TMC262C-LA

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 (V2.24 / 2020-MAR-10) 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 (V2.24 / 2020-MAR-10) 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 14 TMC262C COMPATIBILITY ........................... 49 15 MOSFET EXAMPLES ......................................... 50 16 LAYOUT CONSIDERATIONS ......................... 51 16.1 16.2 16.3 16.4 16.5 SENSE RESISTORS........................................ 51 EXPOSED DIE PAD....................................... 51 POWER FILTERING ....................................... 51 THERMAL RESISTANCE ................................. 51 LAYOUT EXAMPLE ........................................ 52 ABSOLUTE MAXIMUM RATINGS ................. 54 SPI INTERFACE ................................................17 18 ELECTRICAL CHARACTERISTICS ................. 55 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 TIMING ........................................................29 MICROSTEP TABLE .......................................30 CHANGING RESOLUTION ..............................31 MICROPLYER STEP INTERPOLATOR ...............31 STANDSTILL CURRENT REDUCTION ...............32 CURRENT SETTING ..........................................33 8.1 SENSE RESISTORS ........................................34 CHOPPER OPERATION ...................................35 9.1 9.2 10 FREQUENCY SELECTION ................................ 48 17 6.7 9 13.1 TUNING COOLSTEP ......................................16 6.1 6.2 6.3 6.4 6.5 6.6 8 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 www.trinamic.com 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 ........................................... 60 20 DISCLAIMER ..................................................... 60 21 ESD SENSITIVE DEVICE ................................ 60 22 TABLE OF FIGURES......................................... 61 23 REVISION HISTORY ....................................... 62 24 REFERENCES ...................................................... 62 TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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 www.trinamic.com 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com Setting 0 Comment indifferent value +1… +63 less sensitivity -1… -64 higher sensitivity 0 1 standard mode filtered mode TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com Comment lower StallGuard threshold: SEMINx32 upper StallGuard threshold: (SEMIN+SEMAX+1)x32 TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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 tCH before CSN high only *) Min time is for synchronous CLK only *) Min time is for synchronous CLK only Assumes minimum OSC frequency fSCK Assumes synchronous CLK tCSH SCK low time tCL SCK high time tCH SCK frequency using internal clock SCK frequency using external 16MHz clock SDI setup time before rising edge of SCK SDI hold time after rising edge of SCK Data out valid time after falling SCK clock edge SDI, SCK, and CSN filter delay time tCLK >2tCLK +10 ns tCLK >tCLK+10 ns tCLK >tCLK+10 ns 4 MHz 8 MHz tDU 10 ns tDH 10 ns tDO No capacitive load on SDO tFILT Rising and falling edge 12 20 tFILT+5 ns 30 ns 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. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 - www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 www.trinamic.com Current A LSB Polarity B Current B LSB Comment Sign of current flow through coil A: 0: Current flows from OA1 pins to OA2 pins. 1: Current flows from OA2 pins to OA1 pins. Magnitude of current flow through coil A. The range is 0 to 248, if hysteresis or offset are used up to their full extent. The resulting value after applying hysteresis or offset must not exceed 255. Sign of current flow through coil B: 0: Current flows from OB1 pins to OB2 pins. 1: Current flows from OB2 pins to OB1 pins. Magnitude of current flow through coil B. The range is 0 to 248, if hysteresis or offset are used up to their full extent. The resulting value after applying hysteresis or offset must not exceed 255. TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 www.trinamic.com Reserved Reserved Reserved Reserved Microstep resolution for STEP/DIR mode Comment 0: Disable STEP pulse interpolation. 1: Enable MicroPlyer STEP pulse multiplication by 16. 0: Rising STEP pulse edge is active, falling edge is inactive. 1: Both rising and falling STEP pulse edges are active. Microsteps per 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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 310mV. 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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, together with short protection) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 16.4 Thermal Resistance For the QFN-32, a thermal resistance of roughly 35°C/W Rthja can be expected with a thermally optimized design (12-16 vias to GND plane). As the TMC262 does not have much power dissipation, a few vias (4 recommended) for the GND plane are enough. This will give a higher thermal resistance of roughly 50-70°C/W. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 16.5 Layout Example Figure 16.1 Schematic of TMC262-EVAL (power part) assembly drawing www.trinamic.com 52 TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 www.trinamic.com 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. 2.24 / 2020-MAR-15) 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. 2.24 / 2020-MAR-15) 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 www.trinamic.com 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 59 TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 60 19.2 Package Code Device TMC262 TMC262C Package QFN32 (RoHS) QFN32 (RoHS) Temperature range -40° to +125°C -40° to +125°C Code/ Marking Logo / TMC262-LA / YYWW Logo / TMC262C-LA / WWYY WW=Week, YY=Year Hint: Coding of date has been changed from TMC262 to TMC262C. 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. www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 www.trinamic.com TMC262 / TMC262C DATASHEET (Rev. 2.24 / 2020-MAR-15) 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 2.23 2.24 2020-JAN-15 2020-MAR-10 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. Added marking for date coding, added thermal resistance Minor layout 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. www.trinamic.com