TMC2590-TA-T

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2590 DATASHEET Universal, cost-effective stepper driver for two-phase bipolar motors with external MOSFETs to fit different motor sizes. With Step/Dir Interface and SPI and Stand-Alone option. APPLICATIONS Textile, Sewing Machines Factory & Lab Automation 3D printing Liquid Handling Medical Office Automation Printer and Scanner CCTV, Security ATM, Cash recycler, POS Pumps and Valves Heliostat Controller CNC Machines FEATURES AND BENEFITS Motor Current from 1A to 8A using external (N&P) MOSFETs High Voltage Range from 5V up to 60V DC operating voltage High Resolution up to 256 microsteps per full step Small Size 5x5mm (body) TQFP32-EP package Low Power Dissipation using MOSFET power stage High Temperature Tolerance due to low self-heating EMI-optimized slope & current controlled gate drivers Protection & Diagnostics short to GND, short to VS / overcurrent, programmable overtemperature & undervoltage StallGuard2™ high precision sensorless motor load detection CoolStep™ load dependent current control saves up to 75% MicroPlyer™ 256 step smoothness with 1/16 step input. SpreadCycle™ high-precision chopper for best current sine wave form and zero crossing Differential Current Sensing for quiet chopper operation Resonance Dampening for mid-range velocity BLOCK DIAGRAM TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany DESCRIPTION The TMC2590 driver for two-phase stepper motors offers an industry-leading feature set, including high-resolution microstepping, sensorless mechanical load measurement, load-adaptive power optimization, and low-resonance chopper operation. Standard SPI™ and STEP/DIR interfaces simplify communication. The TMC2590 uses external N- and P-channel MOSFETs for motor currents from 1A up to roughly 8A. No bootstrapping and charge-pump are required. Integrated protection and diagnostic features support robust and reliable operation. High integration, high efficiency and small form factor enable miniaturized designs with low external component count for cost-effective and highly competitive solutions. Interfacing is compatible to the TMC26x family. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 2 APPLICATION EXAMPLES: HIGH POWER – SMALL SIZE The TMC2590 scores with its robust design and high power density and a versatility that covers a wide spectrum of applications and motor sizes, all while keeping costs down. Extensive support at the chip, board, and software levels enables rapid design cycles and fast time-to-market with competitive products. High energy efficiency from TRINAMIC’s CoolStep technology delivers further cost savings in related systems such as power supplies and cooling. It is upward compatible to the TMC26x family of ICs and offers higher gate driver strength than the TMC262-LA as well as additional short circuit protection and failsafe options. TMC2590-EVAL DEVELOPMENT PLATFORM This evaluation board is a development platform for applications based on the TMC2590. External power MOSFETs support drive currents up to 4A RMS and up to 60V peak supply voltage. The evaluation board system based on the CPU boards LANDUNGSBRÜCKE or STARTRAMPE features an USB interface for communication with the learning and development control software TMCL-IDE running on a PC. The control software provides a user-friendly GUI for setting control parameters and visualizing the dynamic response of the motor. Evaluation board with 60V MOSFETs for 4A RMS ORDER CODES Order code TMC2590-TA TMC2590-TA-T TMC2590-EVAL ESELSBRÜCKE LANDUNGSBRÜCKE www.trinamic.com PN 00-0170 00-0170T 40-0166 40-0098 40-0167 Description CoolStep™ driver for external MOSFETs, TQFP32 (RoHS) tape on reel packaged TMC2590-TA Evaluation board for TMC2590 Connector board fitting to Landungsbrücke Baseboard for TMC2590-EVAL and further evaluation boards Size [mm²] 5 x 5 (body) 5 x 5 (body) 85 x 55 61 x 38 85 x 55 TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 3 TABLE OF CONTENTS 1 PRINCIPLES OF OPERATION ......................... 4 1.1 1.2 1.3 1.4 2 KEY CONCEPTS ............................................... 4 CONTROL INTERFACES .................................... 5 MECHANICAL LOAD SENSING ......................... 5 CURRENT CONTROL ........................................ 5 PIN ASSIGNMENTS ........................................... 6 2.1 2.2 3 PACKAGE OUTLINE ......................................... 6 SIGNAL DESCRIPTIONS .................................. 6 INTERNAL ARCHITECTURE ............................. 8 3.1 STANDARD APPLICATION CIRCUIT .................. 9 4 STANDALONE OPERATION ...........................10 5 STALLGUARD2 LOAD MEASUREMENT .......11 5.1 5.2 5.3 5.4 6 TUNING THE STALLGUARD2 THRESHOLD ......12 STALLGUARD2 MEASUREMENT FREQUENCY AND FILTERING ............................................13 DETECTING A MOTOR STALL ........................14 LIMITS OF STALLGUARD2 OPERATION .........14 COOLSTEP LOAD-ADAPTIVE CURRENT CONTROL ...........................................................15 6.1 7 TUNING COOLSTEP ......................................17 SPI INTERFACE ................................................18 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 7.10 7.11 8 BUS SIGNALS...............................................18 BUS TIMING ................................................18 BUS ARCHITECTURE .....................................19 REGISTER WRITE COMMANDS ......................20 DRIVER CONTROL REGISTER (DRVCTRL) ....22 CHOPPER CONTROL REGISTER (CHOPCONF) .. ...................................................................24 COOLSTEP CONTROL REGISTER (SMARTEN) ... ...................................................................25 STALLGUARD2 CONTROL REGISTER (SGCSCONF)..............................................26 DRIVER CONTROL REGISTER (DRVCONF) ...27 READ RESPONSE ..........................................29 DEVICE INITIALIZATION ...............................30 STEP/DIR INTERFACE.....................................31 8.1 8.2 8.3 8.4 8.5 9 TIMING ........................................................31 MICROSTEP TABLE .......................................32 CHANGING RESOLUTION ..............................33 MICROPLYER STEP INTERPOLATOR ...............33 STANDSTILL CURRENT REDUCTION ...............34 CURRENT SETTING ..........................................35 9.1 10 CHOPPER OPERATION ...................................37 10.1 10.2 11 SENSE RESISTORS ........................................36 SPREADCYCLE CHOPPER ...............................38 CLASSIC CONSTANT OFF-TIME CHOPPER......41 POWER MOSFET STAGE ................................43 www.trinamic.com 11.1 11.2 11.3 12 BREAK-BEFORE-MAKE LOGIC ....................... 43 ENN INPUT ................................................. 43 SLOPE CONTROL .......................................... 43 DIAGNOSTICS AND PROTECTION ............. 45 12.1 12.2 12.3 12.4 SHORT PROTECTION..................................... 45 OPEN-LOAD DETECTION .............................. 46 TEMPERATURE SENSORS............................... 47 UNDERVOLTAGE DETECTION ......................... 47 13 POWER SUPPLY SEQUENCING .................... 49 14 SYSTEM CLOCK ................................................ 