POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC262 / TMC262C DATASHEET
Universal, cost-effective stepper driver for two-phase bipolar motors with state-of-the-art features.
External MOSFETs fit different motor sizes. With Step/Dir Interface and SPI.
APPLICATIONS
FEATURES
AND
Textile, Sewing Machines
Factory Automation
Lab Automation
Liquid Handling
Medical
Office Automation
Printer and Scanner
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
Heliostat Controller
CNC Machines
BENEFITS
High Motor Current up to 10A using external (N&P) MOSFETs.
DESCRIPTION
Highest Voltage up to 60V DC operating voltage
The TMC262/TMC262C drivers for two-phase
stepper motors offer an industry-leading
feature set, including high-resolution
micro-stepping, sensorless mechanical load
measurement, load-adaptive power optimization, and low-resonance chopper operation. Standard SPI™ and STEP/DIR
interfaces simplify communication. The
TMC262 uses four external N- and Pchannel dual-MOSFETs for motor currents
up to 8A RMS and up to 60V. Integrated
protection and diagnostic features support
robust and reliable operation.
High integration, high energy efficiency
and small form factor enable miniaturized
designs with low external component
count for cost-effective and highly
competitive solutions.
The new –C device improves motor silence
and adds low side short protection.
Highest Resolution up to 256 microsteps per full step
Small Size 5x5mm QFN32 package
Low Power Dissipation synchronous rectification
EMI-optimized slope & current controlled gate drivers
Protection & Diagnostics short to GND, overtemperature &
undervoltage; short to VS & overcurrent (TMC262C only)
StallGuard2™ high precision sensorless motor load detection
CoolStep™ load dependent current control saves up to 75%
MicroPlyer™ 256 microstep smoothness with 1/16 step input.
SpreadCycle™ high-precision chopper for best current sine
wave form and zero crossing
Improved Silent Motor operation (TMC262C only)
Clock Failsafe option for external clock (TMC262C only)
BLOCK DIAGRAM
+VM
TMC262
STEP
DIR
CSN
SCK
SDI
SDO
Step Multiplier
VCC_IO
Gate driver
Gate Driver
Sine Table
4*256 entry
SPI control,
Config & Diags
Protection
& Diagnostics
x
HS
S
Chopper
N
BM
Gate driver
Gate Driver
2 Phase
Stepper
LS
coolStep™
RS
stallGuard2™
2 x Current
Comparator
SG_TST
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
2 x DAC
RS
RS
TMC262/TMC262C DATASHEET (V2.22 / 2019-FEB-22)
2
APPLICATION EXAMPLES: HIGH POWER – SMALL SIZE
The TMC262/TMC262C scores with its 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.
STEPROCKER™
The driver stage shown uses 6A-capable dual MOSFETs. All cooling
requirements are satisfied by passive convection cooling. The
stepRocker is supported by the motioncontrol-community, with
forum, applications, schematics, open source projects, demos etc.:
Layout with 6A MOSFETs
TMCM-MODULE FOR NEMA 11 STEPPER MOTORS
This miniaturized power stage drives up to 1.2A RMS and mounts
directly on a 28mm-size motor. Tiny TSOP6 dual MOSFETs enable an
ultra-compact and flexible PCB layout.
Miniaturized Layout
TMC262-EVAL DEVELOPMENT PLATFORM
This evaluation board is a development platform for applications
based on the TMC262C.
External power MOSFETs support drive currents up to 4A RMS and
up to 40V peak supply voltage.
The evaluation board system based on the CPU board
LANDUNGSBRÜCKE 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.
Layout for Evaluation
ORDER CODES
Device
TMC262-LA
TMC262C-LA
TMC262x-LA-T
TMC262+TMC1420-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
PN
00-0075
00-0167
…T
Description
CoolStep™ driver for external MOSFETs, QFN32
CoolStep™ driver for external MOSFETs, QFN32
-T devices are packaged in tape on reel (x=empty or C)
Evaluation board for TMC262C
Baseboard for evaluation boards
Connector board for plug-in evaluation board system
Size
5 x 5 mm2
5 x 5 mm2
85 x 55
85 x 55
61 x 38
*) The Term TMC262 is used for TMC262 or TMC262C within this datasheet. Differences in the TMC262C
are explicitly marked with TMC262C. See summary in section 14.
www.trinamic.com
TMC262/TMC262C DATASHEET (V2.22 / 2019-FEB-22)
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
13
SYSTEM CLOCK ................................................ 47
STANDARD APPLICATION CIRCUIT.................. 9
TUNING THE STALLGUARD2 THRESHOLD ......11
STALLGUARD2 MEASUREMENT FREQUENCY
AND FILTERING ............................................12
DETECTING A MOTOR STALL ........................13
LIMITS OF STALLGUARD2 OPERATION .........13
COOLSTEP LOAD-ADAPTIVE CURRENT
CONTROL ...........................................................14
5.1
TUNING COOLSTEP ......................................16
SPI INTERFACE ................................................17
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
BUS SIGNALS...............................................17
BUS TIMING ................................................17
BUS ARCHITECTURE .....................................18
REGISTER WRITE COMMANDS ......................19
DRIVER CONTROL REGISTER (DRVCTRL) ....21
CHOPPER CONTROL REGISTER (CHOPCONF) ..
...................................................................23
COOLSTEP CONTROL REGISTER (SMARTEN) ...
...................................................................24
STALLGUARD2 CONTROL REGISTER
(SGCSCONF) .............................................25
DRIVER CONTROL REGISTER (DRVCONF) ...26
READ RESPONSE ..........................................27
DEVICE INITIALIZATION ...............................28
STEP/DIR INTERFACE.....................................29
7.1
7.2
7.3
7.4
7.5
8
TIMING ........................................................29
MICROSTEP TABLE .......................................30
CHANGING RESOLUTION ..............................31
MICROPLYER STEP INTERPOLATOR ...............31
STANDSTILL CURRENT REDUCTION ...............32
CURRENT SETTING ..........................................33
8.1
9
SENSE RESISTORS ........................................34
CHOPPER OPERATION ...................................35
9.1
9.2
10
SHORT PROTECTION..................................... 43
OPEN-LOAD DETECTION .............................. 44
TEMPERATURE SENSORS............................... 45
UNDERVOLTAGE DETECTION......................... 45
INTERNAL ARCHITECTURE ............................. 8
4.3
4.4
7
11.1
11.2
11.3
11.4
POWER SUPPLY SEQUENCING .................... 46
4.1
4.2
6
DIAGNOSTICS AND PROTECTION ............. 43
12
STALLGUARD2 LOAD MEASUREMENT .......10
5
11
ENN INPUT ................................................. 41
SLOPE CONTROL .......................................... 41
PACKAGE OUTLINE ......................................... 6
SIGNAL DESCRIPTIONS .................................. 6
3.1
4
10.2
10.3
SPREADCYCLE CHOPPER ...............................36
CLASSIC CONSTANT OFF-TIME CHOPPER .....39
POWER MOSFET STAGE ................................41
10.1
BREAK-BEFORE-MAKE LOGIC ........................41
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13.1
FREQUENCY SELECTION ................................ 48
14
TMC262C COMPATIBILITY ........................... 49
15
MOSFET EXAMPLES ......................................... 50
16
LAYOUT CONSIDERATIONS ......................... 51
16.1
16.2
16.3
16.4
SENSE RESISTORS........................................ 51
EXPOSED DIE PAD....................................... 51
POWER FILTERING ....................................... 51
LAYOUT EXAMPLE ........................................ 52
17
ABSOLUTE MAXIMUM RATINGS ................. 54
18
ELECTRICAL CHARACTERISTICS ................. 55
18.1
18.2
19
OPERATIONAL RANGE .................................. 55
DC AND AC SPECIFICATIONS ...................... 55
PACKAGE MECHANICAL DATA .................... 59
19.1
19.2
DIMENSIONAL DRAWINGS ........................... 59
PACKAGE CODE ........................................... 59
20
DISCLAIMER ..................................................... 60
21
ESD SENSITIVE DEVICE ................................ 60
22
TABLE OF FIGURES ......................................... 61
23
REVISION HISTORY ....................................... 62
24
REFERENCES ...................................................... 62
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
1
4
Principles of Operation
0A+
High-Level
Interface
µC
S/D
MOSFET
TMC262
Driver
Stage
SPI
High-Level
Interface
µC
SPI
S
N
0B+
0B-
0A+
TMC429
Motion
Controller
for up to
3 Motors
0A-
S/D
TMC262
MOSFET
Driver
Stage
0A-
S
N
0B+
0B-
SPI
Figure 1.1 Applications block diagrams
The TMC262 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 TMC262. 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.
