed to always be correct. The
TMC22xx responds only to correctly transmitted datagrams containing its own slave address. It
increases its datagram counter for each correctly received write access datagram.
𝐶𝑅𝐶 = 𝑥 8 + 𝑥 2 + 𝑥 1 + 𝑥 0
SERIAL CALCULATION EXAMPLE
CRC = (CRC 750Hz (roughly). TSTEP
shows filtered step time values when active.
9 test_mode
0:
Normal operation
1:
Enable analog test output on pin ENN (pull down
resistor off), ENN treated as enabled.
IHOLD[1..0] selects the function of DCO:
0…2: T120, DAC, VDDH
Attention: Not for user, set to 0 for normal operation!
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
25
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
R+
WC
0x01
3
GSTAT
R
0x02
8
IFCNT
W
0x03
4
SLAVECONF
W
0x04
16
OTP_PROG
R
0x05
24
OTP_READ
R
0x06
10
+
8
IOIN
www.trinamic.com
Description / bit names
Bit
GSTAT – Global status flags
(Re-Write with ‘1’ bit to clear respective 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 cleared when all
error conditions are cleared.
2 uv_cp
1:
Indicates an undervoltage on the charge pump.
The driver is disabled in this case. This flag is not
latched and thus does not need to be cleared.
Interface transmission counter. This register becomes
incremented with each successful UART interface write
access. Read out to check the serial transmission for
lost data. Read accesses do not change the content.
The counter wraps around from 255 to 0.
Bit
SLAVECONF
11..8 SENDDELAY for read access (time until reply is sent):
0, 1:
8 bit times
2, 3:
3*8 bit times
4, 5:
5*8 bit times
6, 7:
7*8 bit times
8, 9:
9*8 bit times
10, 11: 11*8 bit times
12, 13: 13*8 bit times
14, 15: 15*8 bit times
Bit
OTP_PROGRAM – OTP programming
Write access programs OTP memory (one bit at a time),
Read access refreshes read data from OTP after a write
2..0 OTPBIT
Selection of OTP bit to be programmed to the selected
byte location (n=0..7: programs bit n to a logic 1)
5..4 OTPBYTE
Selection of OTP programming location (0, 1 or 2)
15..8 OTPMAGIC
Set to 0xbd to enable programming. A programming
time of minimum 10ms per bit is recommended (check
by reading OTP_READ).
Bit
OTP_READ (Access to OTP memory result and update)
See separate table!
7..0
OTP0 byte 0 read data
15..8 OTP1 byte 1 read data
23..16 OTP2 byte 2 read data
Bit
INPUT (Reads the state of all input pins available)
0 ENN (TMC220x)
1 PDN_UART (TMC222x)
2 MS1 (TMC220x), SPREAD (TMC222x)
3 MS2 (TMC220x), DIR (TMC222x)
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
26
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
RW
Addr
0x07
n
Register
5+2
FACTORY_
CONF
www.trinamic.com
Description / bit names
4 DIAG (TMC220x), ENN (TMC222x)
5 STEP (TMC222x)
6 PDN_UART (TMC220x), MS1 (TMC222x)
7 STEP (TMC220x), MS2 (TMC222x)
8 SEL_A: Driver type
1: TMC220x
0: TMC222x
9 DIR (TMC220x)
31.. VERSION: 0x20=first version of the IC
24 Identical numbers mean full digital compatibility.
4..0 FCLKTRIM (Reset default: OTP)
0…31: Lowest to highest clock frequency. Check at
charge pump output. The frequency span is not
guaranteed, but it is tested, that tuning to 12MHz
internal clock is possible. The devices come preset to
12MHz clock frequency by OTP programming.
9..8 OTTRIM
(Default: OTP)
%00:
OT=143°C, OTPW=120°C
%01:
OT=150°C, OTPW=120°C
%10:
OT=150°C, OTPW=143°C
%11:
OT=157°C, OTPW=143°C
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
5.1.1
27
OTP_READ – OTP configuration memory
The OTP memory holds power up defaults for certain registers. All OTP memory bits are cleared to 0
by default. Programming only can set bits, clearing bits is not possible. Factory tuning of the clock
frequency affects otp0.0 to otp0.4. The state of these bits therefore may differ between individual ICs.
0X05: OTP_READ – OTP MEMORY MAP
Bit
23
Name
otp2.7
Function
otp_en_spreadCycle
22
21
otp2.6
otp2.5
OTP_IHOLD
20
19
otp2.4
otp2.3
OTP_IHOLDDELAY
18
otp2.2
otp_PWM_FREQ
17
otp2.1
otp_PWM_REG
16
otp2.0
otp_PWM_OFS
15
14
13
otp1.7
otp1.6
otp1.5
OTP_CHOPCONF8
OTP_TPWMTHRS
OTP_CHOPCONF7...5
12
otp1.4
www.trinamic.com
otp_pwm_autograd
Comment
This flag determines if the driver defaults to spreadCycle
or to stealthChop.
0
Default: stealthChop (GCONF.en_spreadCycle=0)
OTP 1.0 to 1.7 and 2.0 used for stealthChop
spreadCycle settings: HEND=0; HSTART=5; TOFF=3
1
Default: spreadCycle (GCONF.en_spreadCycle=1)
OTP 1.0 to 1.7 and 2.0 used for spreadCycle
stealthChop settings: PWM_GRAD=0; TPWM_THRS=0;
PWM_OFS=36; pwm_autograd=1
Reset default for standstill current IHOLD (used only if
current reduction enabled, e.g. pin PDN_UART low).
%00: IHOLD= 16
(53% of IRUN)
%01: IHOLD= 2
( 9% of IRUN)
%10: IHOLD= 8
(28% of IRUN)
%11: IHOLD= 24
(78% of IRUN)
(Reset default for run current IRUN=31)
Reset default for IHOLDDELAY
%00: IHOLDDELAY= 1
%01: IHOLDDELAY= 2
%10: IHOLDDELAY= 4
%11: IHOLDDELAY= 8
Reset default for PWM_FREQ:
0: PWM_FREQ=%01=2/683
1: PWM_FREQ=%10=2/512
Reset default for PWM_REG:
0: PWM_REG=%1000: max. 4 increments / cycle
1: PWM_REG=%0010: max. 1 increment / cycle
Depending on otp_en_spreadCycle
0
0: PWM_OFS=36
1: PWM_OFS=00 (no feed forward scaling);
pwm_autograd=0
1
Reset default for CHOPCONF.8 (hend1)
Depending on otp_en_spreadCycle
0
Reset default for TPWM_THRS as defined by (0..7):
0: TPWM_THRS=
0
1: TPWM_THRS= 200
2: TPWM_THRS= 300
3: TPWM_THRS= 400
4: TPWM_THRS= 500
5: TPWM_THRS= 800
6: TPWM_THRS= 1200
7: TPWM_THRS= 4000
1
Reset default for CHOPCONF.5 to CHOPCONF.7
(hstrt1, hstrt2 and hend0)
Depending on otp_en_spreadCycle
0
0: pwm_autograd=1
1: pwm_autograd=0
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
28
0X05: OTP_READ – OTP MEMORY MAP
Bit
Name
Function
OTP_CHOPCONF4
11
10
9
8
otp1.3
otp1.2
otp1.1
otp1.0
OTP_PWM_GRAD
7
otp0.7
OTP_CHOPCONF3...0
otp_TBL
6
otp0.6
otp_internalRsense
5
otp0.5
otp_OTTRIM
4
3
2
1
0
otp0.4
otp0.3
otp0.2
otp0.1
otp0.0
OTP_FCLKTRIM
www.trinamic.com
Comment
1
Reset
default
for
CHOPCONF.4
(hstrt0);
(pwm_autograd=1)
Depending on otp_en_spreadCycle
0
Reset default for PWM_GRAD as defined by (0..15):
0: PWM_GRAD= 14
1: PWM_GRAD= 16
2: PWM_GRAD= 18
3: PWM_GRAD= 21
4: PWM_GRAD= 24
5: PWM_GRAD= 27
6: PWM_GRAD= 31
7: PWM_GRAD= 35
8: PWM_GRAD= 40
9: PWM_GRAD= 46
10: PWM_GRAD= 52
11: PWM_GRAD= 59
12: PWM_GRAD= 67
13: PWM_GRAD= 77
14: PWM_GRAD= 88
15: PWM_GRAD= 100
1
Reset default for CHOPCONF.0 to CHOPCONF.3 (TOFF)
Reset default for TBL:
0: TBL=%10
1: TBL=%01
Reset default for GCONF.internal_Rsense
0: External sense resistors
1: Internal sense resistors
Reset default for OTTRIM:
0: OTTRIM= %00 (143°C)
1: OTTRIM= %01 (150°C)
(internal power stage temperature about 10°C above the
sensor temperature limit)
Reset default for FCLKTRIM
0: lowest frequency setting
31: highest frequency setting
Attention: This value is pre-programmed by factory clock
trimming to the default clock frequency of 12MHz and
differs between individual ICs! It should not be altered.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
29
5.2 Velocity Dependent Control
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
W
0x10
5
+
5
+
4
Description / bit names
Bit
IHOLD_IRUN – Driver current control
4..0 IHOLD (Reset default: OTP)
Standstill current (0=1/32 … 31=32/32)
In combination with stealthChop mode, setting
IHOLD=0 allows to choose freewheeling or coil
short circuit (passive braking) for motor stand still.
12..8 IRUN (Reset default=31)
Motor run current (0=1/32 … 31=32/32)
IHOLD_IRUN
W
0x11
8
TPOWER
DOWN
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
19..16 IHOLDDELAY (Reset default: OTP)
Controls the number of clock cycles for motor
power down after standstill is detected (stst=1) and
TPOWERDOWN has expired. The smooth transition
avoids a motor jerk upon power down.
0:
instant power down
1..15:
Delay per current reduction step in multiple
of 2^18 clocks
TPOWERDOWN (Reset default=20)
Sets the delay time from stand still (stst) detection to motor
current power down. Time range is about 0 to 5.6 seconds.
0…((2^8)-1) * 2^18 tCLK
Attention: A minimum setting of 2 is required to allow
automatic tuning of stealthChop PWM_OFFS_AUTO.
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.
R
0x12
20
TSTEP
W
0x13
20
TPWMTHRS
W
0x22
24
VACTUAL
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The TSTEP related threshold uses a hysteresis of 1/16 of the
compare value to compensate for jitter in the clock or the step
frequency: (Txxx*15/16)-1 is the lower compare value for each
TSTEP based comparison.