49 14.1 SYSTEM CLOCK FREQUENCY ......................... 50 15 MOSFET EXAMPLES ......................................... 51 16 LAYOUT CONSIDERATIONS ......................... 52 16.1 16.2 16.3 16.4 SENSE RESISTORS ........................................ 52 EXPOSED DIE PAD....................................... 52 POWER FILTERING ....................................... 52 LAYOUT EXAMPLE ........................................ 53 17 ABSOLUTE MAXIMUM RATINGS ................. 55 18 ELECTRICAL CHARACTERISTICS ................. 56 18.1 18.2 19 OPERATIONAL RANGE .................................. 56 DC AND AC SPECIFICATIONS ...................... 56 PACKAGE MECHANICAL DATA .................... 60 19.1 19.2 DIMENSIONAL DRAWINGS ........................... 60 PACKAGE CODE............................................ 61 20 DISCLAIMER ..................................................... 62 21 ESD SENSITIVE DEVICE ................................ 62 22 TABLE OF FIGURES ......................................... 63 23 REVISION HISTORY ....................................... 64 24 REFERENCES ...................................................... 64 TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 1 4 Principles of Operation 0A+ High-Level Interface µC S/D MOSFET TMC2590 Driver Stage SPI N 0B+ 0A+ TMC429 µC S 0B- SPI (optional) High-Level Interface 0A- Motion Controller for up to 3 Motors S/D MOSFET TMC2590 Driver Stage 0A- S N 0B+ 0B- SPI (optional) Figure 1.1 Applications block diagrams The TMC2590 motor driver is the intelligence between a motion controller and the power MOSFETs for driving a two-phase stepper motor, as shown in Figure 1.1. Following power-up, an embedded microcontroller initializes the driver by sending commands over an SPI bus to write control parameters and mode bits in the TMC2590. The microcontroller may implement the motion-control function as shown in the upper part of the figure, or it may send commands to a dedicated motion controller chip such as TRINAMIC’s TMC429 as shown in the lower part. For simple circuits, SPI configuration may be omitted. The stand-alone mode configures for the most common settings. The motion controller can control the motor position by sending pulses on the STEP signal while indicating the direction on the DIR signal. The TMC2590 has a microstep counter and sine table to convert these signals into the coil currents which control the position of the motor. If the microcontroller implements the motion-control function, it can write values for the coil currents directly to the TMC2590 over the SPI interface, in which case the STEP/DIR interface may be disabled. This mode of operation requires software to track the motor position and reference a sine table to calculate the coil currents. To optimize power consumption and heat dissipation, software may also adjust CoolStep and StallGuard2 parameters in real-time, for example to implement different tradeoffs between speed and power consumption in different modes of operation. The motion control function is a hard-real-time task which may be a burden to implement reliably alongside other tasks on the embedded microcontroller. By offloading the motion-control function to the TMC429, up to three motors can be operated reliably with very little demand for service from the microcontroller. Software only needs to send target positions, and the TMC429 generates precisely timed step pulses. Software retains full control over both the TMC2590 and TMC429 through the SPI bus. 1.1 Key Concepts The TMC2590 motor driver implements several advanced patented 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. StallGuard2™ High-precision load measurement using the back EMF on the coils CoolStep™ Load-adaptive current control which reduces energy consumption by as much as 75% SpreadCycle™ High-precision chopper algorithm available as an alternative to the traditional constant off-time algorithm MicroPlyer™ Microstep interpolator for obtaining increased smoothness of microstepping over a STEP/DIR interface www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 5 In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment malfunctions. 1.2 Control Interfaces There are two control interfaces from the motion controller to the motor driver: the SPI serial interface and the STEP/DIR interface. The SPI interface is used to write control information to the chip and read back status information. This interface allows application specific initialization of parameters and modes. This interface may also be used for directly setting the currents flowing through the motor coils, as an alternative to stepping the motor using the STEP and DIR signals, so the motor can be controlled through the SPI interface alone. In stand-alone mode, the most common configuration is pre-loaded automatically. The three SPI inputs allow for additional choices. The STEP/DIR interface allow universal real-time-control and is simple and robust. 1.2.1 SPI Interface The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus master to the bus slave, another bit is sent simultaneously from the slave to the master. Communication between an SPI master and the TMC2590 slave always consists of sending one 20-bit command word and receiving one 20-bit status word. 1.2.2 Stand-Alone Control Three configuration lines set 16 or 256 microsteps, chopper hysteresis, to adapt for motor size, and motor current (2-level). With this, basic configuration of the driver does not require any interfacing. 1.2.3 STEP/DIR Interface The STEP/DIR interface is enabled by default. Active edges on the STEP input can be rising edges or both rising and falling edges, as controlled by the mode bit (DEDGE). Using both edges cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as optically isolated interfaces. On each active edge, the state sampled from the DIR input determines whether to step forward or back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. During microstepping, 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 Mechanical Load Sensing The TMC2590 provides StallGuard2 high-resolution load measurement for determining the mechanical load on the motor by measuring the back EMF. In addition to detecting when a motor stalls, this feature can be used for homing to a mechanical stop without a limit switch or proximity detector. The CoolStep power-saving mechanism uses StallGuard2 to reduce the motor current to the minimum motor current required to meet the actual load placed on the motor. 1.4 Current Control Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes are available: a traditional constant off-time mode and the new SpreadCycle mode. SpreadCycle mode offers smoother operation and greater power efficiency over a wide range of speed and load. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 2 6 Pin Assignments TST_MODE STEP DIR VCC_IO SRAL SG_TST ST_ALONE VS 32 31 30 29 28 27 26 25 2.1 Package Outline GND 1 24 VHS HA1 2 23 HB1 HA2 3 22 HB2 BMA2 4 21 BMB2 BMA1 5 20 BMB1 LA1 6 19 LB1 18 LB2 17 SRB 10 11 12 13 14 15 16 SDI SCK SRBL CSN ENN CLK 8 SDO SRA 9 7 PAD = GND 5VOUT LA2 TMC2590-TA TQFP-32 7mm x 7mm Figure 2.1 TMC2590 pin assignments 2.2 Signal Descriptions Pin GND HA1 HA2 HB1 HB2 BMA1 BMA2 BMB1 BMB2 LA1 Number 1 PAD 2 3 23 22 5 4 20 21 6 www.trinamic.com Type O (VS) Function Digital and analog low power GND. Connect both to PCB GND plane. High side P-channel driver output. Becomes driven to VHS to switch on MOSFET. I (VS) Sensing input for bridge outputs. Used for short detection. Connect to center of the respective half-bridge. O 5V Low side MOSFET driver output. Becomes driven to 5VOUT to switch TMC2590 DATASHEET (V1.01 / 2019-SEP-18) Pin LA2 LB1 LB2 SRA SRB SRAL SRBL Number 7 19 18 8 17 28 13 5VOUT 9 SDO SDI (CFG3) 10 11 DO VIO DI VIO SCK (CFG2) 12 DI VIO CSN (CFG1) 14 DI VIO ENN 15 DI VIO CLK 16 DI VIO VHS 24 VS 25 ST_ALONE 26 DI VIO (pd) SG_TST 27 DO VIO VCC_IO 29 DIR 30 DI VIO STEP TST_MODE 31 32 DI VIO DI VIO (pd) www.trinamic.com 7 Type Function on MOSFET. AI Sense resistor input for coil current measurement. Connect to upper side of sense resistor. Sense resistor negative input for coil current measurement. For best results, connect to lower side of sense resistor using Kelvin connection, or connect to GND plane near the respective sense resistor’s GND terminal. Output of internal 5V linear regulator. This voltage is used to supply the low side drivers and internal analog circuitry. An external capacitor to GND close to the pin is required. Place the capacitor near to pin 9. 470nF ceramic are sufficient for most applications, a higher capacity up to 10µF improves performance with high gate charge MOSFETs. Data output of SPI interface (Tristate) Data input of SPI interface / Microstep resolution control input in standalone mode: 0: MRES=256 microsteps; 1: MRES=16 microsteps with interpolation Serial clock input of SPI interface / Chopper hysteresis control input in standalone mode: 0: HEND=4, HSTRT=2; 1: HEND=4, HSTRT=6 Chip select input of SPI interface / Current control input in standalone mode: 0: Current scale CS=15; 1: Current scale CS=31 Enable not input for drivers. Switches off all MOSFETs. Tie low for normal operation. Clock input for all internal operations. Tie low to use internal oscillator. Automatically switches to external clock, when the first high signal is recognized. High side supply voltage (motor supply voltage VS - 10V). Attach a ceramic capacitor between VHS and VS. Typ. 220nF to 1µF, 16V. Motor supply voltage. Tie to positive supply voltage of MOSFET bridge. Stand-alone mode selection. Tie to VCC_IO for non-SPI, stand-alone mode. Leave open for normal operation. Internal 10k pulldown resistor. StallGuard2™ output. Signals motor stall (high active). Evaluate only when at sufficient velocity. Input / output supply voltage VIO for all digital pins. Tie to digital logic supply voltage. Allows operation in 3.3V and 5V systems. Direction input. Is sampled upon detection of a step to determine stepping direction. An internal glitch filter for 20ns is provided. Step input. An internal glitch filter for 20ns is provided. Test mode input. Puts IC into test mode. Tie to GND for normal operation using a short wire to GND plane. Internal 166k pull down resistor for safety. No user functionality. AI TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 3 8 Internal Architecture Figure 3.1 shows the internal architecture of the TMC2590. +VM 9-59V 220n 16V VHS TMC2590 +VCC 3.3V or 5V VCC_IO VM-10V linear regulator OSC 15MHz D 100n 8-20MHz 100n VS 5V linear regulator CLK STEP DIR Clock selector P-Gate drivers D SCK SDI SDO Phase polarity SIN & COS Chopper logic Break before make Short detectors N-Gate drivers SG_TST G S G P P D BMA2 motor coil A D LA2 D N G N G S LA1 S SRA VREF D D Digital control 9 M U X D D SPI interface DAC RSENSE 100mOhm for 2.8A peak (resp. 1.5A RMS) RSENSE 100mOhm for 2.8A peak (resp. 1.5A RMS) SRAL DAC SRBL slope LS +5V D D 47R +5V optional input protection resistors against inductive sparks upon motor cable break 9 D slope LS 47R SRB CoolStep Energy efficiency stallGuard output S HA2 BMA1 VSENSE CSN SPI / Stand-alone configuration HA1 D 0.16V 0.30V ENN +VM CLK Step & Direction interface D Sine wave 1024 entry ST_ALONE Provide sufficient filtering capacity near bridge transistors (electrolyt capacitors and ceramic capacitors) slope HS VHS D Step multiply 16 to 256 Open or GND for SPI, VCC_IO for stand-alone 5V supply 470nF ENABLE step & dir (optional) 5VOUT N-Gate drivers stallGuard 2 BACK EMF Protection & Diagnostics SHORT TO GND Phase polarity Chopper logic Break before make Short detectors LB1 S G LB2 S G N D N D motor coil B BMB2 BMB1 D P-Gate drivers ENABLE Temp. sensor 100°C, 120°C, 136°C, 150°C slope HS VHS DIE PAD GND HB2 D P G P G S S HB1 +VM TST_MODE Figure 3.1 TMC2590 block diagram and application schematic Prominent features include: Oscillator and clock selector Step and direction interface SPI interface Multiplexer Multipliers DACs and comparators Break-before-make and gate drivers On-chip voltage regulators www.trinamic.com provides the system clock from the on-chip oscillator or an external source. uses a microstep counter and sine table to generate target currents for the coils. receives commands for configuration or commands that directly set the coil current values. selects either the output of the sine table or the SPI interface for controlling the current into the motor coils. scales down the currents to both coils when the currents are greater than those required by the load on the motor or as set by the CS current scale parameter. converts the digital current values to analog signals that are compared with the voltages on the sense resistors. Comparator outputs terminate chopper drive phases when target currents are reached. ensure non-overlapping pulses, boost drive voltage, and control pulse slope to the gates of the power MOSFETs. provide high-side voltage for P-channel MOSFET gate drivers and supply voltage for on-chip analog and digital circuits. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 9 3.1 Standard Application circuit +VM +VM CE DIR STEP Must be identical to bridge supply! VS VS 5VOUT 2.2µ CSN SCK SDI SDO SG_TST LS BMB1 LB1 LB2 LS SRBH SPI interface 47R RS SRBL stallGuard2 S Chopper +VM B.Dwersteg, © TRINAMIC 2014 HS VHS CLK HA2 N stepper motor 470n HA1 HS opt. ext. clock 12-16MHz 470n BMB2 TMC2590 Sequencer Stall detection pulse (react to first impulse / ignore outside velocity window) HB2 HB1 HS 5V Voltage regulator C5VOUT: 470nF to 10µF (higher for lower noise chopper) CVHS: 220nF to 1µF (both higher for higher MOSFET gate charge) SPI interface for configuration or for driving (optional to Step/Dir) Configuration pins in stand alone mode HS Step&Dir input with microPlyer VHS 100n VS-10V regulator 5V 220n VS VHS BMA1 5V BMA2 +VIO 3.3V or 5V I/O voltage LS VCC_IO LS 100n LA1 SRAH mode selection SRAL Opt. stand alone configuration 47R RS Use low inductivity SMD type, e.g. 1210 or 2512 resistor for RS! GND DIE PAD TST_MODE pd DRV_ENN ST_ALONE pd Keep inductivity of the fat interconnections as small as possible to avoid ringing! LA2 opt. driver enable Figure 2 Standard application circuit The standard application uses a minimum number of external components in order to operate the stepper motor. Four N-channel and four P-channel MOSFETs are required, and shall be selected as required for the application motor current. See chapter 15 for examples. With N&P channel FETs, no charge-pump is required, making the design small and robust. Two sense resistors set the motor coil current. See chapter 9 for the calculation of the right sense resistor value. Use low ESR capacitors for filtering the power supply. A minimum of 100µF per ampere of coil current near to the power bridge is recommended for best performance. These capacitors need to cope with the current ripple caused by chopper operation, thus they should not be dimensioned too small. 