The motion controller can control the motor position by sending pulses on the STEP signal while
indicating the direction on the DIR signal. The TMC262 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 TMC262 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 TMC262 and TMC429 through the SPI
bus.
1.1 Key Concepts
The TMC262 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
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
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 must be used to initialize parameters and modes
necessary to enable driving the motor. 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.
The STEP/DIR interface is a traditional motor control interface available for adapting existing designs
to use TRINAMIC motor drivers. Using only the SPI interface requires slightly more CPU overhead to
look up the sine tables and send out new current values for the coils.
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 TMC262 slave always consists of sending one 20-bit
command word and receiving one 20-bit status word.
For purely SPI-controlled operation, the SPI command rate typically corresponds to the microstep rate
at low velocities. At high velocities, the rate may be limited by CPU bandwidth to 10-100 thousand
commands per second, so the application may need to change to fullstep resolution.
1.2.2 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 another 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 TMC262 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
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
2
6
Pin Assignments
TST_ANA
VS
7
14
15
16
CSN
ENN
CLK
SDI
13
GND
SDO
12
SCK
11
5VOUT
8
10
24
SG_TST
6
9
23
GNDP
TMC 262-LA
VHS
HB1
22
VCC_IO
25
HB2
21
DIR
26
BMB2
20
STEP
27
5
SRA
28
BMB1
19
4
LA2
29
LB1
18
3
BMA2
LA1
30
LB2
17
HA2
BMA1
31
2
HA1
32
1
GND
TST_MODE
2.1 Package Outline
SRB
Top view
Figure 2.1 TMC262 pin assignments
2.2 Signal Descriptions
Pin
GND, GNDP,
exposed
pad
HA1
HA2
HB1
HB2
BMA1
BMA2
BMB1
BMB2
LA1
LA2
LB1
LB2
SRA
SRB
Number
1
13
28
2
3
23
22
5
4
20
21
6
7
19
18
8
17
www.trinamic.com
Type
O (VS)
Function
GND pads for different parts of the internal circuitry. Tie all GND
pins and the die attach pad to a solid common GND plane. Directly
connect the sense resistor GND side to this 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 to GND protection.
May be tied to VS if unused.
O 5V
Low side MOSFET driver output. Becomes driven to 5VOUT to switch
on MOSFET.
AI
Sense resistor input of chopper driver.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
Pin
Number
5VOUT
9
SDO
SDI
10
11
DO VIO
DI VIO
SCK
12
DI VIO
CSN
ENN
CLK
14
15
16
DI VIO
DI VIO
DI VIO
VHS
VS
TST_ANA
SG_TST
VCC_IO
24
25
26
27
29
DIR
30
DI VIO
STEP
TST_MODE
31
32
DI VIO
DI VIO
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Type
AO VIO
DO VIO
7
Function
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 and connect the other side to the GND
plane. 470nF ceramic is sufficient for most applications; an
additional low-ESR capacitor (10µF or more) improves performance
with high gate charge MOSFETs.
Data output of SPI interface (Tristate)
Data input of SPI interface
(Scan test input in test mode)
Serial clock input of SPI interface
(Scan test shift enable input in test mode)
Chip select input of SPI interface
Enable not input for drivers. Switches off all MOSFETs.
Clock input for all internal operations. Tie low to use internal
oscillator. The first high signal disables the internal oscillator until
power down.
High side supply voltage (motor supply voltage VS - 10V)
Motor supply voltage
Analog mode test output. Leave open for normal operation.
StallGuard2™ output. Signals motor stall (high active).
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 60ns is provided.
Step input. An internal glitch filter for 60ns is provided.
Test mode input. Puts IC into test mode. Tie to GND for normal
operation using a short wire to GND plane.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
3
8
Internal Architecture
Figure 3.1 shows the internal architecture of the TMC262.
+VM 9-59V
VHS
220n
16V
100n
VS
TMC262
+VCC
VCC_IO
3.3V or 5V
VS-10V
linear
regulator
OSC
15MHz
D
100n
5V linear
regulator
5VOUT
5V supply
470nF
Provide sufficient filtering capacity
near bridge transistors (electrolyt
capacitors and ceramic capacitors)
slope HS VHS
8-20MHz
CLK
Clock
selector
D
P-Gate
drivers
ENABLE
STEP
step & dir
(optional)
DIR
Step &
Direction
interface
D
D
Phase polarity
ENABLE
CSN
SCK
SPI
SDI
SDO
D
N-Gate
drivers
9
M
U
X
D
D
Break
before
make
SPI interface
9
D
slope LS +5V
DAC
SG_TST
S
HA2
G
S
G
P
D
BMA1
P
D
BMA2
motor coil A
D
LA2
D
N
G
LA1
N
G
S
S
SRA
RSENSE
100mΩ for 2.8A peak
(resp. 1.5A peak)
RSENSE
100mΩ for 2.8A peak
(resp. 1.5A peak)
10R
optional input protection
resistors against inductive sparks
upon motor cable break
DAC
slope LS +5V
SRB
10R
D
CoolStep
Energy
efficiency
stallGuard
output
Short to
GND
detectors
HA1
VREF
Digital
control
D
Chopper
logic
0.16V
0.30V
TEST_SE
SIN &
COS
VSENSE
Step multiply
16 à 256
Sine wave
1024 entry
+VM
CLK
D
N-Gate
drivers
stallGuard 2
BACK
EMF
Protection &
Diagnostics
SHORT
TO GND
Phase polarity
Chopper
logic
Break
before
make
Short to
GND
detectors
LB1
S
G
LB2
S
G
N
D
motor coil B
BMB2
BMB1
D
ENABLE
Temperature
sensor
100°C, 150°C
P-Gate
drivers
slope HS VHS
DIE PAD
GND
N
D
HB2
D
P
G
P
G
S
S
HB1
+VM
TEST_ANA
Figure 3.1 TMC262 block diagram
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 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 pulse 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.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
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
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
TMC262
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
TEST OUT
Use low inductivity SMD
type, e.g. 1210 or 2512
resistor for RS!
GND
DIE PAD
TST_MODE
pd
DRV_ENN
TST_ANA
47R
RS
pd
Leave unconnected
Keep inductivity of the fat
interconnections as small as
possible to avoid ringing!
LA2
Tie to the same GND plane
as the sense resistor s GND
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 8 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
TMC262 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.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
4
10
StallGuard2 Load Measurement
StallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as CoolStep loadadaptive current reduction. (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 4.1. 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 4.1 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. Operating at values below
-10 is not recommended.
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.
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Setting
0
Comment
indifferent value
+1… +63
less sensitivity
-1… -64
higher sensitivity
0
1
standard mode
filtered mode
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
Status word
SG
Description
10-bit unsigned integer StallGuard2 measurement value. 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.
11
Range
0… 1023
Comment
0: highest load
low value: high load
high value: less load
4.1 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.
4.1.1 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 4.2. This figure shows an optimal SGT curve in black and a two-point interpolated SGT curve in
red.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
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
200
250
12
300
350
400
450
back EMF reaches
supply voltage
500
550
600
Motor RPM
(200 FS motor)
Figure 4.2 Linear interpolation for optimizing SGT with changes in velocity
4.1.2 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.
4.1.3 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.
4.1.4 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|)
4.2 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.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
13
4.3 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.
4.4 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.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
5
14
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 5.1 Energy efficiency example with CoolStep
Figure 5.1 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.
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Comment
lower StallGuard
threshold:
SEMINx32
upper StallGuard
threshold:
(SEMIN+SEMAX+1)x32
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
15
mechanical load
stallGuard2
reading
motor current
Figure 5.2 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 5.2 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.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
16
5.1 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.
5.1.1 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.
5.1.2 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
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
6
17
SPI Interface
The TMC262 allows full control over all configuration parameters and mode bits through the SPI
interface. An initialization is required prior to motor operation. The SPI interface also allows reading
back status values and bits.
6.1 Bus Signals
The SPI bus on the TMC262 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 TMC262.
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.