This means, that the lower switching velocity equals the
calculated setting, but the upper switching velocity is higher as
defined by the hysteresis setting.
Sets the upper velocity for stealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
- stealthChop PWM mode is enabled, if configured
When the velocity exceeds the limit set by TPWMTHRS, the
driver switches to spreadCycle.
0: Disabled
VACTUAL allows moving the motor by UART control.
It gives the motor velocity in +-(2^23)-1 [µsteps / t]
0: Normal operation. Driver reacts to STEP input.
/=0: Motor moves with the velocity given by VACTUAL. Step
pulses can be monitored via INDEX output. The motor
direction is controlled by the sign of VACTUAL.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
30
5.3 Sequencer Registers
The sequencer registers have a pure informative character and are read-only. They help for special
cases like storing the last motor position before power off in battery powered applications.
MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B)
R/W
Addr
n
Register
R
0x6A
10
MSCNT
R
0x6B
9
+
9
www.trinamic.com
MSCURACT
Description / bit names
Microstep counter. Indicates actual position
in the microstep table for CUR_A. CUR_B uses
an offset of 256 into the table. Reading out
MSCNT allows determination of the motor
position within the electrical wave.
bit 8… 0:
CUR_A (signed):
Actual microstep current for
motor phase A as read from the
internal sine wave table (not
scaled by current setting)
bit 24… 16: CUR_B (signed):
Actual microstep current for
motor phase B as read from the
internal sine wave table (not
scaled by current setting)
Range [Unit]
0…1023
+/-0...255
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
31
5.4 Chopper Control Registers
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
RW
0x6C
32
CHOPCONF
R
0x6F
32
DRV_
STATUS
RW
0x70
22
PWMCONF
R
R
0x71
0x72
9+8
8+8
www.trinamic.com
PWM_SCALE
PWM_AUTO
Description / bit names
Chopper and driver configuration
See separate table!
Driver status flags and current level read
back
See separate table!
stealthChop PWM chopper configuration
See separate table!
Results of stealthChop amplitude regulator.
These values can be used to monitor
automatic PWM amplitude scaling (255=max.
voltage).
bit 7… 0
PWM_SCALE_SUM:
Actual PWM duty cycle. This
value is used for scaling the
values CUR_A and CUR_B read
from the sine wave table.
bit 24… 16 PWM_SCALE_AUTO:
9 Bit signed offset added to the
calculated PWM duty cycle. This
is the result of the automatic
amplitude regulation based on
current measurement.
These automatically generated values can be
read out in order to determine a default /
power up setting for PWM_GRAD and
PWM_OFS.
bit 7… 0
PWM_OFS_AUTO:
Automatically determined offset
value
bit 23… 16 PWM_GRAD_AUTO:
Automatically
determined
gradient value
Range [Unit]
Reset default=
0x10000053
Reset default=
0xC10D0024
0…255
signed
-255…+255
0…255
0…255
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
5.4.1
32
CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit
31
Name
diss2vs
30
diss2g
29
dedge
28
intpol
interpolation to 256
microsteps
27
26
25
24
mres3
mres2
mres1
mres0
MRES
micro step resolution
23
22
21
20
19
18
17
-
reserved
vsense
16
15
tbl1
tbl0
sense resistor voltage
based current scaling
TBL
blank time select
14
13
12
11
10
9
8
7
-
reserved
hend3
hend2
hend1
hend0
HEND
hysteresis low value
OFFSET
sine wave offset
6
5
4
hstrt2
hstrt1
hstrt0
HSTRT
hysteresis start value
added to HEND
www.trinamic.com
Function
Low side short
protection disable
short to GND
protection disable
enable double edge
step pulses
Comment
0: Short protection low side is on
1: Short protection low side is disabled
0: Short to GND protection is on
1: Short to GND protection is disabled
1: Enable step impulse at each step edge to reduce step
frequency requirement. This mode is not compatible
with the step filtering function (multistep_filt)
1: The actual microstep resolution (MRES) becomes
extrapolated to 256 microsteps for smoothest motor
operation.
(Default: 1)
%0000:
Native 256 microstep setting.
%0001 … %1000:
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution.
The resolution gives the number of microstep entries per
sine quarter wave.
When choosing a lower microstep resolution, the driver
automatically uses microstep positions which result in a
symmetrical wave.
Number of microsteps per step pulse = 2^MRES
(Selection by pins unless disabled by GCONF.
mstep_reg_select)
set to 0
0: Low sensitivity, high sense resistor voltage
1: High sensitivity, low sense resistor voltage
%00 … %11:
Set comparator blank time to 16, 24, 32 or 40 clocks
Hint: %00 or %01 is recommended for most applications
(Default: OTP)
set to 0
%0000 … %1111:
Hysteresis is -3, -2, -1, 0, 1, …, 12
(1/512 of this setting adds to current setting)
This is the hysteresis value which becomes used for the
hysteresis chopper.
(Default: OTP, resp. 5 in stealthChop mode)
%000 … %111:
Add 1, 2, …, 8 to hysteresis low value HEND
(1/512 of this setting adds to current setting)
Attention: Effective HEND+HSTRT ≤ 16.
Hint: Hysteresis decrement is done each 16 clocks
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit
Name
Function
Comment
(Default: OTP, resp. 0 in stealthChop mode)
3
2
1
0
toff3
toff2
toff1
toff0
TOFF off time
and driver enable
Off time setting controls duration of slow decay phase
NCLK= 12 + 32*TOFF
%0000: Driver disable, all bridges off
%0001: 1 – use only with TBL ≥ 2
%0010 … %1111: 2 … 15
(Default: OTP, resp. 3 in stealthChop mode)
www.trinamic.com
33
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
5.4.2
34
PWMCONF – Voltage PWM Mode stealthChop
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit
31
30
29
28
Name
PWM_LIM
Function
PWM automatic scale
amplitude limit when
switching on
27
26
25
24
PWM_REG
Regulation loop
gradient
23
22
21
20
freewheel1
freewheel0
reserved
reserved
Allows different
standstill modes
19
pwm_
autograd
PWM automatic
gradient adaptation
18
pwm_
autoscale
PWM automatic
amplitude scaling
17
pwm_freq1
PWM frequency
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Comment
Limit for PWM_SCALE_AUTO when switching back from
spreadCycle to stealthChop. This value defines the upper
limit for bits 7 to 4 of the automatic current control
when switching back. It can be set to reduce the current
jerk during mode change back to stealthChop.
It does not limit PWM_GRAD or PWM_GRAD_AUTO offset.
(Default = 12)
User defined maximum PWM amplitude change per half
wave when using pwm_autoscale=1. (1…15):
1: 0.5 increments (slowest regulation)
2: 1 increment (default with OTP2.1=1)
3: 1.5 increments
4: 2 increments
…
8: 4 increments (default with OTP2.1=0)
...
15: 7.5 increments (fastest regulation)
set to 0
set to 0
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
0
Fixed value for PWM_GRAD
(PWM_GRAD_AUTO = PWM_GRAD)
1
Automatic tuning (only with pwm_autoscale=1)
PWM_GRAD_AUTO is initialized with PWM_GRAD
and becomes optimized automatically during
motion.
Preconditions
1. PWM_OFS_AUTO has been automatically
initialized. This requires standstill at IRUN for
>130ms in order to a) detect standstill b) wait >
128 chopper cycles at IRUN and c) regulate
PWM_OFS_AUTO so that
-1 < PWM_SCALE_AUTO < 1
2. Motor running and 1.5 * PWM_OFS_AUTO <
PWM_SCALE_SUM < 4* PWM_OFS_AUTO and
PWM_SCALE_SUM < 255.
Time required for tuning PWM_GRAD_AUTO
About 8 fullsteps per change of +/-1.
0
User defined feed forward PWM amplitude. The
current settings IRUN and IHOLD have no influence!
The resulting PWM amplitude (limited to 0…255) is:
PWM_OFS * ((CS_ACTUAL+1) / 32)
+ PWM_GRAD * 256 / TSTEP
1
Enable automatic current control (Reset default)
%00: fPWM=2/1024 fCLK
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
35
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit
16
Name
pwm_freq0
Function
selection
15
14
13
12
11
10
9
8
PWM_
GRAD
User defined amplitude
gradient
7
6
5
4
3
2
1
0
PWM_
OFS
User defined amplitude
(offset)
Comment
%01: fPWM=2/683 fCLK
%10: fPWM=2/512 fCLK
%11: fPWM=2/410 fCLK
Velocity dependent gradient for PWM amplitude:
PWM_GRAD * 256 / TSTEP
This value is added to PWM_AMPL to compensate for
the velocity-dependent motor back-EMF.
With automatic scaling (pwm_autoscale=1) the value is
used for first initialization, only. Set PWM_GRAD to the
application specific value (it can be read out from
PWM_GRAD_AUTO) to speed up the automatic tuning
process. An approximate value can be stored to OTP by
programming OTP_PWM_GRAD.
User defined PWM amplitude offset (0-255) related to full
motor current (CS_ACTUAL=31) in stand still.
(Reset default=36)
When using automatic scaling (pwm_autoscale=1) the
value is used for initialization, only. The autoscale
function starts with PWM_SCALE_AUTO=PWM_OFS and
finds the required offset to yield the target current
automatically.
PWM_OFS = 0 will disable scaling down motor current
below a motor specific lower measurement threshold.
This setting should only be used under certain
conditions, i.e. when the power supply voltage can vary
up and down by a factor of two or more. It prevents
the motor going out of regulation, but it also prevents
power down below the regulation limit.
PWM_OFS > 0 allows automatic scaling to low PWM duty
cycles even below the lower regulation threshold. This
allows low (standstill) current settings based on the
actual (hold) current scale (register IHOLD_IRUN).
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
5.4.3
36
DRV_STATUS – Driver Status Flags
0X6F: DRV_STATUS – DRIVER STATUS FLAGS AND CURRENT LEVEL READ BACK
Bit
31
Name
stst
Function
standstill indicator
30
stealth
stealthChop indicator
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
-
reserved
Comment
This flag indicates motor stand still in each operation
mode. This occurs 2^20 clocks after the last step pulse.
1: Driver operates in stealthChop mode
0: Driver operates in spreadCycle mode
Ignore these bits.
-
reserved
Ignore these bits.
CS_
ACTUAL
actual motor current /
smart energy current
Actual current control scaling, for monitoring the
function of the automatic current scaling.