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. 3.3V. Basic layout hints Place sense resistors and all filter capacitors as close as possible to the power MOSFETs. Place the TMC2590 near to the MOSFETs and use short interconnection lines in order to minimize parasitic trace inductance. Use a solid common GND for GND and die pad GND connections, also for sense resistor GND. Connect 5VOUT filtering capacitor directly to 5VOUT and GND plane. See layout hints for more details. High capacity ceramic or low ESR electrolytic capacitors are recommended for VS filtering. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 4 10 Standalone Operation Standalone operation is the easiest way to use the IC. In this mode, three pins configure for the most common settings. Just use the standard application circuit, tie low / high the SPI input pins to set the desired basic operation parameters and choose a sense resistor to fit the required motor current. However, advanced configuration and access to individual diagnostics only is possible via SPI. CSN: SELECTION OF MOTOR CURRENT (USE FOR STANDSTILL CURRENT REDUCTION) CSN (CFG1) GND Chopper Setting Current Scale CS=15. Use for standstill current reduction, or to adapt lower sense resistor value. Current Scale CS=31. Maximum current. Control motor current by adapting sense resistors. VCC_IO SCK: SELECTION OF CHOPPER HYSTERESIS (ADAPT FOR LOWEST MOTOR NOISE & VIBRATION) SCK (CFG2) GND VCC_IO Chopper Setting Low hysteresis (HSTRT=2, HEND=4), use for larger motor. Medium hysteresis (HSTRT=6, HEND=4), typical for Nema17 or smaller motor, or for high speed motors with high coil currents. SDI: SELECTION OF MICROSTEP RESOLUTION (ADAPT TO STEP PULSE GENERATOR) SDI (CFG3) GND VCC_IO Chopper Setting 256 Microsteps full resolution for Step/Dir interface 16 Microsteps with internal interpolation to 256 microsteps +VM VCC_IO STEP DIR Current Hysteresis Microsteps TMC2590 Step Multiplier +VCCIO Gate driver Gate Driver Sine Table 4*256 entry ST_ALONE Stand Alone CSN/CFG1 SCK/CFG2 SDI/CFG3 SPI control, Config & Diags x ENN Protection & Diagnostics S Chopper N BM Gate driver Gate Driver 2 Phase Stepper LS coolStep RS SDO Enable/ Disable HS stallGuard2 2 x Current Comparator 2 x DAC RS RS SG_TST Figure 3 Standalone configuration Standalone mode automatically enables resonance dampening (EN_PFD) and 136°C overtemperature detection (OT_SENSE), sensitive high-side short detection (SHRTSENSE) and enable low side short protection (S2VS). Driver strength becomes set to SLPL=SLPH=3. TOFF is 4, TBL is 36 clocks in this mode. All other bits are cleared to 0. In standalone configuration, StallGuard level is fixed to SGT=2. This setting will work for homing with many 42mm and larger motors in a suitable velocity range. Adapt to full or half current as fitting using CSN configuration pin. Resulting configuration words: SDI=0: $00200 / SDI=1: $00204 SCK=0: $90224 / SCK=1: $90264 CSN=0: $C020F / CSN=1: $C021F $E810F, $A0000 www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 5 11 StallGuard2 Load Measurement StallGuard2 provides an accurate measurement of the load on the motor within a selected velocity range. It can be used for stall detection as well as other uses at loads below those which stall the motor, such as CoolStep load-adaptive current reduction. (StallGuard2 is a more precise evolution of the earlier StallGuard technology.) The StallGuard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in Figure 5.1. At maximum motor load, the value goes to zero or near to zero. This corresponds to a load angle of 90° between the magnetic field of the coils and magnets in the rotor. This also is the most energy-efficient point of operation for the motor. 1000 stallGuard2 reading 900 Start value depends on motor and operating conditions 800 700 600 stallGuard value reaches zero and indicates danger of stall. This point is set by stallGuard threshold value SGT. 500 400 Motor stalls above this point. Load angle exceeds 90° and available torque sinks. 300 200 100 0 10 20 30 40 50 60 70 80 90 100 motor load (% max. torque) Figure 5.1 StallGuard2 load measurement SG as a function of load Two parameters control StallGuard2 and one status value is returned. Parameter SGT SFILT Description 7-bit signed integer that sets the StallGuard2 threshold level for asserting the SG_TST output and sets the optimum measurement range for readout. Negative values increase sensitivity, and positive values reduce sensitivity so more torque is required to indicate a stall. Zero is a good starting value. Mode bit which enables the StallGuard2 filter for more precision. If set, reduces the measurement frequency to one measurement per four fullsteps. If cleared, no filtering is performed. Filtering compensates for mechanical asymmetries in the construction of the motor, but at the expense of response time. Unfiltered operation is recommended for rapid stall detection. Filtered operation is recommended for more precise load measurement. www.trinamic.com Setting 0 Comment indifferent value +1… +63 less sensitivity -1… -64 higher sensitivity 0 1 standard mode filtered mode TMC2590 DATASHEET (V1.01 / 2019-SEP-18) Status word SG Description 10-bit unsigned integer StallGuard2 measurement result. A higher value indicates lower mechanical load. A lower value indicates a higher load and therefore a higher load angle. For stall detection, adjust SGT to return an SG value of 0 or slightly higher upon maximum motor load before stall. 12 Range 0… 1023 Comment 0: highest load low value: high load high value: less load 5.1 Tuning the StallGuard2 Threshold Due to the dependency of the StallGuard2 value SG from motor-specific characteristics and applicationspecific demands on load and velocity the easiest way to tune the StallGuard2 threshold SGT for a specific motor type and operating conditions is interactive tuning in the actual application. The procedure is: 1. 2. 3. Operate the motor at a reasonable velocity for your application and monitor SG. Apply slowly increasing mechanical load to the motor. If the motor stalls before SG reaches zero, decrease SGT. If SG reaches zero before the motor stalls, increase SGT. A good SGT starting value is zero. SGT is signed, so it can have negative or positive values. The optimum setting is reached when SG is between 0 and 400 at increasing load shortly before the motor stalls, and SG increases by 100 or more without load. SGT in most cases can be tuned together with the motion velocity in a way that SG goes to zero when the motor stalls and the stall output SG_TST is asserted. This indicates that a step has been lost. The system clock frequency affects SG. An external crystal-stabilized clock should be used for applications that demand the highest performance. The power supply voltage also affects SG, so tighter regulation results in more accurate values. SG measurement has a high resolution, and there are a few ways to enhance its accuracy, as described in the following sections. 