6.2 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 6.1 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 6.1 SPI Timing
Hint
Usually this SPI timing is referred to as SPI MODE 3
www.trinamic.com
bit18
bit0
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
18
AC-Characteristics
clock period is tCLK
SPI Interface Timing
Parameter
SCK valid before or after change
of CSN
CSN high time
Symbol
Conditions
Min
tCC
Typ
Max
Unit
10
ns
*)
fSCK
Min time is for
synchronous CLK
with SCK high one
t 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
tCLK
>2tCLK
+10
ns
tCLK
>tCLK+10
ns
tCLK
>tCLK+10
ns
CH
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
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
6.3 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
TMC429
triple stepper motor
controller
nSCS_C
SCK_C
SDI_C
SDOZ_C
nINT
SPI to master
Interrupt
controller
Reference switch
processing
n
Motio
3x linear RAMP
generator
ro
cont
Step &
Direction
pulse
generation
Position
comparator
Microstep
table
CLK
Realtime event trigger
l
VCC_IO
S1 (SDO_S)
STEP
D1 (SCK_S)
Output select
SPI or
Step & Dir
er
r Driv
M o to
TMC262
S2 (nSCS_S)
D2 (SDI_S)
S3 (nSCS_2)
D3 (nSCS_3)
DIR
Driver 2
Driver 3
Serial driver
interface
CSN
SCK
SDI
SDO
Step Multiplier
3 x REF_L, REF_R
SPI control,
Config & Diags
Protection
& Diagnostics
POSCOMP
x
Sine Table
4*256 entry
Gate driver
Gate Driver
HS
S
Chopper
Gate driver
Gate Driver
2 Phase
Stepper
LS
coolStep™
RS
stallGuard2™
Virtual stop switch
2 x Current
Comparator
2 x DAC
RS
RS
SG_TST
Second driver and motor
Motion command
SPI(TM)
System interfacing
Configuration and
diagnostics SPI(TM)
User CPU
m
Syste
ro
cont
Third driver and motor
l
Figure 6.2 Interfaces to a TMC429 motion controller chip and a TMC262 motor driver
Figure 6.2 shows the interfaces in a typical application. The SPI bus is used 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.
www.trinamic.com
N
BM
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
19
6.4 Register Write Commands
An SPI bus transaction to the TMC262 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.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
20
6.4.1 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
0
DISS2G
TS2G1
TS2G0
SDOFF
VSENSE
RDSEL1
RDSEL0
OTSENS *)
SHRTSENS *)
0
EN_S2VS *)
*) Additional option for TMC262C only. Setting these bits for TMC262 does not have any effect.
6.4.2 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
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
STST
OLB
OLA
S2GB
S2GA
OTPW
OT
SG
SG9
SG8
SG7
SG6
SG5
SG4
SG3
SG2
SG1
SG0
-
SG9
SG8
SG7
SG6
SG5
SE4
SE3
SE2
SE1
SE0
-
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
21
6.5 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.
6.5.1 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
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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.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
22
6.5.2 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
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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 90°:
%0000: 256
%0001: 128
%0010: 64
%0011: 32
%0100: 16
%0101: 8
%0110: 4
%0111: 2 (halfstep)
%1000: 1 (fullstep)
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
23
6.6 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
Standard mode (SpreadCycle)
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
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)
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
CHOPCONF
Chopper Configuration
Bit
3
2
1
0
Function
Off time/MOSFET
disable
Name
TOFF3
TOFF2
TOFF1
TOFF0
24
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
6.7 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.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
25
6.8 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. Values
below -10 are not recommended.
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.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
26
6.9 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
SLPH1
SLPH0
Slope control, high
side
13
12
SLPL1
SLPL0
Slope
side
11
10
0
DISS2G
9
8
TS2G1
TS2G0
Reserved
Short to GND
protection disable
Short to GND
detection timer
7
SDOFF
STEP/DIR interface
disable
6
VSENSE
Sense resistor
voltage-based current
scaling
5
4
RDSEL1
RDSEL0
Select value for read
out (RD bits)
3
OTSENS
*)
SHRTSENS
*)
0
EN_S2VS
*)
Overtemperature
sensitivity
Short to GND
detection sensitivity
Reserved
Enable short to VS &
CLK fail protection
2
1
0
control,
Comment
low
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. Test value
selection is controlled by SGT1 and SGT0:
TEST_ANA:
%00: anatest_2vth,
%01: anatest_dac_out,
%10: anatest_vdd_half.
SG_TST:
%00: comp_A,
%01: comp_B,
%10: CLK,
%11: on_state_xy
%00: Minimum
%01: Minimum (+tc)
%10: Medium (+tc)
%11: Maximum
In temperature compensated mode (tc), the high-side
MOSFET gate driver strength is increased if the
overtemperature warning temperature is reached. This
compensates for temperature dependency of high-side
slope control.
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 305mV.
1: Full-scale sense resistor voltage is 165mV.
(Full-scale refers to a current setting of 31 and a DAC
value of 255.)
%00
Microstep position read back
%01
StallGuard2 level read back
%10
StallGuard2 & CoolStep current level read back
%11
Reserved, do not use
0: Shutdown at 150°C
1: Sensitive shutdown at 136°C
0: Low sensitivity
1: High sensitivity – better protection for high side FETs
0: Short to VS and clock failsafe protection disabled
1: Short to VS / overcurrent protection enabled. In
addition, enables protection against clock input CLK fail,
when using an external clock source.
*) These three bits have a function for TMC262C only. Setting these bits for TMC262 does not have any
effect. The TMC262 and TMC262C behave identically with setting 0.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
27
6.10 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 three formats, as selected by the RDSEL parameter in the
DRVCONF register. The table below shows these formats. Software must not depend on the value of
any bit shown as reserved.
DRVSTATUS
Read Response
Bit
Function
Comment
Microstep counter
for coil A
or
StallGuard2 value
SG9:0
or
StallGuard2 value
SG9:5 and
CoolStep value
SE4:0
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.
-
Unused bits
Standstill
indicator
0: No standstill condition detected.
1: No active edge occurred on the STEP
input during the last 220 system clock cycles.
0: No open load condition detected.
1: No chopper event has happened during
the last period with constant coil polarity.
Only a current above 1/16 of the maximum
setting can clear this bit!
Hint: This bit is only a status indicator. The
chip takes no other action when this bit is
set. False indications may occur during fast
motion and at standstill. Check this bit only
during slow motion.
0: No short condition.
1: Short condition.
The short counter is incremented by each
short circuit and the chopper cycle is
suspended. The counter is decremented for
each phase polarity change. The MOSFETs are
shut off when the counter reaches 3 and
remain shut off until the shutdown condition
is cleared by disabling and re-enabling the
driver. The shutdown condition becomes
reset by de-asserting the ENN input or
clearing the TOFF parameter.
0: No overtemperature warning condition.
1: Warning threshold is active.
0: No overtemperature shutdown condition.
1: Overtemperature shutdown has occurred.
0: No motor stall detected.
1: StallGuard2 threshold has been reached,
and the SG_TST output is driven high.
Name
RDSEL=%00
%01
%10
19
18
17
16
15
14
13
12
11
10
9
8
7
MSTEP9
MSTEP8
MSTEP7
MSTEP6
MSTEP5
MSTEP4
MSTEP3
MSTEP2
MSTEP1
MSTEP0
0
0
STST
SG9
SG8
SG7
SG6
SG5
SG4
SG3
SG2
SG1
SG0
SG9
SG8
SG7
SG6
SG5
SE4
SE3
SE2
SE1
SE0
6
5
OLB
OLA
Open load
indicator
4
3
S2GB
S2GA
Short detection
status
2
OTPW
1
OT
0
SG
Overtemperature
warning
Overtemperature
shutdown
StallGuard2 status
www.trinamic.com
StallGuard2 value SG9:0.
StallGuard2 value SG9:5 and the actual
CoolStep scaling value SE4:0.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
28
6.11 Device Initialization
The following sequence of SPI commands is an example of enabling the driver and initializing the
chopper:
SPI = $901B4;
// Hysteresis mode
SPI = $94557;
// Constant toff mode
SPI = $D001F;
// Current setting: $d001F (max. current)
SPI = $EF010;
// high gate driver strength, StallGuard read, SDOFF=0
SPI = $00000;
// 256 microstep setting
or
First test of CoolStep current control:
SPI = $A0222;
// Enable CoolStep with minimum current ½ CS
The configuration parameters should be tuned to the motor and application for optimum
performance.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
7
29
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 and reduces pulse
bandwidth.