-
reserved
Ignore these bits.
t157
t150
t143
t120
olb
6
ola
5
s2vsb
4
s2vsa
3
s2gb
2
s2ga
1
ot
157°C comparator
150°C comparator
143°C comparator
120°C comparator
open load indicator
phase B
open load indicator
phase A
low side short
indicator phase B
low side short
indicator phase A
short to ground
indicator phase B
short to ground
indicator phase A
overtemperature flag
0
otpw
1: Temperature threshold is exceeded
1: Temperature threshold is exceeded
1: Temperature threshold is exceeded
1: Temperature threshold is exceeded
1: Open load detected on phase A or B.
Hint: This is just an informative flag. The driver takes no
action upon it. False detection may occur in fast motion
and standstill. Check during slow motion, only.
1: Short on low-side MOSFET detected on phase A or B.
The driver becomes disabled. The flags stay active, until
the driver is disabled by software (TOFF=0) or by the
ENN input. Flags are separate for both chopper modes.
1: Short to GND detected on phase A or B. The driver
becomes disabled. The flags stay active, until the driver
is disabled by software (TOFF=0) or by the ENN input.
Flags are separate for both chopper modes.
1: The selected overtemperature limit has been reached.
Drivers become disabled until otpw is also cleared due
to cooling down of the IC.
The overtemperature flag is common for both bridges.
1: The selected overtemperature pre-warning threshold
is exceeded.
The overtemperature pre-warning flag is common for
both bridges.
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overtemperature prewarning flag
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
6
37
stealthChop™
stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a
voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely
noiseless. Thus, stealthChop operated stepper motor applications are very suitable for
indoor or home use. The motor operates absolutely free of vibration at low velocities.
With stealthChop, the motor current is applied by driving a certain effective voltage into
the coil, using a voltage mode PWM. With the enhanced stealthChop2, the driver automatically adapts
to the application for best performance. No more configurations are required. Optional configuration
allows for tuning the setting in special cases, or for storing initial values for the automatic adaptation
algorithm. For high velocity drives spreadCycle should be considered in combination with stealthChop.
Figure 6.1 Motor coil sine wave current with stealthChop (measured with current probe)
6.1 Automatic Tuning
stealthChop2 integrates an automatic tuning procedure (AT), which adapts the most important
operating parameters to the motor automatically. This way, stealthChop2 allows high motor dynamics
and supports powering down the motor to very low currents. Just two steps have to be respected by
the motion controller for best results: Start with the motor in standstill, but powered with nominal
run current (AT#1). Move the motor at a medium velocity, e.g. as part of a homing procedure (AT#2).
Figure 6.2 shows the tuning procedure.
Border conditions in for AT#1 and AT#2 are shown in the following table:
AUTOMATIC TUNING TIMING AND BORDER CONDITIONS
Step
AT#1
Parameter
PWM_
OFS_AUTO
AT#2
PWM_
GRAD_AUTO
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Conditions
- Motor in standstill and actual current scale (CS) is
identical to run current (IRUN).
- If standstill reduction is enabled (pin PDN_UART=0),
an initial step pulse switches the drive back to run
current.
- Pins VS and VREF at operating level.
- Motor must move at a velocity, where a significant
amount of back EMF is generated and where the full
run current can be reached. Conditions:
- 1.5 * PWM_OFS_AUTO
<
PWM_SCALE_SUM
<
4 * PWM_OFS_AUTO
- PWM_SCALE_SUM < 255.
Hint: A typical range is 60-300 RPM. Determine best
conditions with the evaluation board.
Duration
≤ 2^20+2*2^18 tCLK,
≤ 130ms
(with internal clock)
8 fullsteps are required
for a change of +/-1.
For a typical motor with
PWM_GRAD_AUTO
optimum at 64 or less, up
to 400 fullsteps are
required when starting
from OTP default 14.
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
38
Power Up
PWM_GRAD_AUTO becomes
initialized by OTP
Driver Enabled?
N
Y
Stand still
N
Y
N
AT#1
Driver Enabled?
Standstill reduction enabled?
Y
Issue (at least) a single step
pulse and stop again, to
power motor to run current
stealthChop2 regulates to nominal
current and stores result to
PWM_OFS_AUTO
(Requires stand still for >130ms)
PWM_
GRAD_AUTO stored
in OTP?
Y
N
AT#2
Homing
Move the motor, e.g. for homing.
Include a constant, medium velocity
ramp segment.
stealthChop2 regulates to nominal
current and optimizes PWM_GRAD_AUTO
(requires 8 fullsteps per change of 1,
typically a few 100 fullsteps in sum)
Ready
stealthChop2 settings are optimized!
Option with UART
Store PWM_GRAD_AUTO or
write to OTP for faster
tuning procedure
stealthChop2 keeps tuning during
subsequent motion and stand still periods
adapting to motor heating, supply
variations, etc.
Figure 6.2 stealthChop2 automatic tuning procedure
Attention:
Modifying VREF or the supply voltage VS invalidates the result of the automatic tuning process. Motor
current regulation cannot compensate significant changes until next AT#1 phase. Automatic tuning
adapts to changed conditions whenever AT#1 and AT#2 conditions are fulfilled in the later operation.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
39
6.2 stealthChop Options
UART
In order to match the motor current to a certain level, the effective PWM voltage becomes scaled
depending on the actual motor velocity. Several additional factors influence the required voltage level
to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional
to its velocity) as well as the actual level of the supply voltage. Two modes of PWM regulation are
provided: The automatic tuning mode (AT) using current feedback (pwm_autoscale = 1, pwm_autograd
= 1) and a feed forward velocity controlled mode (pwm_autoscale = 0). The feed forward velocity
controlled mode will not react to a change of the supply voltage or to events like a motor stall, but it
provides very stable amplitude. It does not use nor require any means of current measurement. This
is perfect when motor type and supply voltage are well known. Therefore we recommend the
automatic mode, unless current regulation is not satisfying in the given operating conditions.
It is recommended to operate in automatic tuning mode.
Non-automatic mode (pwm_autoscale=0) should be taken into account only with well-known motor
and operating conditions. In this case, programming via the UART interface is required. The operating
parameters PWM_GRAD and PWM_OFS can be determined in automatic tuning mode initially.
Hint: In non-automatic mode the power supply current directly reflects mechanical load on the motor.
The stealthChop PWM frequency can be chosen in four steps in order to adapt the frequency divider
to the frequency of the clock source. A setting in the range of 20-50kHz is good for most applications.
It balances low current ripple and good higher velocity performance vs. dynamic power dissipation.
CHOICE OF PWM FREQUENCY FOR STEALTHCHOP
Clock frequency
fCLK
PWM_FREQ=%00
fPWM=2/1024 fCLK
18MHz
16MHz
12MHz (internal)
10MHz
8MHz
35.2kHz
31.3kHz
23.4kHz
19.5kHz
15.6kHz
PWM_FREQ=%01
fPWM=2/683 fCLK
(default)
52.7kHz
46.9kHz
35.1kHz
29.3kHz
23.4kHz
PWM_FREQ=%10
fPWM=2/512 fCLK
(OTP option)
70.3kHz
62.5kHz
46.9kHz
39.1kHz
31.2kHz
PWM_FREQ=%11
fPWM=2/410 fCLK
87.8kHz
78.0kHz
58.5kHz
48.8kHz
39.0kHz
Table 6.1 Choice of PWM frequency – green / light green: recommended
6.3 stealthChop Current Regulator
In stealthChop voltage PWM mode, the autoscaling function (pwm_autoscale = 1, pwm_auto_grad = 1)
regulates the motor current to the desired current setting. Automatic scaling is used as part of the
automatic tuning process (AT), and for subsequent tracking of changes within the motor parameters.
The driver measures the motor current during the chopper on time and uses a proportional regulator
to regulate PWM_SCALE_AUTO in order match the motor current to the target current. PWM_REG is the
proportionality coefficient for this regulator. Basically, the proportionality coefficient should be as
small as possible in order to get a stable and soft regulation behavior, but it must be large enough to
allow the driver to quickly react to changes caused by variation of the motor target current (e.g.
change of VREF). During initial tuning step AT#2, PWM_REG also compensates for the change of motor
velocity. Therefore, a high acceleration during AT#2 will require a higher setting of PWM_REG. With
careful selection of homing velocity and acceleration, a minimum setting of the regulation gradient
often is sufficient (PWM_REG=1). PWM_REG setting should be optimized for the fastest required
acceleration and deceleration ramp (compare Figure 6.3 and Figure 6.4). The quality of the setting
PWM_REG in phase AT#2 and the finished automatic tuning procedure (or non-automatic settings for
PWM_OFS and PWM_GRAD) can be examined when monitoring motor current during an acceleration
phase Figure 6.5.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
40
Figure 6.3 Scope shot: good setting for PWM_REG
Figure 6.4 Scope shot: too small setting for PWM_REG during AT#2
Motor Current
PWM scale
Motor Velocity
PWM reaches max. amplitude
RMS current constant
(IRUN)
PW
M_
Nominal Current
(sine wave RMS)
Stand still
PWM scale
PWM_OFS_(AUTO) ok
ok
O)
UT
(_A
AD
GR
M_
PW
GR
(P
AD
W
M_
(_A
RE
UT
G
O)
du
ok
rin
g
AT
#2
ok
)
255
Current may drop due
to high velocity
IHOLD
PWM_OFS_(AUTO) ok
0
0
Figure 6.5 Successfully determined PWM_GRAD(_AUTO) and PWM_OFS(_AUTO)
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Time
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
41
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 14.
6.3.1
Lower Current Limit
The stealthChop current regulator imposes a lower limit for motor current regulation. As the coil
current can be measured in the shunt resistor during chopper on phase only, a minimum chopper
duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the
chopper frequency setting. Therefore, the motor specific minimum coil current in stealthChop
autoscaling mode rises with the supply voltage and with the chopper frequency. A lower blanking
time allows a lower current limit. It is important for the correct determination of PWM_OFS_AUTO,
that in AT#1 the run current set by the sense resistor, VREF and IRUN is well within the regulation
range. Lower currents (e.g. for standstill power down) are automatically realized based on
PWM_OFS_AUTO and PWM_GRAD_AUTO respectively based on PWM_OFS and PWM_GRAD with nonautomatic current scaling. The freewheeling option allows going to zero motor current.