5.1.1 Variable Velocity Operation Across a range of velocities, on-the-fly adjustment of the StallGuard2 threshold SGT improves the accuracy of the load measurement SG. This also improves the power reduction provided by CoolStep, which is driven by SG. Linear interpolation between two SGT values optimized at different velocities is a simple algorithm for obtaining most of the benefits of on-the-fly SGT adjustment, as shown in Figure 5.2. This figure shows an optimal SGT curve in black and a two-point interpolated SGT curve in red. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) stallGuard2 reading at no load optimum SGT setting simplified SGT setting 1000 20 900 18 800 16 700 14 600 12 500 10 400 8 300 6 200 4 100 2 0 0 50 lower limit for stall detection 4 RPM 100 150 13 200 250 300 350 400 450 back EMF reaches supply voltage 500 550 600 Motor RPM (200 FS motor) Figure 5.2 Linear interpolation for optimizing SGT with changes in velocity 5.1.2 Small Motors with High Torque Ripple and Resonance Motors with a high detent torque show an increased variation of the StallGuard2 measurement value SG with varying motor currents, especially at low currents. For these motors, the current dependency might need correction in a similar manner to velocity correction for obtaining the highest accuracy. 5.1.3 Temperature Dependence of Motor Coil Resistance Motors working over a wide temperature range may require temperature correction, because motor coil resistance increases with rising temperature. This can be corrected as a linear reduction of SG at increasing temperature, as motor efficiency is reduced. 5.1.4 Accuracy and Reproducibility of StallGuard2 Measurement In a production environment, it may be desirable to use a fixed SGT value within an application for one motor type. Most of the unit-to-unit variation in StallGuard2 measurements results from manufacturing tolerances in motor construction. The measurement error of StallGuard2 – provided that all other parameters remain stable – can be as low as: 𝑠𝑡𝑎𝑙𝑙𝐺𝑢𝑎𝑟𝑑 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 𝑒𝑟𝑟𝑜𝑟 = ±𝑚𝑎𝑥(1, |𝑆𝐺𝑇|) 5.2 StallGuard2 Measurement Frequency and Filtering The StallGuard2 measurement value SG is updated with each full step of the motor. This is enough to safely detect a stall, because a stall always means the loss of four full steps. In a practical application, especially when using CoolStep, a more precise measurement might be more important than an update for each fullstep because the mechanical load never changes instantaneously from one step to the next. For these applications, the SFILT bit enables a filtering function over four load measurements. The filter should always be enabled when high-precision measurement is required. It compensates for variations in motor construction, for example due to misalignment of the phase A to phase B magnets. The filter should only be disabled when rapid response to increasing load is required, such as for stall detection at high velocity. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 14 5.3 Detecting a Motor Stall To safely detect a motor stall, a stall threshold must be determined using a specific SGT setting. Therefore, you need to determine the maximum load the motor can drive without stalling and to monitor the SG value at this load, for example some value within the range 0 to 400. The stall threshold should be a value safely within the operating limits, to allow for parameter stray. So, your microcontroller software should set a stall threshold which is slightly higher than the minimum value seen before an actual motor stall occurs. The response at an SGT setting at or near 0 gives some idea on the quality of the signal: Check the SG value without load and with maximum load. These values should show a difference of at least 100 or a few 100, which shall be large compared to the offset. If you set the SGT value so that a reading of 0 occurs at maximum motor load, an active high stall output signal will be available at SG_TST output. 5.4 Limits of StallGuard2 Operation StallGuard2 does not operate reliably at extreme motor velocities: Very low motor velocities (for many motors, less than one revolution per second) generate a low back EMF and make the measurement unstable and dependent on environment conditions (temperature, etc.). Other conditions will also lead to extreme settings of SGT and poor response of the measurement value SG to the motor load. Very high motor velocities, in which the full sinusoidal current is not driven into the motor coils also lead to poor response. These velocities are typically characterized by the motor back EMF reaching the supply voltage. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 6 15 CoolStep Load-Adaptive Current Control CoolStep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant-load application allows significant energy savings because CoolStep automatically enables torque reserve when required. Reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost in the power supply and cooling components. Hint Reducing motor current by half results in reducing power by a factor of four. Energy efficiency Motor generates less heat Less cooling infrastructure Cheaper motor - power consumption decreased up to 75%. improved mechanical precision. for motor and driver. does the job. 0,9 Efficiency with coolStep 0,8 Efficiency with 50% torque reserve 0,7 0,6 0,5 Efficiency 0,4 0,3 0,2 0,1 0 0 50 100 150 200 250 300 350 Velocity [RPM] Figure 6.1 Energy efficiency example with CoolStep Figure 6.1 shows the efficiency gain of a 42mm stepper motor when using CoolStep compared to standard operation with 50% of torque reserve. CoolStep is enabled above 60rpm in the example. CoolStep is controlled by several parameters, but two are critical for understanding how it works: Parameter SEMIN SEMAX Description Range 4-bit unsigned integer that sets a lower 0… 15 threshold. If SG goes below this threshold, CoolStep increases the current to both coils. The 4-bit SEMIN value is scaled by 32 to cover the lower half of the range of the 10-bit SG value. (The name of this parameter is derived from smartEnergy, which is an earlier name for CoolStep.) 