7.1 Timing
Figure 7.1 shows the timing parameters for the STEP and DIR signals, and the table below gives their
specifications. When the DEDGE mode bit in the DRVCTRL register is set, both edges of STEP are
active. If DEDGE is cleared, 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.
DIR
tSH
tDSU
tSL
tDSH
STEP
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
Figure 7.1 STEP/DIR timing
STEP and DIR Interface Timing
AC-Characteristics
clock period is tCLK
Parameter
Step frequency (at maximum
microstep resolution)
Symbol Conditions
fSTEP
DEDGE=0
DEDGE=1
fFS
tSL
Fullstep frequency
STEP input low time
STEP input high time
tSH
DIR to STEP setup time
DIR after STEP hold time
STEP and DIR spike filtering
time TMC262
STEP and DIR spike filtering
time TMC262C *)
STEP and DIR sampling relative
to rising CLK input
tDSU
tDSH
tFILTSD
tFILTSD
tSDCLKHI
Rising and falling
edge
Rising and falling
edge
Before rising edge
of CLK
Min
Typ
Max
½ fCLK
¼ fCLK
fCLK/512
max(tFILTSD,
tCLK+20)
max(tFILTSD,
tCLK+20)
ns
20
20
36
60
85
ns
ns
ns
12
20
40
ns
ns
tFILTSD
*) The TMC262C has reduced filter time in order to reduce the danger of skipped step pulses
www.trinamic.com
Unit
ns
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
30
7.2 Microstep Table
The internal microstep table maps the sine function from 0° to 90°, and symmetries allow mapping
the sine and cosine functions from 0° to 360° with this table. The angle is encoded as a 10-bit
unsigned integer MSTEP provided by the microstep counter. The size of the increment applied to the
counter while microstepping through this table is controlled by the microstep resolution setting MRES
in the DRVCTRL register. Depending on the DIR input, the microstep counter is increased (DIR=0) or
decreased (DIR=1) by the step size with each STEP active edge. Despite many entries in the last
quarter of the table being equal, the electrical angle continuously changes, because either the sine
wave or cosine wave is in an area, where the current vector changes monotonically from position to
position. Figure 7.2 shows the table. The largest values are 248, which leaves headroom used for
adding an offset.
Entry
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
0-31
1
2
4
5
7
8
10
11
13
14
16
17
19
21
22
24
25
27
28
30
31
33
34
36
37
39
40
42
43
45
46
48
32-63
49
51
52
54
55
57
58
60
61
62
64
65
67
68
70
71
73
74
76
77
79
80
81
83
84
86
87
89
90
91
93
94
64-95
96
97
98
100
101
103
104
105
107
108
109
111
112
114
115
116
118
119
120
122
123
124
126
127
128
129
131
132
133
135
136
137
96-127
138
140
141
142
143
145
146
147
148
150
151
152
153
154
156
157
158
159
160
161
163
164
165
166
167
168
169
170
172
173
174
175
128-159
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
201
202
203
204
205
206
160-191
207
207
208
209
210
211
212
212
213
214
215
215
216
217
218
218
219
220
220
221
222
223
223
224
225
225
226
226
227
228
228
229
192-223
229
230
231
231
232
232
233
233
234
234
235
235
236
236
237
237
238
238
238
239
239
240
240
240
241
241
241
242
242
242
243
243
Figure 7.2 Internal microstep table showing the first quarter of the sine wave
www.trinamic.com
224-255
243
244
244
244
244
245
245
245
245
246
246
246
246
246
247
247
247
247
247
247
247
247
248
248
248
248
248
248
248
248
248
248
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
31
7.3 Changing Resolution
The application may need to change the microstepping resolution to get the best performance from
the motor. For example, high-resolution microstepping may be used for precision operations on a
workpiece, and then fullstepping may be used for maximum torque at maximum velocity to advance
to the next workpiece. When changing to coarse resolutions like fullstepping or halfstepping,
switching should occur at or near positions that correspond to steps in the lower resolution, as
shown in the table below.
Step Position
Half step 0
Full step 0
Half step 1
Full step 1
Half step 2
Full step 2
Half step 3
Full step 3
MSTEP Value
0
128
256
384
512
640
768
896
Coil A Current
0%
70.7%
100%
70.7%
0%
-70.7%
-100%
-70.7%
Coil B Current
100%
70.7%
0%
-70.7%
-100%
-70.7%
0%
70.7%
7.4 MicroPlyer Step Interpolator
For each active edge on STEP, MicroPlyer produces 16 microsteps at 256x resolution, as shown in
Figure 7.3. MicroPlyer is enabled by setting the INTPOL bit in the DRVCTRL register. It supports input
at 16x resolution, which it transforms into 256x resolution. The step rate for each 16 microsteps is
determined by measuring the time interval of the previous step period and dividing it into 16 equal
parts. The maximum time between two active edges on the STEP input corresponds to 220 (roughly
one million) system clock cycles, for an even distribution of 1/256 microsteps. At 16MHz system clock
frequency, this results in a minimum step input frequency of 16Hz for MicroPlyer operation (one
fullstep per second). A lower step rate causes the STST bit to be set, which indicates a standstill
𝑠𝑦𝑠𝑡𝑒𝑚 𝑐𝑙𝑜𝑐𝑘 𝑓𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
event. At that frequency, microsteps occur at a rate of
= 244𝐻𝑧.
16
2
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
Attention
MicroPlyer only works well with a stable STEP frequency. Do not use the DEDGE option if the STEP
signal does not have a 50% duty cycle.
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 7.3 MicroPlyer microstep interpolation with rising STEP frequency
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
32
In Figure 7.3, the first STEP cycle is long enough to set the STST bit. This bit is cleared on the next
STEP active edge. Then, the STEP frequency increases and after one cycle at the higher rate MicroPlyer
increases the interpolated microstep rate. During the last cycle at the slower rate, MicroPlyer did not
generate all 16 microsteps, so there is a tiny jump in motor angle between the first and second cycles
at the higher rate.
7.5 Standstill Current Reduction
When a standstill event is detected, the motor current should be reduced to save energy and to
reduce heat dissipation in the power MOSFET stage. Especially halfstep positions are worst-case for
motor and driver with regard to the distribution of the power dissipation, because the full energy is
consumed in one bridge and one motor coil.
Hint
Implement a current reduction to 10% to 75% of the required run current for motor standstill. This
saves more than 50% to more than 90% of energy. The actual level depends on the required holding
force and on the required microstep precision during standstill. In standalone mode, a reduction to
50% current is possible using a configuration input.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
8
33
Current Setting
The internal 5V supply voltage available at the pin 5VOUT is used as a reference for the coil current
regulation based on the sense resistor voltage measurement. The desired maximum motor current is
set by selecting an appropriate value for the sense resistor. The sense resistor voltage range can be
selected by the VSENSE bit in the DRVCONF register. The low sensitivity (high sense resistor voltage,
VSENSE=0) brings best and most robust current regulation, while high sensitivity (low sense resistor
voltage, VSENSE=1) reduces power dissipation in the sense resistor. This setting reduces the power
dissipation in the sense resistor by nearly half.
After choosing the VSENSE setting and selecting the sense resistor, the currents to both coils are
scaled by the 5-bit current scale parameter CS in the SGCSCONF register. The sense resistor value is
chosen so that the maximum desired current (or slightly more) flows at the maximum current setting
(CS = %11111).
Using the internal sine wave table, which has amplitude of 248, the RMS motor current can be
calculated by:
𝐼𝑅𝑀𝑆 =
𝐶𝑆 + 1
𝑉𝐹𝑆
1
∗
∗
32
𝑅𝑆𝐸𝑁𝑆𝐸 √2
The momentary motor current is calculated as:
𝐼𝑀𝑂𝑇 =
𝐶𝑈𝑅𝑅𝐸𝑁𝑇𝐴/𝐵 𝐶𝑆 + 1
𝑉𝐹𝑆
∗
∗
248
32
𝑅𝑆𝐸𝑁𝑆𝐸
where:
CS is the effective current scale setting as set by the CS bits and modified by CoolStep. The effective
value ranges from 0 to 31.
VFS is the sense resistor voltage at full scale, as selected by the VSENSE control bit (refer to the
electrical characteristics).