Lower motor coil current limit for stealthChop2 automatic tuning:
𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 𝑡𝐵𝐿𝐴𝑁𝐾 ∗ 𝑓𝑃𝑊𝑀 ∗
𝑉𝑀
𝑅𝐶𝑂𝐼𝐿
With VM the motor supply voltage and RCOIL the motor coil resistance.
ILower Limit can be treated as a thumb value for the minimum nominal IRUN motor current setting.
EXAMPLE:
A motor has a coil resistance of 5Ω, the supply voltage is 24V. With TBL=%01 and PWM_FREQ=%00,
tBLANK is 24 clock cycles, fPWM is 2/(1024 clock cycles):
𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 24 𝑡𝐶𝐿𝐾 ∗
2
24𝑉
24 24𝑉
∗
=
∗
= 225𝑚𝐴
1024 𝑡𝐶𝐿𝐾 5Ω
512 5Ω
This means, the motor target current for automatic tuning must be 225mA or more, taking into
account all relevant settings. This lower current limit also applies for modification of the motor
current via the analog input VREF.
Attention
For automatic tuning, a lower coil current limit applies. The motor current in automatic tuning phase
AT#1 must exceed this lower limit. ILOWER LIMIT can be calculated or measured using a current probe.
Setting the motor run-current or hold-current below the lower current limit during operation by
modifying IRUN and IHOLD is possible after successful automatic tuning.
The lower current limit also limits the capability of the driver to respond to changes of VREF.
6.4 Velocity Based Scaling
UART
Velocity based scaling scales the stealthChop amplitude based on the time between each two steps,
i.e. based on TSTEP, measured in clock cycles. This concept basically does not require a current
measurement, because no regulation loop is necessary. A pure velocity based scaling is available via
UART programming, only, when setting pwm_autoscale = 0. The basic idea is to have a linear
approximation of the voltage required to drive the target current into the motor. The stepper motor
has a certain coil resistance and thus needs a certain voltage amplitude to yield a target current
based on the basic formula I=U/R. With R being the coil resistance, U the supply voltage scaled by the
PWM value, the current I results. The initial value for PWM_AMPL can be calculated:
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
𝑃𝑊𝑀_𝐴𝑀𝑃𝐿 =
42
374 ∗ 𝑅𝐶𝑂𝐼𝐿 ∗ 𝐼𝐶𝑂𝐼𝐿
𝑉𝑀
With VM the motor supply voltage and ICOIL the target RMS current
The effective PWM voltage UPWM (1/SQRT(2) x peak value) results considering the 8 bit resolution and
248 sine wave peak for the actual PWM amplitude shown as PWM_SCALE:
𝑈𝑃𝑊𝑀 = 𝑉𝑀 ∗
𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 248 1
𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸
∗
∗
= 𝑉𝑀 ∗
256
256 √2
374
With rising motor velocity, the motor generates an increasing back EMF voltage. The back EMF voltage
is proportional to the motor velocity. It reduces the PWM voltage effective at the coil resistance and
thus current decreases. The TMC22xx provides a second velocity dependent factor (PWM_GRAD) to
compensate for this. The overall effective PWM amplitude (PWM_SCALE_SUM) in this mode
automatically is calculated in dependence of the microstep frequency as:
𝑓𝑆𝑇𝐸𝑃
𝑓𝐶𝐿𝐾
With fSTEP being the microstep frequency for 256 microstep resolution equivalent
and fCLK the clock frequency supplied to the driver or the actual internal frequency
𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸_𝑆𝑈𝑀 = 𝑃𝑊𝑀_𝑂𝐹𝑆 + 𝑃𝑊𝑀_𝐺𝑅𝐴𝐷 ∗ 256 ∗
As a first approximation, the back EMF subtracts from the supply voltage and thus the effective current
amplitude decreases. This way, a first approximation for PWM_GRAD setting can be calculated:
𝑃𝑊𝑀_𝐺𝑅𝐴𝐷 = 𝐶𝐵𝐸𝑀𝐹 [
𝑉
𝑓𝐶𝐿𝐾 ∗ 1.46
] ∗ 2𝜋 ∗
𝑟𝑎𝑑
𝑉𝑀 ∗ 𝑀𝑆𝑃𝑅
𝑠
CBEMF is the back EMF constant of the motor in Volts per radian/second.
MSPR is the number of microsteps per rotation, e.g. 51200 = 256µsteps multiplied by 200 fullsteps for
a 1.8° motor.
Motor current
PWM scaling
(PWM_SCALE_SUM)
255
PWM reaches
max. amplitude
Constant motor
RMS current
Nominal current
(e.g. sine wave RMS)
AD
GR
_
M
PW
Cur
r
(de ent dr
p en
ops
mo
d
tor s on
loa
d)
PWM_OFS
0
0
VPWMMAX
Figure 6.6 Velocity based PWM scaling (pwm_autoscale=0)
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Velocity
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
43
Hint
The values for PWM_OFS and PWM_GRAD can easily be optimized by tracing the motor current with a
current probe on the oscilloscope. Alternatively, automatic tuning determines these values and they
can be read out from PWM_OFS_AUTO and PWM_GRAD_AUTO.
UNDERSTANDING THE BACK EMF CONSTANT OF A MOTOR
The back EMF constant is the voltage a motor generates when turned with a certain velocity. Often
motor datasheets do not specify this value, as it can be deducted from motor torque and coil current
rating. Within SI units, the numeric value of the back EMF constant CBEMF has the same numeric value
as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A
would have a CBEMF of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second =
6.28 rad/s) generates a back EMF voltage of 6.28V. Thus, the back EMF constant can be calculated as:
𝐶𝐵𝐸𝑀𝐹 [
𝑉
𝐻𝑜𝑙𝑑𝑖𝑛𝑔𝑇𝑜𝑟𝑞𝑢𝑒 [𝑁𝑚]
]=
𝑟𝑎𝑑/𝑠
2 ∗ 𝐼𝐶𝑂𝐼𝐿𝑁𝑂𝑀 [𝐴]
ICOILNOM is the motor’s rated phase current for the specified holding torque
HoldingTorque is the motor specific holding torque, i.e. the torque reached at ICOILNOM on both coils.
The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm.
The voltage is valid as RMS voltage per coil, thus the nominal current is multiplied by 2 in this
formula, since the nominal current assumes a full step position, with two coils operating.
6.5 Combining stealthChop and spreadCycle
UART
OTP
For applications requiring high velocity motion, spreadCycle may bring more stable operation in the
upper velocity range. To combine no-noise operation with highest dynamic performance, the TMC22xx
allows combining stealthChop and spreadCycle based on a velocity threshold (Figure 6.7). A velocity
threshold (TPWMTHRS) can be preprogrammed to OTP to support this mode even in standalone
operation. With this, stealthChop is only active at low velocities.
Chopper mode
stealthChop
spreadCycle
option
option
motor going to standby
motor in standby
motor stand still
Running low speed
Running high speed
Running low speed
TSTEP < TPWMTHRS*16/16
TSTEP > TPWMTHRS
motor in standby
v
0
t
RMS current
TRINAMIC, B. Dwersteg, 14.3.14
Figure 6.7 TPWMTHRS for optional switching to spreadCycle
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dI * IHOLDDELAY
VACTUAL
~1/TSTEP
TPOWERDOWN
current
I_RUN
I_HOLD
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
44
As a first step, both chopper principles should be parameterized and optimized individually
(spreadCycle settings may be programmed to OTP memory). In a next step, a transfer velocity has to
be fixed. For example, stealthChop operation is used for precise low speed positioning, while
spreadCycle shall be used for highly dynamic motion. TPWMTHRS determines the transition velocity.
Read out TSTEP when moving at the desired velocity and program the resulting value to TPWMTHRS.
Use a low transfer velocity to avoid a jerk at the switching point.
A jerk occurs when switching at higher velocities, because the back-EMF of the motor (which rises
with the velocity) causes a phase shift of up to 90° between motor voltage and motor current. So
when switching at higher velocities between voltage PWM and current PWM mode, this jerk will occur
with increased intensity. A high jerk may even produce a temporary overcurrent condition (depending
on the motor coil resistance). At low velocities (e.g. 1 to a few 10 RPM), it can be completely
neglected for most motors. Therefore, consider the switching jerk when choosing TPWMTHRS. Set
TPWMTHRS zero if you want to work with stealthChop only.
When enabling the stealthChop mode the first time using automatic current regulation, the motor
must be at stand still in order to allow a proper current regulation. When the drive switches to
stealthChop at a higher velocity, stealthChop logic stores the last current regulation setting until the
motor returns to a lower velocity again. This way, the regulation has a known starting point when
returning to a lower velocity, where stealthChop becomes re-enabled. Therefore, neither the velocity
threshold nor the supply voltage must be considerably changed during the phase while the chopper
is switched to a different mode, because otherwise the motor might lose steps or the instantaneous
current might be too high or too low.
A motor stall or a sudden change in the motor velocity may lead to the driver detecting a short
circuit or to a state of automatic current regulation, from which it cannot recover. Clear the error flags
and restart the motor from zero velocity to recover from this situation.
Hint
Start the motor from standstill when switching on stealthChop the first time and keep it stopped for
at least 128 chopper periods to allow stealthChop to do initial standstill current control.
6.6 Flags in stealthChop
UART
As stealthChop uses voltage mode driving, status flags based on current measurement respond
slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall.
A motor stall can lead to an overcurrent condition. Depending on the previous motor velocity, and on
the coil resistance of the motor, it may trigger the overcurrent detection. With low velocities, where
the back EMF is just a fraction of the supply voltage, there is no danger of triggering the short
detection.
6.6.1
Open Load Flags
In stealthChop mode, status information is different from the cycle-by-cycle regulated spreadCycle
mode. OLA and OLB show if the current regulation sees that the nominal current can be reached on
both coils.
-
A flickering OLA or OLB can result from asymmetries in the sense resistors or in the motor
coils.
An interrupted motor coil leads to a continuously active open load flag for the coil.
One or both flags are active, if the current regulation did not succeed in scaling up to the full
target current within the last few fullsteps (because no motor is attached or a high velocity
exceeds the PWM limit).
If desired, do an on-demand open load test using the spreadCycle chopper, as it delivers the safest
result. With stealthChop, PWM_SCALE_SUM can be checked to detect the correct coil resistance.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
6.6.2
45
PWM_SCALE_SUM Informs about the Motor State
Information about the motor state is available with automatic scaling by reading out
PWM_SCALE_SUM. As this parameter reflects the actual voltage required to drive the target current into
the motor, it depends on several factors: motor load, coil resistance, supply voltage, and current
setting. Therefore, an evaluation of the PWM_SCALE_SUM value allows checking the motor operation
point. When reaching the limit (255), the current regulator cannot sustain the full motor current, e.g.
due to a drop in supply volage.