4-bit unsigned integer that controls an upper 0… 15 threshold. If SG is sampled equal to or above this threshold enough times, CoolStep decreases the current to both coils. The upper threshold is (SEMIN + SEMAX + 1) x 32. www.trinamic.com Comment lower StallGuard threshold: SEMINx32 upper StallGuard threshold: (SEMIN+SEMAX+1)x32 TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 16 mechanical load stallGuard2 reading motor current Figure 6.2 shows the operating regions of CoolStep. The black line represents the SG measurement value, the blue line represents the mechanical load applied to the motor, and the red line represents the current into the motor coils. When the load increases, SG falls below SEMIN, and CoolStep increases the current. When the load decreases and SG rises above (SEMIN + SEMAX + 1) x 32 the current becomes reduced. current setting CS (upper limit) motor current reduction area SEMAX+SEMIN+1 SEMIN ½ or ¼ CS (lower limit) motor current increment area 0=maximum load load angle optimized time slow current reduction due to reduced motor load load angle optimized current increment due to increased load stall possible load angle optimized Figure 6.2 CoolStep adapts motor current to the load Four more parameters control CoolStep and one status value is returned: Parameter CS SEUP SEDN SEIMIN Status word SE Description Current scale. Scales both coil current values as taken from the internal sine wave table or from the SPI interface. For high precision motor operation, work with a current scaling factor in the range 16 to 31, because scaling down the current values reduces the effective microstep resolution by making microsteps coarser. This setting also controls the maximum current value set by CoolStep™. Number of increments of the coil current for each occurrence of an SG measurement below the lower threshold. Number of occurrences of SG measurements above the upper threshold before the coil current is decremented. Mode bit that controls the lower limit for scaling the coil current. If the bit is set, the limit is ¼ CS. If the bit is clear, the limit is ½ CS. Range Comment 0… 31 scaling factor: 1/32, 2/32, … 32/32 0… 3 step width is: 1, 2, 4, 8 0… 3 number of StallGuard measurements per decrement: 32, 8, 2, 1 Minimum motor current: 1/2 of CS 1/4 of CS Comment Actual motor current scaling factor set by CoolStep: 1/32, 2/32, … 32/32 0 1 Description Range 5-bit unsigned integer reporting the actual cur- 0… 31 rent scaling value determined by CoolStep. This value is biased by 1 and divided by 32, so the range is 1/32 to 32/32. The value will not be greater than the value of CS or lower than either ¼ CS or ½ CS depending on SEIMIN setting. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 17 6.1 Tuning CoolStep Before tuning CoolStep, first tune the StallGuard2 threshold level SGT, which affects the range of the load measurement value SG. CoolStep uses SG to operate the motor near the optimum load angle of +90°. The current increment speed is specified in SEUP, and the current decrement speed is specified in SEDN. They can be tuned separately because they are triggered by different events that may need different responses. The encodings for these parameters allow the coil currents to be increased much more quickly than decreased, because crossing the lower threshold is a more serious event that may require a faster response. If the response is too slow, the motor may stall. In contrast, a slow response to crossing the upper threshold does not risk anything more serious than missing an opportunity to save power. Hint CoolStep operates between limits controlled by the current scale parameter CS and the SEIMIN bit. 6.1.1 Response Time For fast response to increasing motor load, use a high current increment step SEUP. If the motor load changes slowly, a lower current increment step can be used to avoid motor current oscillations. If the filter controlled by SFILT is enabled, the measurement rate and regulation speed are cut by a factor of four. 6.1.2 Low Velocity and Standby Operation Because StallGuard2 is not able to measure the motor load in standstill and at very low RPM, the current at low velocities should be set to an application-specific default value and combined with standstill current reduction settings programmed through the SPI interface. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 7 18 SPI Interface The TMC2590 allows full control over all configuration parameters and mode bits through the SPI interface. In SPI mode, initialization is required prior to motor operation. The SPI interface also allows reading back status values and bits. 7.1 Bus Signals The SPI bus on the TMC2590 has four signals: SCK SDI SDO CSN bus clock input serial data input serial data output chip select input (active low) The slave is enabled for an SPI transaction by a low on the chip select input CSN. Bit transfer is synchronous to the bus clock SCK, with the slave latching the data from SDI on the rising edge of SCK and driving data to SDO following the falling edge. The most significant bit is sent first. A minimum of 20 SCK clock cycles is required for a bus transaction with the TMC2590. If more than 20 clocks are driven, the additional bits shifted into SDI are shifted out on SDO after a 20-clock delay through an internal shift register. This can be used for daisy chaining multiple chips. CSN must be low during the whole bus transaction. When CSN goes high, the contents of the internal shift register are latched into the internal control register and recognized as a command from the master to the slave. If more than 20 bits are sent, only the last 20 bits received before the rising edge of CSN are recognized as the command. 7.2 Bus Timing SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 7.1 shows the timing parameters of an SPI bus transaction, and the table below specifies their values. CSN tCC tCL tCH tCH tCC SCK tDU SDI bit19 tDH bit18 bit0 tDO SDO tZC bit19 Figure 7.1 SPI Timing Hint Usually this SPI timing is referred to as SPI MODE 3 www.trinamic.com bit18 bit0 TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 19 AC-Characteristics clock period is tCLK SPI Interface Timing Parameter SCK valid before or after change of CSN CSN high time Symbol Min tCC Typ Max Unit 10 ns *) fSCK Min time is for synchronous CLK with SCK high one tCH before CSN high only *) Min time is for synchronous CLK only *) Min time is for synchronous CLK only Assumes minimum OSC frequency fSCK Assumes synchronous CLK tCSH SCK low time tCL SCK high time tCH SCK frequency using internal clock SCK frequency using external 16MHz clock SDI setup time before rising edge of SCK SDI hold time after rising edge of SCK Data out valid time after falling SCK clock edge SDI, SCK, and CSN filter delay time Conditions tCLK >2tCLK +10 ns tCLK >tCLK+10 ns tCLK >tCLK+10 ns 4 MHz 8 MHz tDU 10 ns tDH 10 ns tDO No capacitive load on SDO tFILT Rising and falling edge 12 20 tFILT+5 ns 30 ns 7.3 Bus Architecture SPI slaves can be chained and used with a single chip select line. If slaves are chained, they behave like a long shift register. For example, a chain of two motor drivers requires 40 bits to be sent. The last bits shifted to each register in the chain are loaded into an internal register on the rising edge of the CSN input. For example, 24 or 32 bits can be sent to a single motor driver, but it latches just the last 20 bits received before CSN goes high. Mechanical Feedback or virtual stop switch +VM Real time Step/Dir interface 3 x REF_L, REF_R triple stepper motor controller nINT SPI to master Interrupt controller S1 (SDO_S) Reference switch processing 3x linear RAMP generator Step & Direction pulse generation Position comparator Microstep table CLK Realtime event trigger STEP D1 (SCK_S) Output select SPI or Step & Dir DIR S2 (nSCS_S) D2 (SDI_S) Driver 2 Step Multiplier VCC_IO TMC429 nSCS_C SCK_C SDI_C SDOZ_C TMC2590 Gate driver Gate Driver x Sine Table 4*256 entry S Driver 3 Serial driver interface CSN SCK SDI SDO SPI control, Config & Diags Protection & Diagnostics POSCOMP Gate driver Gate Driver coolStep RS stallGuard2 Virtual stop switch System interfacing Configuration and diagnostics SPI(TM) 2 x Current Comparator 2 x DAC SG_TST Third driver and motor User CPU Figure 7.2 Interfaces to a TMC429 motion controller chip and a TMC2590 motor driver www.trinamic.com 2 Phase Stepper LS Second driver and motor Motion command SPI(TM) N BM S3 (nSCS_2) D3 (nSCS_3) HS Chopper RS RS TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 20 Figure 7.2 shows the interfaces in a typical application. The SPI bus is driven by an embedded MCU to initialize the control registers of both a motion controller and one or more motor drivers. STEP/DIR interfaces are used between the motion controller and the motor drivers. 