CURRENTA/B is the value set by the current setting in SPI mode or the internal sine table in STEP/DIR
mode.
Parameter
CS
VSENSE
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™.
Allows control of the sense resistor voltage
range or adaptation of one electronic module to
different maximum motor currents.
www.trinamic.com
Setting
0 … 31
Comment
Scaling factor:
1/32, 2/32, … 32/32
0
310mV
1
165mV
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
34
8.1 Sense Resistors
Sense resistors should be carefully selected. The full motor current flows through the sense resistors.
As they also see the switching spikes from the MOSFET bridges, a low-inductance type such as film or
composition resistors is required to prevent spikes causing ringing. A compact power stage layout
with massive GND plane for low-inductance and low-resistance is essential to avoid disturbance by
parasitic effects. Any common GND path for the two sense resistors must be avoided, because this
would lead to coupling between the two current sense signals. Use the massive ground plane for all
GND connections. When using high currents or long motor cables, spike damping with parallel
capacitors to ground may be needed, as shown in Figure 8.1. Because the sense resistor inputs are
susceptible to damage from negative overvoltages, an additional input protection resistor helps
protect against a motor cable break or ringing on long motor cables.
MOSFET
bridge
SRA
10R to 47R
optional input
protection resistors
470nF
RSENSE
GND
TMC262
Power
supply GND
optional filter
capacitors
SRB
no common GND path
not visible to TMC262
470nF
RSENSE
10R to 47R
MOSFET
bridge
Figure 8.1 Sense resistor grounding and protection components
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 sees less
than 50% of the coil RMS current, because no current flows through the sense resistor during the
slow decay phases. The peak sense resistor power dissipation is:
𝑃𝑅𝑆𝑀𝐴𝑋 =
(𝑉𝑆𝐸𝑁𝑆𝐸 ∗
𝐶𝑆 + 1 2
)
32
𝑅𝑆𝐸𝑁𝑆𝐸
For high-current applications, halve power dissipation by using the lower sense resistor voltage
setting and the corresponding lower resistance value.
Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The
following table shows the RMS current values which are reached using standard resistors. The
resulting application current may vary due to slow decay phase effects and trace resistance.
CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT FOR CS=31
RSENSE [Ω]
0.33
0.27
0.22
0.15
0.12
0.10
0.075
0.066
0.050
RMS current [A] VSENSE=0
0.7
0.8
1.0
1.5
1.8
2.2
3
3.3
4.4
www.trinamic.com
RMS current [A] VSENSE=1
0.35
0.43
0.53
0.8
1.0
1.2
1.6
1.8
2.3
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
9
35
Chopper Operation
The currents through both motor coils are controlled using choppers. The choppers work
independently of each other. Figure 9.1 shows the three chopper phases:
+VM
+VM
+VM
ICOIL
ICOIL
ICOIL
RSENSE
RSENSE
On Phase:
current flows in
direction of target
current
Fast Decay Phase:
current flows in
opposite direction
of target current
RSENSE
Slow Decay Phase:
current re-circulation
Figure 9.1 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.
There are two chopper modes available: a new high-performance chopper algorithm called
SpreadCycle and a proven constant off-time chopper mode. The constant off-time mode cycles through
three phases: on, fast decay, and slow decay. The SpreadCycle mode cycles through four phases: on,
slow decay, fast decay, and a second slow decay.
Three parameters are used for controlling both chopper modes:
Parameter
TOFF
Description
Setting
Off time. This setting controls the duration of the 0
slow decay time and limits the maximum 1… 15
chopper frequency. For most applications an off
time within the range of 5µs to 20µs will fit.
If the value is 0, the MOSFETs are all shut off and
the motor can freewheel.
A value of 1 to 15 sets the number of system
clock cycles in the slow decay phase to:
𝑁𝐶𝐿𝐾 = (𝑇𝑂𝐹𝐹 ∙ 32) + 12
The SD-Time is
1
𝑡 =
∙ 𝑁𝐶𝐿𝐾
𝑓𝐶𝐿𝐾
www.trinamic.com
Comment
Chopper off.
Off time setting.
A setting in the range
of 2-5 is
recommended for
SpreadCycle, higher
values for classic
chopper.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
Parameter
TBL
CHM
Description
Blanking time. This time needs to cover the
switching event and the duration of the ringing
on the sense resistor. For most low-current
applications, a setting of 16 or 24 is good. For
high-current applications, a setting of 36 or 54
may be required.
Chopper mode bit
36
Setting
0
1
2
3
Comment
16 system
24 system
36 system
54 system
0
1
SpreadCycle mode
Constant off time
mode
clock
clock
clock
clock
cycles
cycles
cycles
cycles
9.1 SpreadCycle Chopper
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 9.4). 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 − 24)/32
With 12 MHz clock this gives a setting of TOFF=3.0, i.e. 3.
With 16 MHz clock this gives a setting of TOFF=4.25, 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 9.2). 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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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
37
Figure 9.2 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 detail tuning 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. Choosing a medium default value for the hysteresis (for
example, effective HSTRT+HEND=10) 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, for
example when the coil resistance is high 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 these settings, by decrementing the hysteresis
value stepwise each 16, 32, 48, or 64 system clock cycles. 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.
I
target current + hysteresis start
HDEC
target current + hysteresis end
target current
target current - hysteresis end
target current - hysteresis start
on
sd
fd
sd
t
Figure 9.3 SpreadCycle chopper mode showing the coil current during a chopper cycle
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
38
Three parameters control SpreadCycle mode:
Parameter
HSTRT
Description
Setting
Hysteresis start setting. Please remark, that this 0… 7
value is an offset to the hysteresis end value
HEND.
HEND
Hysteresis end setting. Sets the hysteresis end 0… 2
value after a number of decrements. Decrement
interval time is controlled by HDEC. The sum
HSTRT+HEND must be 14 MHz
Comment
13-16MHz, typical.
Tie clock input firmly to GND. See electrical characteristics for limits.
The internal clock is sufficient, unless a good reproducibility of StallGuard
values is desired.
Lower range sufficient for higher inductance motors
Recommended for best results
Option in case a lower frequency is not available
Ensure 40-60% duty cycle
Attention for TMC262C, date code 1837 only:
Minimum high-level time of 27ns is required for switching to external clock.
Ensure min. 45% duty cycle of CLK signal up to 16Mhz.
> 16MHz not recommended.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
49
14 TMC262C compatibility
The TMC262C is a new derivative of the TMC262 family. It is designed for compatibility to existing
applications, while offering a number of enhancements and options, which can be activated using the
interface. Care has been taken to ensure compatibility for both devices, even if the enhanced options
are switched on.
ENHANCEMENTS IN TMC262C
•
•
•
•
•
•
•
More silent chopper operation, silent motor at low motor velocity.
VCC_IO is monitored by internal reset circuitry to ensure clean power-up and power-down.
Overtemperature shutdown has added hysteresis, to avoid spurious switching off. Following
overtemperature, the driver stage remains switched off until the IC cools down below 120°C.
Increased drive-level for P-MOSMETs for lower power dissipation in the external power-stage.
Reduced power dissipation of internal circuitry, leading to lower heat-up.
CMOS input levels are increased with 5V VCC_IO level to increase noise rejection.
Reduced filtering time for STEP & DIR inputs to reduce the risk of missed step pulses.
OPTIONAL ENHANCEMENTS IN TMC262C (ENABLE VIA CONFIGURATION BITS)
•
•
•
•
Clock fail-safe option. In case the external clock fails, the IC defaults back to internal clock. This
avoids damage to motor and driver stage. (Enable: EN_S2VS)
Low-Side short detection (Short to VS). The low-side short detector provides improved robustness
in case of mis-wiring or wrongly attached motor. (Enable: EN_S2VS)
Optional higher sensitivity high-side protection. Especially in combination with low-RDSon
MOSFETs, this feature gives a better protection. (Enable: SHRTSENS)
Optional lower overtemperature threshold of 136°C for more sensitive protection of the power
driver. Enable: OTSENSE
The additional settings for TMC262C are highlighted in this document using green background.