6.7 Freewheeling and Passive Braking
UART
stealthChop provides different options for motor standstill. These options can be enabled by setting
the standstill current IHOLD to zero and choosing the desired option using the FREEWHEEL setting.
The desired option becomes enabled after a time period specified by TPOWERDOWN and
IHOLD_DELAY. Current regulation becomes frozen once the motor target current is at zero current in
order to ensure a quick startup. With the freewheeling options, both freewheeling and passive
braking can be realized. Passive braking is an effective eddy current motor braking, which consumes a
minimum of energy, because no active current is driven into the coils. However, passive braking will
allow slow turning of the motor when a continuous torque is applied.
Hint
Operate the motor within your application when exploring stealthChop. Motor performance often is
better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations
which can occur without load.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
46
PARAMETERS RELATED TO STEALTHCHOP
Parameter
en_spread_
cycle
TPWMTHRS
PWM_LIM
pwm_
autoscale
pwm_
autograd
Description
General disable for use of stealthChop (register
GCONF). The input SPREAD is XORed to this flag.
Specifies the upper velocity for operation in
stealthChop. Entry the TSTEP reading (time
between two microsteps) when operating at the
desired threshold velocity.
Limiting value for limiting the current jerk when
switching from spreadCycle to stealthChop. Reduce
the value to yield a lower current jerk.
Enable automatic current scaling using current
measurement or use forward controlled velocity
based mode.
Enable automatic tuning of PWM_GRAD_AUTO
Setting
1
0
0…
1048575
Comment
Do not use stealthChop
stealthChop enabled
stealthChop is disabled if
TSTEP falls TPWMTHRS
0 … 15
Upper four bits of 8 bit
amplitude limit
(Default=12)
Forward controlled mode
Automatic scaling with
current regulator
disable, use PWM_GRAD
from register instead
enable
fPWM=2/1024 fCLK
fPWM=2/683 fCLK
fPWM=2/512 fCLK
fPWM=2/410 fCLK
Results in 0.5 to 7.5 steps
for PWM_SCALE_AUTO
regulator per fullstep
PWM_OFS=0 disables
linear current scaling
based on current setting
Reset value can be preprogrammed by OTP
0
1
0
1
0
1
2
3
PWM_REG
User defined PWM amplitude (gradient) for 1 … 15
velocity based scaling or regulation loop gradient
when pwm_autoscale=1.
PWM_OFS
User defined PWM amplitude (offset) for velocity 0 … 255
based scaling and initialization value for automatic
tuning of PWM_OFFS_AUTO.
PWM_GRAD User defined PWM amplitude (gradient) for 0 … 255
velocity based scaling and initialization value for
automatic tuning of PWM_GRAD_AUTO.
FREEWHEEL Stand still option when motor current setting is 0
zero (I_HOLD=0). Only available with stealthChop 1
enabled. The freewheeling option makes the 2
motor easy movable, while both coil short options 3
realize a passive brake.
PWM_SCALE Read back of the actual stealthChop voltage PWM -255 …
_AUTO
scaling correction as determined by the current 255
regulator.
PWM_SCALE Allow monitoring of the automatic tuning and 0 … 255
_AUTO
determination of initial values for PWM_OFS and
PWM_OFS
PWM_GRAD.
_AUTO
TOFF
General enable for the motor driver, the actual 0
value does not influence stealthChop
1 … 15
TBL
Comparator blank time. This time needs to safely 0
cover the switching event and the duration of the 1
ringing on the sense resistor. Choose a setting of 2
1 or 2 for typical applications. For higher 3
capacitive loads, 3 may be required. Lower
settings allow stealthChop to regulate down to
lower coil current values.
PWM_FREQ
PWM frequency selection. Use the lowest setting
giving good results. The frequency measured at
each of the chopper outputs is half of the
effective chopper frequency fPWM.
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Normal operation
Freewheeling
Coil short via LS drivers
Coil short cia HS drivers
(read only) Scaling value
becomes frozen when
operating in spreadCycle
(read only)
Driver off
Driver enabled
16 tCLK
24 tCLK
32 tCLK
40 tCLK
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
7
47
spreadCycle Chopper
While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current
control. Therefore, it can react extremely fast to changes in motor velocity or motor load. spreadCycle
will give better performance in medium to high velocity range for motors and applications which
tend to resonance. The currents through both motor coils are controlled using choppers. The choppers
work independently of each other. In Figure 7.1 the different chopper phases are shown.
+VM
+VM
+VM
ICOIL
ICOIL
ICOIL
RSENSE
On Phase:
current flows in
direction of target
current
RSENSE
Fast Decay Phase:
current flows in
opposite direction
of target current
RSENSE
Slow Decay Phase:
current re-circulation
Figure 7.1 Chopper phases
Although the current could be regulated using only on phases and fast decay phases, insertion of the
slow decay phase is important to reduce electrical losses and current ripple in the motor. The
duration of the slow decay phase is specified in a control parameter and sets an upper limit on the
chopper frequency. The current comparator can measure coil current during phases when the current
flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is
terminated by a timer. The on phase is terminated by the comparator when the current through the
coil reaches the target current. The fast decay phase may be terminated by either the comparator or
another timer.
When the coil current is switched, spikes at the sense resistors occur due to charging and discharging
parasitic capacitances. During this time, typically one or two microseconds, the current cannot be
measured. Blanking is the time when the input to the comparator is masked to block these spikes.
The spreadCycle chopper mode cycles through four phases: on, slow decay, fast decay, and a second
slow decay.
The chopper frequency is an important parameter for a chopped motor driver. A too low frequency
might generate audible noise. A higher frequency reduces current ripple in the motor, but with a too
high frequency magnetic losses may rise. Also power dissipation in the driver rises with increasing
frequency due to the increased influence of switching slopes causing dynamic dissipation. Therefore, a
compromise needs to be found. Most motors are optimally working in a frequency range of 16 kHz to
30 kHz. The chopper frequency is influenced by a number of parameter settings as well as by the
motor inductivity and supply voltage.
Hint
A chopper frequency in the range of 16 kHz to 30 kHz gives a good result for most motors when
using spreadCycle. A higher frequency leads to increased switching losses.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
7.1 spreadCycle Settings
48
UART
OTP
The spreadCycle (patented) chopper algorithm is a precise and simple to use chopper mode which
automatically determines the optimum length for the fast-decay phase. The spreadCycle will provide
superior microstepping quality even with default settings. Several parameters are available to
optimize the chopper to the application.
Each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a
second slow decay phase (see Figure 7.3). The two slow decay phases and the two blank times per
chopper cycle put an upper limit to the chopper frequency. The slow decay phases typically make up
for about 30%-70% of the chopper cycle in standstill and are important for low motor and driver
power dissipation.
Calculation of a starting value for the slow decay time TOFF:
EXAMPLE:
Target Chopper frequency: 25kHz.
Assumption: Two slow decay cycles make up for 50% of overall chopper cycle time
𝑡𝑂𝐹𝐹 =
For the TOFF setting this means:
1
50 1
∗
∗ = 10µ𝑠
25𝑘𝐻𝑧 100 2
𝑇𝑂𝐹𝐹 = (𝑡𝑂𝐹𝐹 ∗ 𝑓𝐶𝐿𝐾 − 12)/32
With 12 MHz clock this gives a setting of TOFF=3.4, i.e. 3 or 4.
With 16 MHz clock this gives a setting of TOFF=4.6, i.e. 4 or 5.
The hysteresis start setting forces the driver to introduce a minimum amount of current ripple into
the motor coils. The current ripple must be higher than the current ripple which is caused by resistive
losses in the motor in order to give best microstepping results. This will allow the chopper to
precisely regulate the current both for rising and for falling target current. The time required to
introduce the current ripple into the motor coil also reduces the chopper frequency. Therefore, a
higher hysteresis setting will lead to a lower chopper frequency. The motor inductance limits the
ability of the chopper to follow a changing motor current. Further the duration of the on phase and
the fast decay must be longer than the blanking time, because the current comparator is disabled
during blanking.
It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0)
and increasing HSTRT, until the motor runs smoothly at low velocity settings. This can best be
checked when measuring the motor current either with a current probe or by probing the sense
resistor voltages (see Figure 7.2). Checking the sine wave shape near zero transition will show a small
ledge between both half waves in case the hysteresis setting is too small. At medium velocities (i.e.
100 to 400 fullsteps per second), a too low hysteresis setting will lead to increased humming and
vibration of the motor.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
49
Figure 7.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow &
blue: sense resistor voltages A and B)
A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but
will not yield any benefit for the wave shape.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 14.
For detail procedure see Application Note AN001 - Parameterization of spreadCycle
As experiments show, the setting is quite independent of the motor, because higher current motors
typically also have a lower coil resistance. Therefore choosing a low to medium default value for the
hysteresis (for example, effective hysteresis = 4) normally fits most applications. The setting can be
optimized by experimenting with the motor: A too low setting will result in reduced microstep
accuracy, while a too high setting will lead to more chopper noise and motor power dissipation.
When measuring the sense resistor voltage in motor standstill at a medium coil current with an
oscilloscope, a too low setting shows a fast decay phase not longer than the blanking time. When
the fast decay time becomes slightly longer than the blanking time, the setting is optimum. You can
reduce the off-time setting, if this is hard to reach.
The hysteresis principle could in some cases lead to the chopper frequency becoming too low, e.g.
when the coil resistance is high when compared to the supply voltage. This is avoided by splitting
the hysteresis setting into a start setting (HSTRT+HEND) and an end setting (HEND). An automatic
hysteresis decrementer (HDEC) interpolates between both settings, by decrementing the hysteresis
value stepwise each 16 system clocks. At the beginning of each chopper cycle, the hysteresis begins
with a value which is the sum of the start and the end values (HSTRT+HEND), and decrements during
the cycle, until either the chopper cycle ends or the hysteresis end value (HEND) is reached. This way,
the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the
frequency gets too low. This avoids the frequency reaching the audible range.