7.4 Register Write Commands An SPI bus transaction to the TMC2590 is a write command to one of the five write-only registers that hold configuration parameters and mode bits: Register Driver Control Register (DRVCTRL) Chopper Configuration Register (CHOPCONF) CoolStep Configuration Register (SMARTEN) StallGuard2 Configuration Register (SGCSCONF) Driver Configuration Register (DRVCONF) Description The DRVCTRL register has different formats for controlling the interface to the motion controller depending on whether or not the STEP/DIR interface is enabled. The CHOPCONF register holds chopper parameters and mode bits. The SMARTEN register holds CoolStep parameters and a mode bit. (smartEnergy is an earlier name for CoolStep.) The SGCSCONF register holds StallGuard2 parameters and a mode bit. The DRVCONF register holds parameters and mode bits used to control the power MOSFETs and the protection circuitry. It also holds the SDOFF bit which controls the STEP/DIR interface and the RDSEL parameter which controls the contents of the response returned in an SPI transaction In the following sections, multibit binary values are prefixed with a % sign, for example %0111. www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 21 7.4.1 Write Command Overview The table below shows the formats for the five register write commands. Bits 19, 18, and sometimes 17 select the register being written, as shown in bold. The DRVCTRL register has two formats, as selected by the SDOFF bit. Bits shown as 0 must always be written as 0, and bits shown as 1 must always be written with 1. Detailed descriptions of each parameter and mode bit are given in the following sections. Register/ DRVCTRL DRVCTRL Bit (SDOFF=1) (SDOFF=0) 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 PHA CA7 CA6 CA5 CA4 CA3 CA2 CA1 CA0 PHB CB7 CB6 CB5 CB4 CB3 CB2 CB1 CB0 0 0 0 0 0 0 0 0 0 0 INTPOL DEDGE 0 0 0 0 MRES3 MRES2 MRES1 MRES0 CHOPCONF SMARTEN SGCSCONF DRVCONF 1 0 0 TBL1 TBL0 CHM RNDTF HDEC1 HDEC0 HEND3 HEND2 HEND1 HEND0 HSTRT2 HSTRT1 HSTRT0 TOFF3 TOFF2 TOFF1 TOFF0 1 0 1 0 SEIMIN SEDN1 SEDN0 0 SEMAX3 SEMAX2 SEMAX1 SEMAX0 0 SEUP1 SEUP0 0 SEMIN3 SEMIN2 SEMIN1 SEMIN0 1 1 0 SFILT 0 SGT6 SGT5 SGT4 SGT3 SGT2 SGT1 SGT0 0 0 0 CS4 CS3 CS2 CS1 CS0 1 1 1 TST SLPH1 SLPH0 SLPL1 SLPL0 SLP2 DIS_S2G TS2G1 TS2G0 SDOFF VSENSE RDSEL1 RDSEL0 OTSENS SHRTSENS EN_PFD EN_S2VS 7.4.2 Read Response Overview The table below shows the formats for the read response. The RDSEL parameter in the DRVCONF register selects the format of the read response. Bit RDSEL=%00 RDSEL=%01 RDSEL=%10 RDSEL=%11 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 MSTEP9 MSTEP8 MSTEP7 MSTEP6 MSTEP5 MSTEP4 MSTEP3 MSTEP2 MSTEP1 MSTEP0 0 0 STST OLB OLA SHORTB SHORTA OTPW OT SG SG9 SG8 SG7 SG6 SG5 SG4 SG3 SG2 SG1 SG0 0 0 SG9 SG8 SG7 SG6 SG5 SE4 SE3 SE2 SE1 SE0 0 0 UV_7V ENN input S2VSB S2GB S2VSA S2GA OT150 OT136 OT120 OT100 1 1 www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 22 7.5 Driver Control Register (DRVCTRL) The format of the DRVCTRL register depends on the state of the SDOFF mode bit. SPI Mode SDOFF bit is set, the STEP/DIR interface is disabled, and DRVCTRL is the interface for specifying the currents through each coil. STEP/DIR Mode SDOFF bit is clear, the STEP/DIR interface is enabled, and DRVCTRL is a configuration register for the STEP/DIR interface. 7.5.1 DRVCTRL Register in SPI Mode DRVCTRL Driver Control in SPI Mode (SDOFF=1) Bit 19 18 17 Name 0 0 PHA Function Register address bit Register address bit Polarity A 16 15 14 13 12 11 10 9 8 CA7 CA6 CA5 CA4 CA3 CA2 CA1 CA0 PHB Current A MSB 7 6 5 4 3 2 1 0 CB7 CB6 CB5 CB4 CB3 CB2 CB1 CB0 Current B MSB www.trinamic.com Current A LSB Polarity B Current B LSB Comment Sign of current flow through coil A: 0: Current flows from OA1 pins to OA2 pins. 1: Current flows from OA2 pins to OA1 pins. Magnitude of current flow through coil A. The range is 0 to 248, if hysteresis or offset are used up to their full extent. The resulting value after applying hysteresis or offset must not exceed 255. Sign of current flow through coil B: 0: Current flows from OB1 pins to OB2 pins. 1: Current flows from OB2 pins to OB1 pins. Magnitude of current flow through coil B. The range is 0 to 248, if hysteresis or offset are used up to their full extent. The resulting value after applying hysteresis or offset must not exceed 255. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 23 7.5.2 DRVCTRL Register in STEP/DIR Mode DRVCTRL Driver Control in STEP/DIR Mode (SDOFF=0) Bit 19 18 17 16 15 14 13 12 11 10 9 Name 0 0 0 0 0 0 0 0 0 0 INTPOL 8 DEDGE Function Register address bit Register address bit Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Enable STEP interpolation Enable double edge STEP pulses 7 6 5 4 3 2 1 0 0 0 0 0 MRES3 MRES2 MRES1 MRES0 www.trinamic.com Reserved Reserved Reserved Reserved Microstep resolution for STEP/DIR mode Comment 0: Disable STEP pulse interpolation. 1: Enable MicroPlyer STEP pulse multiplication by 16. 0: Rising STEP pulse edge is active, falling edge is inactive. 1: Both rising and falling STEP pulse edges are active. Microsteps per fullstep: %0000: 256 %0001: 128 %0010: 64 %0011: 32 %0100: 16 %0101: 8 %0110: 4 %0111: 2 (halfstep) %1000: 1 (fullstep) TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 24 7.6 Chopper Control Register (CHOPCONF) CHOPCONF Chopper Configuration Bit 19 18 17 16 15 Name 1 0 0 TBL1 TBL0 Function Register address bit Register address bit Register address bit Blanking time CHM Chopper mode 14 Comment Blanking time interval, in system clock periods: %00: 16 %01: 24 %10: 36 %11: 54 This mode bit affects the interpretation of the HDEC, HEND, and HSTRT parameters shown below. 