The major differences to be considered when exchanging the TMC262 and TMC262C, are summed up
in the following table:
Item
More silent
chopper with
TMC262C
Undervoltage
monitoring of
VCC_IO
Hysteresis for
overtemperature
detector
Increased PMOS drive level
Input levels
depend on
VCC_IO voltage
Spike filtering
time on
STEP/DIR input
CLK input filter
www.trinamic.com
Change in TMC262C
Internal noise sources have been reduced. Noise
caused by internal wiring voltage drop makes up
for up to 10mV within the TMC262. This reflects in
a slightly lower sense input threshold voltage.
IO voltage VCC_IO is monitored by the internal
reset circuitry. The device becomes reset upon
VCC_IO undervoltage.
Following overtemperature detection at 136°C or
150°C, the driver stage remains switched off until
the IC cools down below 120°C.
The drive level for the P-MOS has been increased
from roughly 8V to 10V.
TMC262 input level detectors are supplied by
internal 5V supply, leading to fixed 0.8V and 2.4V
levels. TMC262C uses VCC_IO supplied CMOS
Schmitt-Trigger inputs instead.
The filtering has been improved, while reducing
the filtering time in order to reduce the risk of
missing short step pulses.
TMC262C provides better filtering against short
pulses (10ns typ.). Attention: Date code 1837
requires>27ns high level for switching to ext. CLK
Impact
Reduced
motor
noise,
especially with low velocity.
TMC262C
effective
motor
current about 2-3% higher.
Increased VCC_IO supply
current (50µA), device resets
upon VCC_IO undervoltage.
Longer shutdown time upon
overtemperature
detection,
safe detection by interface.
Reduced heat up of driver
FETs.
Higher positive logic level for
5V VCC_IO supply. No change
with 3.3V VCC_IO supply.
Check levels in 5V systems.
Potential impact in systems
with high noise level on
STEP & DIR input pins.
Increased robustness against
reflections on CLK line.
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
50
15 MOSFET Examples
There are a many of N- and P-channel paired MOSFETs available suitable for the TMC232, as well as
single N- and P-devices. The important considerations are the electrical data (voltage, current, RDSon),
package, and configuration (single vs. dual). The following table shows a few examples of SMD
MOSFET pairs for different motor voltages and currents. These MOSFETs are recent types with a low
total gate charge. For the actual application, you should calculate static and dynamic power
dissipation for a given MOSFET pair.
A total gate charge QG below 20nC (at 5V) is best for reaching reasonable slopes.
The performance (QG and RDSon) of the low-side MOSFET contributes to 70% to the overall efficiency.
Transistor
Type
Unit
AOD4130
AOD409
SUD23N06
SUD19P06
AP4575-GH
AMD560C
AOD603A
SI7414
SI7415
AO4611
AO4612
SI4559ADY
AOD4184A
AOD4189
AOD4186
AOD4185
FDD8647L
FDD4243
FDD8424H
TMC1420
AOD609
AP4525GEH
SI4564
AO4614B
SI4599DY
BSZ050N03
BSZ180P03
AOND32324
AP3C023A
AOD661A
AOD607A
AO4616
FDS8958A
AON7611
AP4503BGM
SI4532CDY
Manufacturer
A&O
Voltage
VDS
Max. RMS
Current (*)
V
A
60
7
Package
DPAK
Vishay
60
6
DPAK
APEC
APower
A&O
60
60
60
4
4
3
TO252-4L
TO252-4L
TO252-4L
Vishay
60
3
PPAK1212
A&O
A&O
Vishay
60
60
60
3
2.5
2.5
SO8
SO8
SO8
A&O
40
10
TO252
A&O
40
8
DPAK
40
7
DPAK
On-Semi
Trinamic
A&O
APEC
Vishay
A&O
Vishay
40
40
40
40
40
40
40
4
4
4
3.5
3.5
3
3
DPAK-4L
PSO8
TO252-4L
TO252-4L
SO8
SO8
SO8
Infineon
30
11
S3O8
A&O
APEC
A&O
A&O
A&O
On-Semi
A&O
APEC
Vishay
30
30
30
30
30
30
30
30
30
8
8
6
4
3.5
3.5
3
3
3
DFN5x6EP2
DFN5x6EP2
TO252-4L
TO252-4L
SO8
SO8
DFN3x3EP
SO8
SO8
On-Semi
typ. RDSon
N (5V)
typ. RDSon
P (10V)
QG
N
QG
P
Test
board
size
mΩ
30
mΩ
nC
13
nC
cm²
e160
35
35
31
25
67
28
22
64
55
9
22
8
50
64
80
95
60
34
90
110
13
9
4
9
25
5
7
14
20
15
13
14
8
13
25
24
25
53
35
50
12
23
8
12
18
10
14
24
22
24
45
35
35
80
e27
e27
e27
e70
70
19
12
40
45
38
40
42
20
45
45
64
e70
e70
35
15
9
14
23
30
31
32
17
38
36
7
e160
22
14
10
16
9
10
5
9
10
4
5
13
14
8
7
4
9
6
2
6
3
e100
18
14
15
9
9
22
8
12
15
18
14
10
7
16
9
5
12
4
40
40
e40
40
e27
e27
e27
70
e40
e40
e40
40
e27
e27
15
e27
e27
* For duty cycle limited operation, 1.5 times or more current is possible. The maximum motor current applicable
in a design depends upon PCB size and layout, because all of these transistors are mainly cooled through the
PCB. The data given implies a certain board size and layout, especially for higher current designs. The maximum
RMS current rating is a hint and is based on measurements on test boards with given size at reasonable heat
up. Estimations for not tested types are based on a comparable type (estimated board sizes marked e).
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
51
16 Layout Considerations
The PCB layout is critical to good performance, because the environment includes both highsensitivity analog signals and high-current motor drive signals. A massive GND plane is required for
good results, both for heat conduction as well as electrical.
16.1 Sense Resistors
The sense resistors are susceptible to ground differences and ground ripple voltage, as the microstep
current steps result in voltages down to 0.5mV. Each sense resistor should have an individual and
short connection to the GND plane. Place the sense resistors close to the power MOSFETs with one or
more vias to the ground plane for each sense resistor. This also helps to keep harmful parasitic
inductance small.
The sense resistor layout is also sensitive to coupling between the axes. The two sense resistors
should not share a common ground connection trace or vias, because PCB traces have some
resistance. A symmetrical layout for both fullbridges on both sides of the TMC262 makes it easiest to
ensure symmetry as well as minimum coupling and disturbance between both coil current regulators.
16.2 Exposed Die Pad
The exposed die pad and all GND pins must be connected to a solid ground plane spreading heat into
the board and providing for a stable GND reference. All signals of the TMC262 are referenced to GND.
Directly connect all GND pins to a common ground area.
16.3 Power Filtering
The 470nF to 10µF (6.3V, min.) ceramic filtering capacitor on 5VOUT should be placed as close as
possible to the 5VOUT pin, with its GND return going directly to the nearest GND pin. Use as short
and as thick connections as possible. A 100nF filtering capacitor should be placed as close as possible
from the VS pin to the ground plane. The motor MOSFET bridge supply pins should be decoupled
with an electrolytic (>47 μF is recommended) capacitor and a ceramic capacitor, placed close to the
device.
Take into account that the switching motor coil outputs have a high dV/dt, and thus capacitive stray
into high resistive signals can occur, if the motor traces are near other traces over longer distances.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
16.4 Layout Example
Figure 16.1 Schematic of TMC262-EVAL (power part)
assembly drawing
www.trinamic.com
52
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
top layer (assembly side)
inner layer (GND)
inner layer (VS)
bottom layer (solder side)
Figure 16.2 Layout example
www.trinamic.com
53
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
54
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
Supply and bridge voltage max. 20000s
Logic supply voltage
I/O supply voltage
Logic input voltage
Analog input voltage
Voltages on low-side gate driver outputs (LSx)
Voltages on high-side gate driver outputs (HSx)
Voltages on BM pins (BMx)
Relative high-side gate driver voltage (VVS – VHS)
Maximum current to/from digital pins
and analog low voltage I/Os
Non-destructive short time peak current into input/output pins
5V regulator output current
5V regulator peak power dissipation (VVM-5V) * I5VOUT
Junction temperature
Storage temperature
ESD-Protection (Human body model, HBM), in application
ESD-Protection (Human body model, HBM), device handling
www.trinamic.com
Symbol
VVS
VVCC
VVIO
VI
VIA
VOLS
VOHS
VIBM
VHSVS
IIO
IIO
I5VOUT
P5VOUT
TJ
TSTG
VESDAP
VESDDH
Min
Max
Unit
-0.5
60
V
-0.5
-0.5
-0.5
-0.5
-0.7
VHS -0.7
-5
-0.5
65
6.0
6.0
VVIO+0.5
VCC+0.5
VCC+0.7
VVS+0.7
VVS+5
15
+/-10
V
V
V
V
V
V
V
V
V
mA
500
50
1
150
150
1
300
mA
mA
W
°C
°C
kV
V
-50
-55
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
55
18 Electrical Characteristics
18.1 Operational Range
Parameter
Junction temperature
Supply voltage
I/O supply voltage
Symbol
Min
Max
Unit
TJ
VVS
VVIO
-40
9
3.00
125
59
5.25
°C
V
V
18.2 DC and AC Specifications
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 some values to stray. A device with typical values will not leave
Min/Max range within the full temperature range.
Power Supply Current
DC Characteristics
VVS = 24.0V
Parameter
Symbol Conditions
Supply current, operating
IVS
Supply current, MOSFETs off
IVS
Supply current, MOSFETs off,
dependency on CLK frequency
IVS
Static supply current
Part of supply current NOT
consumed from 5V supply
IO supply current
www.trinamic.com
IVS0
IVSHV
IVIO
fCLK=16MHz, 40kHz
chopper, QG=10nC
fCLK=16MHz, TMC262
fCLK=16MHz, TMC262C
fCLK variable, TMC262
additional to IVS0
fCLK variable, TMC262C
additional to IVS0
fCLK=0Hz, digital inputs
at +5V or GND
TMC262
fCLK=0Hz, digital inputs
at +5V or GND
TMC262C
MOSFETs off
No load on outputs,
inputs at VIO or GND
TMC262
No load on outputs,
inputs at VIO or GND
TMC262C
Min
Typ
Max
Unit
12
mA
10
5
0.32
3.2
4
mA
mA
mA/
MHz
mA/
MHz
mA
3.5
5
mA
0.1
1.2
mA
0.3
µA
50
100
µA
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
56
NMOS Low-Side Driver
DC Characteristics
VLSX = 2.5V, slope setting controlled by SLPL
Parameter
Symbol Conditions
Min
Typ
Max
Unit
Gate drive current LSx
low-side switch ON a)
Gate drive current LSx
low-side switch ON a)
Gate drive current LSx
low-side switch ON a)
ILSON
SLPL=%00/%01
12
mA
ILSON
SLPL=%10
21
mA
ILSON
Gate drive current LSx
low-side switch OFF a)
Gate drive current LSx
low-side switch OFF a)
Gate drive current LSx
low-side switch OFF a)
ILSOFF
SLPL=%11, TMC262
SLPL=%11, TMC262C
SLPL=%00/%01
ILSOFF
SLPL=%10
ILSOFF
Gate off detector threshold
QGD protection resistance after
detection of gate off
VGOD
SLPL=%11, TMC262
SLPL=%11, TMC262C
VLSX falling
SLPL=%11
VLSX = 1V
Driver active output voltage
RLSOFFQGD
20
25
31
36
-13
50
60
-25
-25
-35
VLSON
-37
-45
1
26
mA
mA
mA
mA
-60
-70
mA
mA
V
50
VVCC
V
Notes:
a)
Low-side drivers behave similar to a constant-current source between 0V and 2.5V (switching
on) and between 2.5V and 5V (switching off), because switching MOSFETs go into saturation.
At 2.5V, the output current is about 85% of peak value. This is the value specified.
PMOS High-Side Driver
DC Characteristics
VVS = 24.0V, VVS - VHSX = 2.5V, slope setting controlled by SLPH
Parameter
Symbol Conditions
Min
Typ
Max
Unit
Gate drive current HSx
high-side switch ON b)
IHSON
SLPH=%00/%01
-15
mA
Gate drive current HSx
high-side switch ON b)
Gate drive current HSx
high-side switch ON b)
Gate drive current HSx
high-side switch OFF c)
Gate drive current HSx
high-side switch OFF c)
Gate drive current HSx
high-side switch OFF c)
Gate off detector threshold
QGD protection resistance after
detection of gate off
IHSON
SLPH=%10
-29
mA
IHSON
SLPH=%11
IHSOFF
SLPH=%00/%01
15
mA
IHSOFF
SLPH=%10
29
mA
IHSOFF
SLPH=%11
VGOD
VHSX rising
SLPH=%11
VHSX = VVS - 1V
IOUT = 0mA, TMC262
IOUT = 0mA, TMC262C
Driver active output voltage
RHSOFFQGD
VHSON
-25
28
VVHS+2.8
VVHS-0
-42
43
-70
70
mA
mA
VVS-1
32
V
60
VVHS+2.3
VVHS
VVHS+1.8
VVHS+0
V
V
Notes:
b) High-side switch on drivers behave similar to a constant-current source between VVS and
VVS–2.5V. At VVS-2.5V, the output current is about 90% of peak value. This is the value specified.
c) High-side switch off drivers behave similar to a constant current source between VVS-8V and
VVS-2.5V. At VVS-2.5V, the output current is about 65% of peak value. This is the value specified.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
High-Side Voltage Regulator
DC-Characteristics
VVS = 24.0V
Parameter
Symbol Conditions
Output voltage (VVS – VHS)
VHSVS
Output resistance
Deviation of output voltage
over the full temperature
range
DC Output current
Current limit
Series regulator transistor
output resistance (determines
voltage drop at low supply
voltages)
RVHS
VVHS(DEV)
IVHS
IVHSMAX
RVHSLV
IOUT = 0mA
TJ = 25°C
Static load
TJ = full range
V5VOUT(DEV)
I5VOUT
10.8
V
50
60
200
mV
Min
Typ
Max
Unit
I5VOUT = 10mA
TJ = 25°C
Static load
I5VOUT = 10mA
TJ = full range
4.75
5.0
5.25
V
60
mV
VVS = 12V
100
mA
VVS = 8V
60
mA
VVS = 6.5V
20
mA
Parameter
Symbol Conditions
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10.0
Timing Characteristics
fCLKOSC
fCLKOSC
fCLKOSC
fCLK
9.3
1000
Clock Oscillator and CLK
Input
Clock oscillator frequency
Clock oscillator frequency
Clock oscillator frequency
External clock frequency
(operating)
External clock high / low level
time
External clock high / low level
time TMC262C
External clock transition time
Unit
15
400
Symbol Conditions
R5VOUT
Max
mA
mA
Parameter
Output resistance
Deviation of output voltage
over the full temperature
range
Output current capability
(attention, do not exceed
maximum ratings with DC
current)
Typ
4
DC Characteristics
V5VOUT
Min
(from VS to VHS)
(from VS to VHS)
Linear Regulator
Output voltage
57
tJ=-50°C
tJ=50°C
tJ=150°C
3
30
Min
Typ
10.0
10.8
14.3
15.2
15.4
4
Max
20.0
20.3
20
Unit
MHz
MHz
MHz
MHz
tCLK
12
ns
tCLK
15
ns
tTRCLK
VINLO to VINHI or back
20
ns
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
Detector Levels
DC Characteristics
Parameter
Symbol Conditions
VVS undervoltage threshold
Short to GND detector
threshold
(VVS - VBMx)
Short to GND detector
threshold (sensitive setting)
(VVS - VBMx)
Short to GND detector delay
(low-side gate off detected to
short detection)
Overtemperature warning
Overtemperature shutdown
Overtemperature shutdown
option
Min
Typ
Max
Unit
6.5
1.0
8
1.5
8.5
2.3
V
V
Option available for
TMC262C, only
0.7
1.0
1.3
V
TS2G=00
2.0
3.2
4.5
µs
VUV
VBMS2G
VBMS2G
tS2G
tOTPW
tOT
tOTLO
58
TS2G=10
TS2G=01
1.6
1.2
µs
µs
TS2G=11
0.8
µs
Temperature rising
Option available for
TMC262C, only
80
135
100
150
136
120
170
°C
°C
°C
Min
Typ
Max
Unit
290
310
330
mV
310
323
340
mV
153
165
180
mV
155
173
190
mV
Min
Typ
Max
Sense Resistor Voltage Levels DC Characteristics
Parameter
Symbol Conditions
Sense input peak threshold
voltage (low sensitivity)
Sense input peak threshold
voltage (high sensitivity)
Digital Logic Levels
Input voltage high level
VSRTRIPH
VSENSE=0, TMC262
Cx=248; Hyst.=0
VSENSE=0, TMC262C
Cx=248; Hyst.=0
VSENSE=1, TMC262
Cx=248; Hyst.=0
VSENSE=1, TMC262C
Cx=248; Hyst.=0
DC Characteristics
Parameter
Input voltage low level
VSRTRIPL
Symbol Conditions
d)
d)
Output voltage low level
Output voltage high level
Input leakage current
VINLO
VINHI
VOUTLO
VOUTHI
IILEAK
TMC262
TMC262C
TMC262
TMC262C
IOUTLO = 1mA
IOUTHI = -1mA
-0.3
-0.3
2.4
0.7 VVIO
0.8VVIO
-10
0.8
0.3 VVIO
VVIO+0.3
VVIO+0.3
0.4
10
Unit
V
V
V
V
V
V
µA
Notes:
d) Digital inputs left within or near the transition region substantially increase power supply
current by drawing power from the internal 5V regulator. Make sure that digital inputs
become driven near to 0V and up to the VIO I/O voltage. There are no on-chip pull-up or pulldown resistors on inputs.
www.trinamic.com
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
59
19 Package Mechanical Data
19.1 Dimensional Drawings
Attention: Drawings not to scale.
Figure 19.1 Dimensional drawings
Parameter
Total thickness
Standoff
Mold thickness
Lead frame thickness
Lead width
Body size X
Body size Y
Lead pitch
Exposed die pad size X
Exposed die pad size Y
Lead length
Package edge tolerance
Mold flatness
Coplanarity
Lead offset
Exposed pad offset
Ref
A
A1
A2
A3
b
D
E
e
J
K
L
aaa
bbb
ccc
ddd
eee
Min
0.80
0.00
0.2
3.2
3.2
0.35
Nom
0.85
0.035
0.65
0.203
0.25
5.0
5.0
0.5
3.3
3.3
0.4
Max
0.90
0.05
0.67
0.3
3.4
3.4
0.45
0.1
0.1
0.08
0.1
0.1
19.2 Package Code
Device
TMC262
TMC262C
www.trinamic.com
Package
QFN32 (RoHS)
QFN32 (RoHS)
Temperature range
-40° to +125°C
-40° to +125°C
Code/ Marking
TMC262-LA
TMC262C-LA
TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
60
20 Disclaimer
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in
life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co.
KG. Life support systems are equipment intended to support or sustain life, and whose failure to
perform, when properly used in accordance with instructions provided, can be reasonably expected to
result in personal injury or death.
Information given in this data sheet is believed to be accurate and reliable. However no responsibility
is assumed for the consequences of its use nor for any infringement of patents or other rights of
third parties which may result from its use.
Specifications are subject to change without notice.
All trademarks used are property of their respective owners.
21 ESD Sensitive Device
The TMC262 is an ESD-sensitive CMOS device and sensitive to electrostatic discharge. Take special care
to use adequate grounding of personnel and machines in manual handling. After soldering the
devices to the board, ESD requirements are more relaxed. Failure to do so can result in defects or
decreased reliability.
Note: In a modern SMD manufacturing process, ESD voltages well below 100V are standard. A major
source for ESD is hot-plugging the motor during operation. As the power MOSFETs are discrete
devices, the device in fact is very rugged concerning any ESD event on the motor outputs. All other
connections are typically protected due to external circuitry on the PCB.
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
61
22 Table of Figures
Figure 1.1 Applications block diagrams ......................................................................................................................... 4
Figure 2.1 TMC262 pin assignments ................................................................................................................................ 6
Figure 3.1 TMC262 block diagram .................................................................................................................................... 8
Figure 2 Standard application circuit .............................................................................................................................. 9
Figure 4.1 StallGuard2 load measurement SG as a function of load .................................................................. 10
Figure 4.2 Linear interpolation for optimizing SGT with changes in velocity .................................................. 12
Figure 5.1 Energy efficiency example with CoolStep ............................................................................................... 14
Figure 5.2 CoolStep adapts motor current to the load ........................................................................................... 15
Figure 6.1 SPI Timing ........................................................................................................................................................ 17
Figure 6.2 Interfaces to a TMC429 motion controller chip and a TMC262 motor driver ............................... 18
Figure 7.1 STEP/DIR timing .............................................................................................................................................. 29
Figure 7.2 Internal microstep table showing the first quarter of the sine wave ........................................... 30
Figure 7.3 MicroPlyer microstep interpolation with rising STEP frequency ...................................................... 31
Figure 8.1 Sense resistor grounding and protection components ...................................................................... 34
Figure 9.1 Chopper phases .............................................................................................................................................. 35
Figure 9.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow & blue:
sense resistor voltages A and B) ................................................................................................................................... 37
Figure 9.3 SpreadCycle chopper mode showing the coil current during a chopper cycle ........................... 37
Figure 9.4 Constant off-time chopper with offset showing the coil current during two cycles ................ 39
Figure 9.5 Zero crossing with correction using sine wave offset ........................................................................ 39
Figure 10.1 MOSFET gate charge vs. VDS for a typical MOSFET during a switching event ............................ 42
Figure 11.1 Short to GND detection timing ................................................................................................................ 43
Figure 11.2 Undervoltage reset timing ......................................................................................................................... 46
Figure 13.1 Start-up requirements of CLK input ........................................................................................................ 48
Figure 16.1 Schematic of TMC262-EVAL (power part) ............................................................................................... 52
Figure 16.2 Layout example ............................................................................................................................................. 53
Figure 19.1 Dimensional drawings ................................................................................................................................ 59
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TMC262 / TMC262C DATASHEET (Rev. 2.22 / 2019-FEB-22)
62
23 Revision History
Version
Date
Author
Description
BD = Bernhard Dwersteg
SD – Sonja Dwersteg
1.00
2010-AUG-09
BD
2.00
2012-FEB-03
SD
2.01
2.02
2012-FEB-20
2012-MAR-29
SD
SD
2.03
2.04
2012-JUN-07
2012-AUG-01
SD
SD
2.05
2.06
2012-AUG-13
2012-NOV-05
SD
SD
2.08
2013-MAY-14
BD
2.09
2.09a
2013-JUL-30
2013-OKT-31
SD
BD
2.10
2013-NOV-29
BD
2.11
2.12
2014-MAY-12
2015-JAN-13
SD
BD
2.14
2.21
2.22
2016-JUL-14
2018-NOV-16
2019-FEB-22
BD
BD
V2 silicon results, increased chopper thresholds (identical
ratio of VCC power supply as in V1 and V1.2 silicon)
VSENSE bit description corrected based on actual values
Amended datasheet version for TMC262 (design and
wording), Figure 5.1 new, Application examples on second
front page new.
Microstep resolution corrected (6.5.2).
Description for CS parameter corrected (5)
New table design for signal descriptions (2.2)
Information about power supply sequencing added (12).
Chapter 0: table layout corrected.
Information about power supply sequencing updated.
- Figure 11.2 (undervoltage reset timing) new
Chapter 8 corrected: The low sensitivity (high sense
resistor voltage, VSENSE=0) brings best and most robust
current regulation, while high sensitivity (low sense
resistor voltage; VSENSE=1) reduces power dissipation in
the sense resistor.
Updated MOSFET reference list
Updated current ratings after tests / more coarse rating
System clock information updated.
Updated MOSFET list and blue box, corrected table width
for chapter 6.6
Added hint not to leave CLK input floating (blue box),
added external clock transition time parameter.
Updated MOSFET list.
Update to MOSFET list, rename some VM to VS, update
chapter 16.3 and 16.1.
Added figure for start-up requirements for CLK input
Added TMC262C device, Updated MOSFET list, added
TMC262C electrical ratings, where different. Corrected error
in TOFF calculation. Removed external gate driver example.
24 References
[TMC260]
[TMC261]
[TMC2660]
[TMC262-EVAL]
[AN-001]
TMC260/261 Datasheet – TMC262 compatible driver with internal FETs for 40V, 2A
TMC260/261 Datasheet – TMC262 compatible driver with internal FETs for 60V, 2A
TMC2660 Datasheet – TMC262 compatible driver with internal FETs for 30V, 4A
TMC262-EVAL Manual
Application note for configuring SpreadCycle chopper
Please refer to our web page http://www.trinamic.com.
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