Hint
Highest motor velocities sometimes benefit from setting TOFF to 1 or 2 and a short TBL of 1 or 0.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
I
target current + hysteresis start
50
HDEC
target current + hysteresis end
target current
target current - hysteresis end
target current - hysteresis start
on
sd
fd
sd
t
Figure 7.3 spreadCycle chopper scheme showing coil current during a chopper cycle
These parameters control spreadCycle mode:
Parameter
TOFF
TBL
HSTRT
HEND
Description
Sets the slow decay time (off time). This setting also
limits the maximum chopper frequency.
For operation with stealthChop, this parameter is not
used, but it is required to enable the motor. In case
of operation with stealthChop only, any setting is
OK.
Setting this parameter to zero completely disables all
driver transistors and the motor can free-wheel.
Comparator blank time. This time needs to safely
cover the switching event and the duration of the
ringing on the sense resistor. For most
applications, a setting of 1 or 2 is good. For highly
capacitive loads, a setting of 2 or 3 will be
required.
Hysteresis start setting. This value is an offset from
the hysteresis end value HEND.
Setting
0
1…15
Comment
chopper off
off time setting NCLK= 12 +
32*TOFF
(1 will work with minimum
blank time of 24 clocks)
0
16 tCLK
1
24 tCLK
2
32 tCLK
3
40 tCLK
0…7
HSTRT=1…8
Hysteresis end setting. Sets the hysteresis end value 0…2
after a number of decrements. The sum HSTRT+HEND 3
must be ≤16. At a current setting of max. 30
4…15
(amplitude reduced to 240), the sum is not limited.
This value adds to HEND.
-3…-1: negative HEND
0: zero HEND
1…12: positive HEND
Even at HSTRT=0 and HEND=0, the TMC22xx sets a minimum hysteresis via analog circuitry.
EXAMPLE:
A hysteresis of 4 has been chosen. You might decide to not use hysteresis decrement. In this case
set:
HEND=6
HSTRT=0
(sets an effective end value of 6-3=3)
(sets minimum hysteresis, i.e. 1: 3+1=4)
In order to take advantage of the variable hysteresis, we can set most of the value to the HSTRT, i.e.
4, and the remaining 1 to hysteresis end. The resulting configuration register values are as follows:
HEND=0
HSTRT=6
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(sets an effective end value of -3)
(sets an effective start value of hysteresis end +7: 7-3=4)
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
8
51
Selecting Sense Resistors
Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The
following table shows the RMS current values which can be reached using standard resistors and
motor types fitting without additional motor current scaling.
CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT
RSENSE [Ω]
RMS current [A]
Fitting motor type
VREF=2.5V (or open),
(examples)
IRUN=31,
vsense=0 (standard)
1.00
0.23
0.82
0.27
0.75
0.30
300mA motor
0.68
0.33
400mA motor
0.50
0.44
470m
0.47
500mA motor
390m
0.56
600mA motor
330m
0.66
700mA motor
270m
0.79
800mA motor
220m
0.96
1A motor
180m
1.15
1.2A motor
150m
1.35
120m
1.64*)
100m
1.92*)
1.5A motor
*) Value exceeds upper current rating, scaling down required, e.g. by reduced VREF.
Sense resistors should be carefully selected. The full motor current flows through the sense resistors.
Due to chopper operation the sense resistors see pulsed current from the MOSFET bridges. Therefore,
a low-inductance type such as film or composition resistors is required to prevent voltage spikes
causing ringing on the sense voltage inputs leading to unstable measurement results. Also, a lowinductance, low-resistance PCB layout is essential. Any common GND path for the two sense resistors
must be avoided, because this would lead to coupling between the two current sense signals. A
massive ground plane is best. Please also refer to layout considerations in chapter 19.
The sense resistor needs to be able to conduct the peak motor coil current in motor standstill
conditions, unless standby power is reduced. Under normal conditions, the sense resistor conducts
less than the coil RMS current, because no current flows through the sense resistor during the slow
decay phases. A 0.5W type is sufficient for most applications up to 1.2A RMS current.
Attention
Be sure to use a symmetrical sense resistor layout and short and straight sense resistor traces of
identical length. Well matching sense resistors ensure best performance.
A compact layout with massive ground plane is best to avoid parasitic resistance effects.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
9
52
Motor Current Control
The basic motor current is set by the resistance of the sense resistors. Several possibilities allow
scaling down motor current, e.g. to adapt for different motors, or to reduce motor current in standstill
or low load situations.
METHODS FOR SCALING MOTOR CURRENT
Method
Pin VREF
voltage
(chapter 9.1)
Parameters
VREF input scales
IRUN and IHOLD.
Can be disabled by
GCONF.i_scale_analog
Range
2.5V: 100% …
0.5V: 20%
>2.5V or open: 100%
20kHz
0-2.4V for
current scaling
22k
1µ
R1+R2»10K
Analog Scaling
Fixed resistor divider to set current scale
(use external reference for enhanced precision)
Analog Scaling
Precision current scaler
Figure 9.1 Scaling the motor current using the analog input
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VREF
BC847
VREF
100k
VREF
Optional
digital
control
Analog Scaling
Simple PWM based current scaler
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
55
10 Internal Sense Resistors
UART
OTP
The TMC22xx provides the option to eliminate external sense resistors. In this mode the external
sense resistors become omitted (shorted) and the internal on-resistance of the power MOSFETs is
used for current measurement (see chapter 3.2). As MOSFETs are both, temperature dependent and
subject to production stray, a tiny external resistor connected from +5VOUT to VREF provides a precise
absolute current reference. This resistor converts the 5V voltage into a reference current. Be sure to
directly attach BRA and BRB pins to GND in this mode near the IC package. The mode is enabled by
setting internal_Rsense in GCONF (OTP option).
COMPARING INTERNAL SENSE RESISTORS VS. SENSE RESISTORS
Item
Ease of use
Cost
Current precision
Current Range
Recommended
Recommended
chopper
Internal Sense Resistors
Need to set OTP parameter first
(+) Save cost for sense resistors
Slightly reduced
200mA RMS to 1.2A RMS
External Sense Resistors
(+) Default
stealthChop,
spreadCycle shows slightly
reduced performance at >1A
stealthChop or spreadCycle
(+) Good
50mA to 1.4A RMS
While the RDSon based measurements bring benefits concerning cost and size of the driver, it gives
slightly less precise coil current regulation when compared to external sense resistors. The internal
sense resistors have a certain temperature dependence, which is automatically compensated by the
driver IC. However, for high current motors, a temperature gradient between the ICs internal sense
resistors and the compensation circuit will lead to an initial current overshoot of some 10% during
driver IC heat up. While this phenomenon shows for roughly a second, it might even be beneficial to
enable increased torque during initial motor acceleration.
PRINCIPLE OF OPERATION
A reference current into the VREF pin is used as reference for the motor current. In order to realize a
certain current, a single resistor (RREF) can be connected between 5VOUT and VREF (pls. refer the table
for the choice of the resistor). VREF input resistance is about 1kOhm. The resulting current into VREF
is amplified 3000 times. Thus, a current of 0.5mA yields a motor current of 1.5A peak. For calculation
of the reference resistor, the internal resistance of VREF needs to be considered additionally.
CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS
RREF [Ω]
6k8
7k5
8k2
9k1
10k
12k
15k
18k
22k
27k
33k
Peak current [A]
(CS=31, vsense=0)
1.92
1.76
1.63
1.49
1.36
1.15
0.94
0.79
0.65
0.60
0.54
RMS current [A]
(CS=31, vsense=0)
1.35
1.24
1.15
1.05
0.96
0.81
0.66
0.55
0.45
0.42
0.38
vsense=1 allows a lower peak current setting of about 55% of the value yielded with vsense=0 (as
specified by VSRTH / VSRTL).
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
56
In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path
(i.e. lowest possible PCB resistance). RDSon based measurement gives best results when combined
with stealthChop. When using spreadCycle with RDSon based current measurement, slightly
asymmetric current measurement for positive currents (on phase) and negative currents (fast decay
phase) may result in chopper noise. This especially occurs at high die temperature and increased
motor current.
Note
The absolute current levels achieved with RDSon based current sensing may depend on PCB layout
exactly like with external sense resistors, because trace resistance on BR pins will add to the effective
sense resistance. Therefore we recommend to measure and calibrate the current setting within the
application.
Thumb rule
RDSon based current sensing works best for motors with up to 1A RMS current. The best results are
yielded with stealthChop operation in combination with RDSon based current sensing.
For most precise current control and for best results with spreadCycle, it is recommended to use
external 1% sense resistors rather than RDSon based current control.
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
57
11 STEP/DIR Interface
The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion
controllers. The microPlyer step pulse interpolator brings the smooth motor operation of highresolution microstepping to applications originally designed for coarser stepping.
11.1 Timing
Figure 11.1 shows the timing parameters for the STEP and DIR signals, and the table below gives
their specifications. Only rising edges are active. STEP and DIR are sampled and synchronized to the
system clock. An internal analog filter removes glitches on the signals, such as those caused by long
PCB traces. If the signal source is far from the chip, and especially if the signals are carried on cables,
the signals should be filtered or differentially transmitted.
+VCC_IO
DIR
SchmittTrigger
tSH
tDSU
tSL
tDSH
STEP
or DIR
Input
STEP
83k
0.56 VCC_IO
0.44 VCC_IO
Internal
Signal
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
C
Input filter
R*C = 20ns +-30%
Figure 11.1 STEP and DIR timing, Input pin filter
STEP and DIR interface timing
AC-Characteristics
clock period is tCLK
Parameter
step frequency (at maximum
microstep resolution)
fullstep frequency
STEP input minimum low time
Symbol
fSTEP
STEP input minimum high time
tSH
DIR to STEP setup time
DIR after STEP hold time
STEP and DIR spike filtering time
*)
STEP and DIR sampling relative
to rising CLK input
tDSU
tDSH
Conditions
fFS
tSL
tFILTSD
tSDCLKHI
Min
Typ
Max
½ fCLK
Unit
max(tFILTSD,
tCLK+20)
max(tFILTSD,
tCLK+20)
100
ns
100
ns
20
ns
ns
ns
fCLK/512
rising and falling
edge
before rising edge
of CLK input
20
20
13
30
tFILTSD
*) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase
filtering delay tFILTSD, due to an internal input RC filter.
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ns
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
58
11.2 Changing Resolution
The TMC22xx includes an internal microstep table with 1024 sine wave entries to generate sinusoidal
motor coil currents. These 1024 entries correspond to one electrical revolution or four fullsteps. The
microstep resolution setting determines the step width taken within the table. Depending on the DIR
input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the
step width. The microstep resolution determines the increment respectively the decrement. At
maximum resolution, the sequencer advances one step for each step pulse. At half resolution, it
advances two steps. Increment is up to 256 steps for fullstepping. The sequencer has special
provision to allow seamless switching between different microstep rates at any time. When switching
to a lower microstep resolution, it calculates the nearest step within the target resolution and reads
the current vector at that position. This behavior especially is important for low resolutions like
fullstep and halfstep, because any failure in the step sequence would lead to asymmetrical run when
comparing a motor running clockwise and counterclockwise.
EXAMPLES:
Fullstep:
Cycles through table positions: 128, 384, 640 and 896 (45°, 135°, 225° and 315° electrical
position, both coils on at identical current). The coil current in each position
corresponds to the RMS-Value (0.71 * amplitude). Step size is 256 (90° electrical)
Half step:
The first table position is 64 (22.5° electrical), Step size is 128 (45° steps)
Quarter step: The first table position is 32 (90°/8=11.25° electrical), Step size is 64 (22.5° steps)
This way equidistant steps result and they are identical in both rotation directions. Some older drivers
also use zero current (table entry 0, 0°) as well as full current (90°) within the step tables. This kind of
stepping is avoided because it provides less torque and has a worse power dissipation in driver and
motor.
Step position
Half step 0
Full step 0
Half step 1
Half step 2
Full step 1
Half step 3
Half step 4
Full step 2
Half step 5
Half step 6
Full step 3
Half step 7
table position
64
128
192
320
384
448
576
640
704
832
896
960
current coil A
38.3%
70.7%
92.4%
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
current coil B
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
38.3%
70.7%
92.4%
See chapter 3.4 for resolution settings available in stand-alone mode.
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11.3 microPlyer Step Interpolator and Stand Still Detection
For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure
11.2. It interpolates the time in between of two step impulses at the step input based on the last
step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256
microsteps (full step input to 256 microsteps) are driven for a single step pulse.
The step rate for the interpolated 2 to 256 microsteps is determined by measuring the time interval of
the previous step period and dividing it into up to 256 equal parts. The maximum time between two
microsteps corresponds to 220 (roughly one million system clock cycles), for an even distribution of
256 microsteps. At 12 MHz system clock frequency, this results in a minimum step input frequency of
roughly 12 Hz for microPlyer operation. A lower step rate causes a standstill event to be detected. At
that frequency, microsteps occur at a rate of (system clock frequency)/2 16 ~ 256 Hz. When a stand still is
detected, the driver automatically begins standby current reduction if selected by pin PDN.
Active edge
(dedge=0)
Active edge
(dedge=0)
Active edge
(dedge=0)
Active edge
(dedge=0)
Attention
microPlyer only works perfectly with a stable STEP frequency.
STEP
Interpolated
microstep
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
Motor
angle
2^20 tCLK
STANDSTILL
(stst) active
Figure 11.2 microPlyer microstep interpolation with rising STEP frequency (Example: 16 to 256)
In Figure 11.2, the first STEP cycle is long enough to set the stst bit standstill. Detection of standstill
will enable the standby current reduction. This bit is cleared on the next STEP active edge. Then, the
external STEP frequency increases. After one cycle at the higher rate microPlyer adapts the
interpolated microstep rate to the higher frequency. During the last cycle at the slower rate,
microPlyer did not generate all 16 microsteps, so there is a small jump in motor angle between the
first and second cycles at the higher rate.
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11.4 Index Output
An active INDEX output signals that the sine curve of motor coil A is at its positive zero transition.
This correlates to the zero point of the microstep sequence. Usually, the cosine curve of coil B is at its
maximum at the same time. Thus the index signal is active once within each electrical period, and
corresponds to a defined position of the motor within a sequence of four fullsteps. The INDEX output
this way allows the detection of a certain microstep pattern, and thus helps to detect a position with
more precision than a stop switch can do.
Current
COIL A
0
COIL B
Time
INDEX
Current
Time
STEPS
Time
Figure 11.3 Index signal at positive zero transition of the coil A sine curve
Hint
The index output allows precise detection of the microstep position within one electrical wave, i.e.
within a range of four fullsteps. With this, homing accuracy and reproducibility can be enhanced to
microstep accuracy, even when using an inexpensive home switch.
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12 Internal Step Pulse Generator
UART
The TMC22xx family integrates a high resolution step pulse generator, allowing motor motion via the
UART interface. However, no velocity ramping is provided. Ramping is not required, if the target
motion velocity is smaller than the start & stop frequency of the motor. For higher velocities, ramp up
the frequency in small steps to accelerate the motor, and ramp down again to decelerate the motor.
Figure 12.1 shows an example motion profile ramping up the motion velocity in discrete steps.
Choose the ramp velocity steps considerably smaller than the maximum start velocity of the motor,
because motor torque drops at higher velocity, and motor load at higher velocity typically increases.
motor
stop
v
acceleration
constant velocity
deceleration
Th
eo
re
t
ica
l
pr
of
ile
Target Velocity
Stop velocity
Start velocity
0
t
VACTUAL
Figure 12.1 Software generated motion profile
PARAMETER VS. UNITS
Parameter / Symbol
fCLK[Hz]
Unit
[Hz]
µstep velocity v[Hz]
µsteps / s
USC microstep count
counts
rotations per second v[rps]
rotations / s
TSTEP, TPWMTHRS
-
VACTUAL
Two’s complement
signed internal
velocity
calculation / description / comment
clock frequency of the TMC22xx in [Hz]
v[Hz] = VACTUAL[22xx] * ( fCLK[Hz]/2 / 2^23 )
With internal oscillator:
v[Hz] = VACTUAL[22xx] * 0.715Hz
microstep resolution in number of microsteps
(i.e. the number of microsteps between two
fullsteps – normally 256)
v[rps] = v[Hz] / USC / FSC
FSC: motor fullsteps per rotation, e.g. 200
TSTEP = fCLK / fSTEP
The time reference for velocity threshold is
referred to the actual microstep frequency of
the step input respectively velocity v[Hz].
VACTUAL[22xx] = ( fCLK[Hz]/2 / 2^23 ) / v[Hz]
With internal oscillator:
VACTUAL[22xx] = 0.715Hz / v[Hz]
Hint
To monitor internal step pulse execution, program the INDEX output to provide step pulses
(GCONF.index_step). It toggles upon each step. Use a timer input on your CPU to count pulses.
Alternatively, regularly poll MSCNT to grasp steps done in the previous polling interval. It wraps
around from 1023 to 0.
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13 Driver Diagnostic Flags
The TMC22xx drivers supply a complete set of diagnostic and protection capabilities, like short to GND
protection, short to VS protection and undervoltage detection. A detection of an open load condition
allows testing if a motor coil connection is interrupted. See the DRV_STATUS table for details.
13.1 Temperature Measurement
The driver integrates a four level temperature sensor (pre-warning and thermal shutdown) for
diagnostics and for protection of the IC against excess heat. The thresholds can be adapted by UART
or OTP programming. Heat is mainly generated by the motor driver stages, and, at increased voltage,
by the internal voltage regulator. Most critical situations, where the driver MOSFETs could be
overheated, are avoided by the short to GND protection. For many applications, the overtemperature
pre-warning will indicate an abnormal operation situation and can be used to initiate user warning or
power reduction measures like motor current reduction. The thermal shutdown is just an emergency
measure and temperature rising to the shutdown level should be prevented by design.
TEMPERATURE THRESHOLDS
Overtemperature
Setting
143°C
(OTPW: 120°C)
150°C
(OTPW:
120°C or 143°C)
157°C
(OTPW: 143°C)
Comment
Default setting. This setting is safest to switch off the driver stage before the IC
can be destroyed by overheating. On a large PCB, the power MOSFETs reach
roughly 150°C peak temperature when the temperature detector is triggered with
this setting. This is a trip typical point for overtemperature shut down. The
overtemperature pre-warning threshold of 120°C gives lots of headroom to react
to high driver temperature, e.g. by reducing motor current.
Optional setting (OTP or UART). For small PCBs with high thermal resistance
between PCB and environment, this setting provides some additional headroom.
The small PCB shows less temperature difference between the MOSFETs and the
sensor.
Optional setting (UART). For applications, where a stop of the motor cannot be
tolerated, this setting provides highest headroom, e.g. at high environment
temperature ratings. Using the 143°C overtemperature pre-warning to reduce
motor current ensures that the motor is not switched off by the thermal
threshold.
Attention
Overtemperature protection cannot in all cases avoid thermal destruction
motor current is exceed, e.g. by operating a motor in stealthChop with
automatic tuning parameters not fitting the operating conditions, excess
heat up the driver before the overtemperature sensor can react. This
conduction over the IC die.
of the IC. In case the rated
wrong parameters, or with
heat generation can quickly
is due to a delay in heat
After triggering the overtemperature sensor (ot flag), the driver remains switched off until the system
temperature falls below the pre-warning level (otpw) to avoid continuous heating to the shutdown
level.
13.2 Short Protection
The TMC22xx power stages are protected against a short circuit condition by an additional measurement of the current flowing through each of the power stage MOSFETs. This is important, as most
short circuit conditions result from a motor cable insulation defect, e.g. when touching the conducting
parts connected to the system ground. The short detection is protected against spurious triggering,
e.g. by ESD discharges, by retrying three times before switching off the motor.
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63
Once a short condition is safely detected, the corresponding driver bridge (A or B) becomes switched
off, and the s2ga or s2gb flag, respectively s2vsa or s2vsb becomes set. In order to restart the motor,
disable and re-enable the driver. Note, that short protection cannot protect the system and the power
stages for all possible short events, as a short event is rather undefined and a complex network of
external components may be involved. Therefore, short circuits should basically be avoided.
13.3 Open Load Diagnostics
UART
Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly
plugged. The TMC22xx detects open load conditions by checking, if it can reach the desired motor coil
current. This way, also undervoltage conditions, high motor velocity settings or short and
overtemperature conditions may cause triggering of the open load flag, and inform the user, that
motor torque may suffer. In motor stand still, open load cannot always be measured, as the coils
might eventually have zero current.
Open load detection is provided for system debugging.
In order to safely detect an interrupted coil connection, read out the open load flags at low or
nominal motor velocity operation, only. If possible, use spreadCycle for testing, as it provides the
most accurate test. However, the ola and olb flags have just informative character and do not cause
any action of the driver.
13.4 Diagnostic Output
The diagnostic output DIAG and the index output INDEX provide important status information. An
active DIAG output shows that the driver cannot work normally. The INDEX output signals the
microstep counter zero position, to allow referencing (homing) a drive to a certain current pattern.
The function set of the INDEX output can be modified by UART. Figure 13.1 shows the available
signals and control bits.
Power-on reset
DIAG
Charge pump undervoltage (uv_cp)
drv_err
Overtemperature (ot)
TMC220x, only
Q S
R
Short circuit (s2vs, s2g) over temperature (ot)
Power stage disable (e.g. pin ENN)
INDEX
MUX
Index pulse
Overtemperature prewarning (otpw)
Toggle upon each step
GCONF.index_otpw
GCONF.index_step
Figure 13.1 DIAG and INDEX outputs
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64
14 Quick Configuration Guide
UART
OTP
This guide is meant as a practical tool to come to a first configuration. Do a minimum set of
measurements and decisions for tuning the driver to determine UART settings or OTP parameters. The
flow-charts concentrate on the basic function set to make a motor run smoothly. Once the motor
runs, you may decide to explore additional features, e.g. freewheeling in more detail. A current probe
on one motor coil is a good aid to find the best settings, but it is not a must.
Current Setting
stealthChop
Configuration
Check hardware
setup and motor
RMS current
GCONF
clear en_spreadCycle
(default)
Sense Resistors
used?
N
GCONF
set internal_Rsense
Store to OTP 0.6
recommended
Y
Analog Scaling?
Y
GCONF
set I_scale_analog
(this is default)
Set VREF as desired
N
Low Current range?
Y
CHOPCONF
set vsense for max.
180mV at sense resistor
(0R15: 1.1A peak)
PWMCONF
set pwm_autoscale,
set pwm_autograd
PWMCONF
select PWM_FREQ with
regard to fCLK for 2040kHz PWM frequency
CHOPCONF
Enable chopper using basic
config., e.g.: TOFF=5, TBL=2,
HSTART=4, HEND=0
Execute
automatic
tuning
procedure AT
N
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Is performance
good up to VMAX?
Configure Chopper to
test current settings
N
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
Y
SC2
Figure 14.1 Current Setting and first steps with stealthChop
Hint
Use the evaluation board to explore settings and to generate the required configuration datagrams.
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65
SC2
spreadCycle
Configuration
Try motion above
TPWMTRHRS, if
used
GCONF
set en_spreadCycle
Coil current
overshoot upon
deceleration?
Y
PWMCONF
decrease PWM_LIM (do
not go below about 5)
N
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Go to motor stand
still and check
motor current at
IHOLD=IRUN
Stand still current
too high?
CHOPCONF
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Y
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
impact on motor motion
N
Optimize spreadCycle
configuration if TPWMTHRS
used
Monitor sine wave motor
coil currents with current
probe at low velocity
Current zero
crossing smooth?
N
CHOPCONF
increase HEND (max. 15)
Y
CHOPCONF
decrease TOFF (min. 2),
try lower / higher TBL or
reduce motor current
Y
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
Y
Move motor very slowly or
try at stand still
Audible Chopper
noise?
N
Move motor at medium
velocity or up to max.
velocity
Audible Chopper
noise?
Finished
Figure 14.2 Tuning stealthChop and spreadCycle
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TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
OTP programming
Determine stand still current
settings (IHOLD, IHOLDDELAY) and
sense resistor type (internal_Rsense)
Determine chopper settings
(CHOPCONF and PWMCONF)
spreadCycle only
mode?
Y
Go for
otp_en_spreadCycle=1
Y
Find nearest value fitting
for TPWMTHRS from
table OTP_TPWMTHRS
N
Mix spreadCylce
and stealthChop?
N
Find nearest value fitting for
PWM_GRAD initialization from
table OTP_PWM_GRAD
Note all OTP bits to be set
to 1.
Choose a bit to be programmed and write
OTP byte and bit address to OTP_PROG
including magic code 0xbd
Wait for 10ms or longer
N
Are all OTP bits
programmed?
Y
All bits set in
OTP_READ?
Y
Finished
Figure 14.3 OTP programming
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N
Re-Program missing bits
using 100ms delay time
66
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67
15 External Reset
The chip is loaded with default values during power on via its internal power-on reset. Some of the
registers are initialized from the OTP at power up. In order to reset the chip to power on defaults,
any of the supply voltages monitored by internal reset circuitry (VS, +5VOUT or VCC_IO) must be
cycled. As +5VOUT is the output of the internal voltage regulator, it cannot be cycled via an external
source except by cycling VS. It is easiest and safest to cycle VCC_IO in order to completely reset the
chip. Also, current consumed from VCC_IO is low and therefore it has simple driving requirements.
Due to the input protection diodes not allowing the digital inputs to rise above VCC_IO level, all
inputs must be driven low during this reset operation. When this is not possible, an input protection
resistor may be used to limit current flowing into the related inputs.
16 Clock Oscillator and Input
The clock is the timing reference for all functions: the chopper frequency, the blank time, the standstill
power down timing, and the internal step pulse generator etc. The on-chip clock oscillator is
calibrated in order to provide timing precise enough for most operation cases.
USING THE INTERNAL CLOCK
Directly tie the CLK input to GND near to the IC if the internal clock oscillator is to be used. The
internal clock frequency is factory-trimmed to 12MHz by OTP programming.
USING AN EXTERNAL CLOCK
When an external clock is available, any frequency of 8 to 18MHz can be used to clock the TMC22xx.
The duty cycle of the clock signal is uncritical, as long as minimum high or low input time for the pin
is satisfied (refer to electrical characteristics). Make sure, that the clock source supplies clean CMOS
output logic levels and steep slopes when using a high clock frequency. The external clock input is
enabled with the first positive polarity seen on the CLK input. Modifying the clock frequency is an
easy way to adapt the stealthChop chopper frequency or to synchronize multiple drivers. Working
with a very low clock frequency down to 4 MHz can help reducing power consumption and
electromagnetic emissions, but it will sacrifice some performance.
Use an external clock source to synchronize multiple drivers, or to get precise motor operation with
the internal pulse generator for motion. The external clock frequency selection also allows modifying
the power down timing and the chopper frequency.
Hint
Switching off the external clock frequency would stop the chopper and could lead to an overcurrent
condition. Therefore, TMC22xx has an internal timeout of 32 internal clocks. In case the external clock
fails, it switches back to internal clock.
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17 Absolute Maximum Ratings
The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near
more than one maximum rating at a time for extended periods shall be avoided by application
design.
Parameter
Supply voltage operating with inductive load
Supply and bridge voltage max. *)
I/O supply voltage
digital supply voltage (when using external supply)
Logic input voltage
VREF input voltage (Do not exceed both, VCC_IO and
5VOUT by more than 10%, as this enables a test mode)
Maximum current to / from digital pins
and analog low voltage I/Os
5V regulator output current (internal plus external load)
5V regulator continuous power dissipation (VVM-5V) * I5VOUT
Power bridge repetitive output current
Junction temperature
Storage temperature
ESD-Protection for interface pins (Human body model,
HBM)
ESD-Protection for handling (Human body model, HBM)
Symbol
VVS
VVMAX
VVIO
V5VOUT
VI
VVREF
Min
-0.5
Max
39
40
5.5
5.5
VVIO+0.5
6
Unit
V
V
V
V
V
V
IIO
+/-10
mA
I5VOUT
P5VOUT
IOx
TJ
TSTG
VESDAP
25
0.5
2.5
150
150
4
mA
W
A
°C
°C
kV
1
kV
-0.5
-0.5
-0.5
-0.5
-50
-55
VESD
*) Stray inductivity of GND and VS connections will lead to ringing of the supply voltage when driving
an inductive load. This ringing results from the fast switching slopes of the driver outputs in
combination with reverse recovery of the body diodes of the output driver MOSFETs. Even small trace
inductivities as well as stray inductivity of sense resistors can easily generate a few volts of ringing
leading to temporary voltage overshoot. This should be considered when working near the maximum
voltage.
18 Electrical Characteristics
18.1 Operational Range
Parameter
Junction temperature
Supply voltage (using internal +5V regulator)
Supply voltage (using internal +5V regulator) for OTP
programming
Supply voltage (internal +5V regulator bridged: V5VOUT=VVS)
I/O supply voltage
VCC voltage when using optional external source (supplies
digital logic and charge pump)
RMS motor coil current per coil (value for design guideline)
RMS motor coil current per coil with duty cycle limit, e.g. 1s
on, 1s standby (value for design guideline)
Peak output current per motor coil output (sine wave peak)
using external or internal current sensing
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Symbol
TJ
VVS
Min
-40
5.5
6
Max
125
36
36
Unit
°C
V
V
4.7
3.00
4.6
5.4
5.25
5.25
V
V
V
IRMS
IRMS
1.2
1.4
A
A
IOx
2.0
A
VVS
VVS
VVIO
VVCC
TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16)
69
18.2 DC and Timing Characteristics
DC characteristics contain the spread of values guaranteed within the specified supply voltage range
unless otherwise specified. Typical values represent the average value of all parts measured at +25°C.
Temperature variation also causes stray to some values. A device with typical values will not leave
Min/Max range within the full temperature range.
Power supply current
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Total supply current, driver
disabled IVS
Total supply current, operating,
IVS
Supply current, driver disabled,
dependency on CLK frequency
Internal current consumption
from 5V supply on VCC pin
IO supply current (typ. at 5V)
Symbol
IS
Conditions
fCLK=12MHz
IS
fCLK=12MHz, 35kHz
chopper, no load
fCLK variable,
additional to IVS0
fCLK=12MHz, 35kHz
chopper
no load on outputs,
inputs at VIO or GND
Excludes pullup /
pull-down resistors
Motor driver section
DC- and Timing-Characteristics
VVS = 24.0V
Parameter
RDSON lowside MOSFET
Symbol
RONL
RDSON highside MOSFET
RONH
slope, MOSFET turning on
tSLPON
slope, MOSFET turning off
tSLPOFF
Current sourcing, driver off
IOIDLE
Charge pump
DC-Characteristics
Parameter
Charge pump output voltage
Symbol
VVCP-VVS
Charge pump voltage threshold
for undervoltage detection
Charge pump frequency
VVCP-VVS
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IVS
IVCC
IVIO
fCP
Conditions
measure at 100mA,
25°C, static state
measure at 100mA,
25°C, static state
measured at 700mA
load current
(resistive load)
measured at 700mA
load current
(resistive load)
OXX pulled to GND
Conditions
operating, typical
fchop
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