0 1 13 RNDTF Random TOFF time 12 11 HDEC1 HDEC0 Hysteresis decrement interval or Fast decay mode 10 9 HEND3 HEND2 Hysteresis end (low) value or Sine wave offset 8 7 HEND1 HEND0 6 5 4 HSTRT2 HSTRT1 HSTRT0 Hysteresis start value or Fast decay time setting Standard mode (SpreadCycle) Constant tOFF with fast decay time. Fast decay time is also terminated when the negative nominal current is reached. Fast decay is after on time. Enable randomizing the slow decay phase duration: 0: Chopper off time is fixed as set by bits tOFF 1: Random mode, tOFF is random modulated by dNCLK= -12 … +3 clocks. CHM=0 Hysteresis decrement period setting, in system clock periods: %00: 16 %01: 32 %10: 48 %11: 64 CHM=1 HDEC1=0: current comparator can terminate the fast decay phase before timer expires. HDEC1=1: only the timer terminates the fast decay phase. HDEC0: MSB of fast decay time setting. CHM=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. CHM=1 %0000 … %1111: Offset is -3, -2, -1, 0, 1, …, 12 This is the sine wave offset and 1/512 of the value becomes added to the absolute value of each sine wave entry. CHM=0 CHM=1 www.trinamic.com Hysteresis start offset from HEND: %000: 1 %100: 5 %001: 2 %101: 6 %010: 3 %110: 7 %011: 4 %111: 8 Effective: HEND+HSTRT must be ≤ 15 Three least-significant bits of the duration of the fast decay phase. The MSB is HDEC0. Fast decay time is a multiple of system clock periods: NCLK= 32 x (HDEC0+HSTRT) TMC2590 DATASHEET (V1.01 / 2019-SEP-18) CHOPCONF Chopper Configuration Bit 3 2 1 0 Function Off time/MOSFET disable Name TOFF3 TOFF2 TOFF1 TOFF0 25 Comment Duration of slow decay phase. If TOFF is 0, the MOSFETs are shut off. If TOFF is nonzero, slow decay time is a multiple of system clock periods: NCLK= 24 + (32 x TOFF) (Minimum time is 64clocks.) %0000: Driver disable, all bridges off %0001: 1 (use with TBL of minimum 24 clocks) %0010 … %1111: 2 … 15 7.7 CoolStep Control Register (SMARTEN) SMARTEN CoolStep Configuration Bit 19 18 17 16 15 Name 1 0 1 0 SEIMIN 14 13 SEDN1 SEDN0 Function Register address bit Register address bit Register address bit Reserved Minimum CoolStep current Current decrement speed 12 11 10 9 8 7 6 5 0 SEMAX3 SEMAX2 SEMAX1 SEMAX0 0 SEUP1 SEUP0 Reserved Upper CoolStep threshold as an offset from the lower threshold Reserved Current increment size 4 3 2 1 0 0 SEMIN3 SEMIN2 SEMIN1 SEMIN0 Reserved Lower CoolStep threshold/CoolStep disable www.trinamic.com Comment 0: ½ CS current setting 1: ¼ CS current setting Number of times that the StallGuard2 value must be sampled equal to or above the upper threshold for each decrement of the coil current: %00: 32 %01: 8 %10: 2 %11: 1 If the StallGuard2 measurement value SG is sampled equal to or above (SEMIN+SEMAX+1) x 32 enough times, then the coil current scaling factor is decremented. Number of current increment steps for each time that the StallGuard2 value SG is sampled below the lower threshold: %00: 1 %01: 2 %10: 4 %11: 8 If SEMIN is 0, CoolStep is disabled. If SEMIN is nonzero and the StallGuard2 value SG falls below SEMIN x 32, the CoolStep current scaling factor is increased. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 26 7.8 StallGuard2 Control Register (SGCSCONF) SGCSCONF StallGuard2™ and Current Setting Bit 19 18 17 16 Name 1 1 0 SFILT Function Register address bit Register address bit Register address bit StallGuard2 filter enable 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 SGT6 SGT5 SGT4 SGT3 SGT2 SGT1 SGT0 0 0 0 CS4 CS3 CS2 CS1 CS0 Reserved StallGuard2 threshold value www.trinamic.com Reserved Reserved Reserved Current scale (scales digital currents A and B) Comment 0: Standard mode, fastest response time. 1: Filtered mode, updated once for each four fullsteps to compensate for variation in motor construction, highest accuracy. The StallGuard2 threshold value controls the optimum measurement range for readout and stall indicator output (SG_TST). A lower value results in a higher sensitivity and less torque is required to indicate a stall. The value is a two’s complement signed integer. Range: -64 to +63 Current scaling for SPI and STEP/DIR operation. %00000 … %11111: 1/32, 2/32, 3/32, … 32/32 This value is biased by 1 and divided by 32, so the range is 1/32 to 32/32. Example: CS=20 is 21/32 current. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 27 7.9 Driver Control Register (DRVCONF) DRVCONF Driver Configuration Bit Name Function 19 18 17 16 1 1 1 TST Register address bit Register address bit Register address bit Reserved TEST mode 15 14 13 12 11 SLPH1 SLPH0 SLPL1 SLPL0 SLP2 10 DIS_S2G 9 8 TS2G1 TS2G0 Slope control, high side Slope control, low side Slope control MSB for high side and low side Short to GND protection disable Short detection delay for high-side and low-side FETs 7 SDOFF STEP/DIR interface disable 6 VSENSE 5 4 RDSEL1 RDSEL0 Sense resistor voltage-based current scaling Select value for read out (RD bits) 3 OTSENS 2 SHRTSENS 1 EN_PFD 0 EN_S2VS www.trinamic.com Overtemperature sensitivity Short to GND detection sensitivity Enable Passive fast decay / 5V undervoltage threshold Short to VS protection / CLK failsafe enable Comment Must be cleared for normal operation. When set, the SG_TST output exposes digital test values, and the TEST_ANA output exposes analog test values. %000: Minimum slope, lowest driver strength … %111: Maximum slope, highest driver strength See table on next page for details 0: Short to GND protection is enabled. 1: Short to GND protection is disabled. %00: 3.2µs. %01: 1.6µs. %10: 1.2µs. %11: 0.8µs. 0: Enable STEP/DIR operation. 1: Disable STEP/DIR operation. SPI interface is used to move motor. 0: Full-scale sense resistor voltage is 325mV. 1: Full-scale sense resistor voltage is 173mV. (Full-scale refers to a current setting of 31.) %00 Microstep position read back %01 StallGuard2 level read back %10 StallGuard2 and CoolStep current level read back %11 All status flags and detectors 0: Shutdown at 150°C 1: Sensitive shutdown at 136°C 0: Low sensitivity 1: High sensitivity – better protection for high side FETs 0: No additional motor dampening. 1: Motor dampening to reduce motor resonance at medium velocity. In addition, this bit reduces the lower nominal operation voltage limit from 7V to 4.5V 0: Short to VS and overload protection disabled 1: Protection enabled. In addition, this bit enables protection against CLK fail, when using an external clock source. TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 28 High side and low side slope control Register setting Description SLP2, SLPH1, SLPH0 Gate driver strength 1 to 7. %000: 1 (Minimum) 7 is maximum current for fastest slopes. %001: 1 (Minimum)+tc. %010: 2+tc Adjust the gate driver strength to the gate charge of the %011: 3 external MOSFETs and check the desired slope. %100: 4+tc %101: 5+tc. In temperature compensated mode (tc), the MOSFET gate driver %110: 6+tc. strength is increased by one count if the overtemperature %111: 7 (Maximum) warning temperature is reached. This compensates for temperature dependency of high-side slope control. SLP2, SLPL1, SLPL0 Gate driver strength 1 to 7. %000: 1 (Minimum) 7 is maximum current for fastest slopes. %001: 1 (Minimum) %010: 2 Adjust the gate driver strength to the gate charge of the %011: 3 external MOSFETs and check the desired slope. %100: 4 %101: 5 %110: 6 %111: 7 (Maximum) www.trinamic.com TMC2590 DATASHEET (V1.01 / 2019-SEP-18) 29 7.10 Read Response For every write command sent to the motor driver, a 20-bit response is returned to the motion controller. The response has one of four formats, as selected by the RDSEL parameter in the DRVCONF register. The table below shows these formats. DRVSTATUS Read Response Bit Function Comment Microstep counter / StallGuard2 SG9:0 / StallGuard2 SG9:5 and CoolStep SE4:0 / Diagnostic status Microstep position in sine table for coil A in STEP/DIR mode. MSTEP9 is the Polarity bit: 0: Current flows from OA1 pins to OA2 pins. 1: Current flows from OA2 pins to OA1 pins. StallGuard2 value SG9:0. StallGuard2 value SG9:5 and the actual CoolStep scaling value SE4:0. Full diagnostic: