TMC423

TMC423 Data Sheet – (V1.13 / June 20th, 2007) 1/22 TMC 423 – Datasheet Serial Triple Incremental Encoder Interface EXT_RES NSCS428 SDO428 PRA/IO NSCS VCCA GND TDI ENC1_A ENC1_B ENC1_N ENC2_A TMS VCCI GND ENC2_B ENC2_N ENC3_A SW_ROW_PIN(0) GND VKS (GND) VPP (VCCA) VCCI NINT GND SDO SCK TCK CLK SDI NC COLUMN_PIN(0) COLUMN_PIN(1) COLUMN_PIN(2) COLUMN_PIN(3) TRINAMIC Motion Control GmbH & Co. KG Sternstrasse 67 D – 20357 Hamburg GERMANY WWW.TRINAMIC.COM ENC3_B ENC3_N STEP1 TRST TMC423 TQFP-100 Package SW_ROW_PIN(1) SW_ROW_PIN(2) SW_ROW_PIN(3) SW_ROW_PIN(4) SW_ROW_PIN(5) LED_ROW_PIN(0) DIR1 VCCI VSV (VCCA) VCCI STEP2 DIR2 LED_ROW_PIN(1) LED_ROW_PIN(2) LED_ROW_PIN(3) LED_ROW_PIN(4) STEP3 DIR3 LED_ROW_PIN(5) GND STOPR(1) STOPR(0) STOPR(2) REF(0) REF(1) PRB/IO REF(2) VCCI STOPL(0) STOPL(1) TDO The TMC423 is a triple incremental encoder input chip, which interfaces to any SPITM compatible controller. The TMC423 can especially be used in conjunction with the TMC428 triple stepper motor controller to provide position verification or stabilization using some additional software. It integrates 24 bit counters for each encoder to provide a high position resolution without CPU interaction. Further it allows dynamic resolution adaptation to allow direct comparison of encoder counters with motors using different micro step resolution. All encoder counters can be latched synchronously, or whenever a null channel event occurs, providing a position on strobe holding function. The TMC423 also provides a step / direction output with programmable signal shaping for the TMC428 as an optional function. A multiplexer function is also integrated for the TMC428 reference switches. Furthermore control and drive of a LED and switch matrix is implemented. All functions can also be used in conjunction. TMC423 Main Features Applications • • • • • Stepper Motor Position Verification Position Maintenance Incremental Encoder Interface Readout Step / Direction conversion for TMC428 systems Control of LED 6 x 4 Matrix and Switch 6 x 4 Matrix Features • • • • • • • • • • Supports 2 and 3 channel incremental encoders with a wide range of resolutions Allows step / direction signal extraction from TMC428 output data stream Programmable pulse shaping for step / direction interface 24 bit integrated position resolution Programmable prescaler for Incremental Encoder Interface 4-times evaluation of encoder signals Fast 32 bit SPITM interface Can share SPITM interface with TMC428 and supplies separate interrupt output Integrates Reference Switch Multiplexers Package: TQ100 Note: SPI is Trademark of Motorola, Inc. Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG STOPL(2) SDO_D SDI_D GND SCK_D NSCS_D VCCA GND NC TMC423 Data Sheet – (V1.13 / June 20th, 2007) 2/22 Revision History Version Initial Version 0.4 0.5 0.6 0.6 0.7 1.0 1.1 1.1 1.2 1.3 Corrected Array Switching Frequency First Customer Release Minor corrections Changes concerning new company TRINAMIC Motion Control GmbH & Co. KG Corrected Pinning: Position of CLK pin Corrected Reset input in diagram, added supply spec Added Application Environment examples Added encoder timing S/D Appl. corrected, added TMC428 SPI datagram for S/D Figure 4 and Figure 5: TMC423 clock input corrected; more detailed flag description Comment Date November 22, 2002 January 23, 2003 January 24, 2003 March 11, 2003 October 1st, 2004 December, 15 , 2004 March, 15th, 2005 March, 9th, 2007 Apr, 4th, 2007 June 6th, 2007 June 20th, 2007 th Name Technical Department Technical Department Technical Department Technical Department Technical Department Technical Department Technical Department Technical Department Dw HC HC, Dw Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 3/22 Table of Contents 1 Pinout .............................................................................................................................................................................. 5 1.1 Pin Description .................................................................................................................................................... 6 1.2 Recommended Operating Conditions........................................................................................................... 7 1.3 Electrical Characteristics.................................................................................................................................... 7 2 Block Diagram ............................................................................................................................................................... 8 3 Application Environment ........................................................................................................................................... 9 3.1 Application Description..................................................................................................................................... 9 3.1.1 Application with TMC236 Stepper Motor Driver................................................................................... 9 3.1.2 Application with Step / Direction Power Stage ................................................................................... 9 3.2 Application Examples.......................................................................................................................................10 3.2.1 Application with TMC236 Stepper Motor Driver.................................................................................10 3.2.2 Application with Step / Direction Power Stage .................................................................................10 4 Dynamic Resolution Adaptation ............................................................................................................................11 5 Serial Peripheral Interface (SPI) with 32-bit Register .....................................................................................12 5.1 Description and Specification........................................................................................................................12 5.2 32-bit SPI Datagram Structure ......................................................................................................................13 5.3 SPI 32-bit Datagram Specification ...............................................................................................................13 5.3.1 Overview........................................................................................................................................................13 6 Incremental Encoder .................................................................................................................................................14 7 Configuration Datagrams.........................................................................................................................................15 7.1 Encoder Interface Prescaler and Null Event Configuration ..................................................................15 7.2 Encoder Interface Hold Register Operation ..............................................................................................16 7.3 Timer Logic Step Pulse Length and Delay ................................................................................................17 7.4 Control Register and Interrupt Control ......................................................................................................17 7.5 Switch Matrix Read...........................................................................................................................................17 7.6 LED Matrix Write................................................................................................................................................17 8 SPI-Protocol for Interface with 6-bit Register ...................................................................................................18 8.1 Step and Direction Pulse conversion..........................................................................................................18 9 LED and Switch Matrix..............................................................................................................................................19 10 Package dimensions..................................................................................................................................................20 Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 4/22 List of Figures Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure Figure 1: Pinout TMC423 5 2: Block diagram of the TMC423 8 3: Application Environment 9 4: Example for Application with TMC236 Stepper Motor Driver 5: Example for Application with Step / Direction Power Stage 6: TMC423 Application 11 7: Timing diagram of the Serial Interface 12 8: Structure 32-Bit Interface 13 9: Overview TMC423 Registers 13 10: Encoder Output and Evaluation 14 11: Crosstalk on Encoder Wire 14 12: Step Direction conversion 18 13: Connection to the matrix 19 14: 100-Pin TQFP Top View 20 15: 100-Pin TQFP Side View 20 16: 100-Pin TQFP Side View Detail A 20 10 10 List of Tables Table Table Table Table Table Table Table Table Table Table Table Table Table Table Table 1: TMC423 Pinout 7 2: Operating Conditions 7 3: Operating Conditions 7 4: Prescaler factors for different motors and encoders 11 5: Interrupt Flags 13 6: SPI Datagram Prescaler 16 7: SPI Datagram Hold Register 16 8: SPI Datagram Step-/Dir logic 17 9: SPI Datagram Control Register 17 10: Switch Matrix Read 17 11: LED Matrix Write 17 12: SPI Datagram Step / Direction Converter 18 13: Datagram example and RAM contents for three step-direction drivers 18 14: TMC423 LED Matrix Pins 19 15: TQFP Dimensions 21 Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 5/22 1 Pinout EXT_RES NSCS428 SDO428 PRA/IO VCCA NSCS VCCI NINT GND SDO SCK TCK CLK SDI NC GND TDI ENC1_A ENC1_B ENC1_N ENC2_A TMS VCCI GND ENC2_B ENC2_N ENC3_A ENC3_B ENC3_N STEP1 TRST COLUMN_PIN(0) COLUMN_PIN(1) COLUMN_PIN(2) COLUMN_PIN(3) GND VKS (GND) VPP (VCCA) SW_ROW_PIN(0) TMC423 TQFP-100 Package SW_ROW_PIN(1) SW_ROW_PIN(2) SW_ROW_PIN(3) SW_ROW_PIN(4) SW_ROW_PIN(5) LED_ROW_PIN(0) DIR1 VCCI VSV (VCCA) VCCI STEP2 DIR2 LED_ROW_PIN(1) LED_ROW_PIN(2) LED_ROW_PIN(3) LED_ROW_PIN(4) STEP3 DIR3 LED_ROW_PIN(5) GND STOPL(0) STOPL(1) STOPR(1) STOPR(0) STOPR(2) Figure 1: Pinout TMC423 Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG STOPL(2) REF(0) REF(1) PRB/IO REF(2) SDO_D SDI_D NSCS_D SCK_D VCCA VCCI GND GND TDO NC TMC423 Data Sheet – (V1.13 / June 20th, 2007) 6/22 1.1 Pin GND ENC1_A ENC1_B ENC1_N ENC2_A ENC2_B ENC2_N ENC3_A ENC3_B ENC3_N Pin Description Location 1, 9, 36, 39, 51, 68, 69, 91 3 4 5 6 10 11 12 13 14 2 7 16 49 100 8, 20, 44, 58, 82 35, 57, 67, 90 39 88 87 37, 89 92 34 15 18 21 22 24 25 26 27 28 29 40 41 42 43 45 46 47 48 50 75 74 73 72 65 64 63 62 Dir In In In In In In In In In In Description Ground Incremental Encoder Interface 1 Channel A Incremental Encoder Interface 1 Channel B Incremental Encoder Interface 1 Channel N (Connect to +5V if not used) Incremental Encoder Interface 2 Channel A Incremental Encoder Interface 2 Channel B Incremental Encoder Interface 2 Channel N (Connect to +5V if not used) Incremental Encoder Interface 3 Channel A Incremental Encoder Interface 3 Channel B Incremental Encoder Interface 3 Channel N (Connect to +5V if not used) Connect to Ground Connect to 5 Volt via Pull-Up Resistor Connect to 5 Volt via Pull-Up Resistor To be left open Connect to Ground Positive Power Supply 5 Volt Positive Power Supply 2.5 Volt Unused input: Connect to Ground System Clock 16MHz External Reset Low Active Connect to Ground To be left open To be left open Step/Direction Interface – Step Output Motor 1 Step/Direction Interface – Direction Output Motor 1 Step/Direction Interface – Step Output Motor 2 Step/Direction Interface – Direction Output Motor 2 Step/Direction Interface – Step Output Motor 3 Step/Direction Interface – Direction Output Motor 3 Step / Direction SPI MISO Step / Direction SPI MOSI Step / Direction SPI SCK Step / Direction SPI NSCS Reference switch output 1 Reference switch output 2 Reference switch output 3 Right Stop Switch Motor 1 Right Stop Switch Motor 2 Right Stop Switch Motor 3 Left Stop Switch Motor 1 Left Stop Switch Motor 2 Left Stop Switch Motor 3 Column Drive Pin 0 Column Drive Pin 1 Column Drive Pin 2 Column Drive Pin 3 Switch Matrix Pin 0 Switch Matrix Pin 1 Switch Matrix Pin 2 Switch Matrix Pin 3 TDI TMS TRST TDO TCK VCCI VCCA GND CLK EXT_RES NC PRA / IO PRB / IO Step 1 Dir 1 Step 2 Dir 2 Step 3 Dir 3 SDO_D SDI_D SCK_D NSCS_D REF0 REF1 REF2 STOPR0 STOPR1 STOPR2 STOPL0 STOPL1 STOPL2 COLUMN_PIN0 COLUMN_PIN1 COLUMN_PIN2 COLUMN_PIN3 SW_ROW_PIN0 SW_ROW_PIN1 SW_ROW_PIN2 SW_ROW_PIN3 In In In In In In Out Out Out Out Out Out Out In In In Out Out Out In In In In In In Out Out Out Out In In In In Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 7/22 SW_ROW_PIN4 SW_ROW_PIN5 LED_ROW_PIN0 LED_ROW_PIN1 LED_ROW_PIN2 LED_ROW_PIN3 LED_ROW_PIN4 LED_ROW_PIN5 SDO SDI SCK NSCS SDO428 NSCS428 NINT 61 60 59 56 55 54 53 52 99 98 97 96 95 94 93 In In Out Out Out Out Out Out Out In In In In In Out Switch Matrix Pin 4 Switch Matrix Pin 5 LED Matrix Drive Pin 0 LED Matrix Drive Pin 1 LED Matrix Drive Pin 2 LED Matrix Drive Pin 3 LED Matrix Drive Pin 4 LED Matrix Drive Pin 5 SPI MISO SPI MOSI SPI SCK SPI NSCS SPI MISO Pin of TMC428 SPI NSCS Pin of TMC428 Interrupt Output (low active) Table 1: TMC423 Pinout Note: Pins which are not marked in Figure 1: Pinout TMC423 on page 5 must be left open. 1.2 Recommended Operating Conditions Parameter Clock Frequency (1) Temperature 2.5 V Power Supply 5.0 V Power Supply Value 16 0 … + 70 2.25 … 2.75 4.50 … 5.50 Unit MHz °C VCCA VCCI Table 2: Operating Conditions 1 – slower frequencies are also supported. Please take care about the timing information in this datasheet, since they are based on 16MHz Clock Frequency. 1.3 Electrical Characteristics Parameter Supply Current 2.5V Supply Current 5.0V (Output current = 0) LED driver current per pin Input voltage level Low Input voltage level High Encoder input pulse length Encoder count rate Min Max 100 10 20 0.8 2.4 2 tCLK fCLK Unit mA mA mA V V Table 3: Operating Conditions Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 8/22 2 Block Diagram LED 5:0 ENC1 A SW 5:0 COL 3:0 EXT RES ENC1 B Prescaler factor 10 bit 1/16, 2/16, ... 64 or 1/5, 2/5, ... 64 prescaler+1 + Matrix Control Power On Reset ENC1 N NSCS ENC2 A SCK ENC2 B Encoder signal decoder Encoder Counter 24+4 bit SPI Interface with 32 bit Reg M U X SDI ENC2 N SDO Control register ENC3 A Flag register *Clear on N event *Hold on N *N polarity Encoder Hold 24 bit ENC3 B *Common Hold command *Interrupt enable SDO 428 NSCS 428 ENC3 N 3 x Encoder Interface STEP 1 INT Logik+ Latch NINT NSCS _D DIR1 SPI Interface with 6 Bit reg Timer logic STEP 2 SCK _D SDI _D DIR2 STEP 3 Step pulse length 8 bit Step pulse delay after dir change 10 bit SDO _D DIR3 3 x Step / Direction converter REF MUX CLK VCC GND STOP R3 STOP R2 STOP R1 STOP L3 STOP L2 STOP L1 REF3 REF2 REF1 Figure 2: Block diagram of the TMC423 Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 9/22 3 Application Environment TMC423 as Incremental Encoder Interface TMC423 as Step / Direction converter and Incremental Encoder Interface Step/ Dir Power Stage Motor Incremental Encoder TMC 236 Motor Incremental Encoder Step/ Dir Power Stage TMC 236 Motor Incremental Encoder Motor Incremental Encoder Step/ Dir Power Stage TMC 236 Motor Incremental Encoder Motor Incremental Encoder Step / Direction Interface for up to three power stages SPI-Interface SPI-Interface TMC 428 TMC 423 SPI-Interface TMC 423 TMC 428 SPI-Interface µC µC Figure 3: Application Environment 3.1 3.1.1 Application Description Application with TMC236 Stepper Motor Driver A complete close-loop motion control system consists of the TMC428 three-axis motion controller, the powerful TMC236 stepper motor driver and the TMC423 Encoder Interface. The system is controlled by an inexpensive microcontroller. The main advantage of the system is that time critical communication to the TMC236 driver is performed by the TMC428. The main purpose of the inexpensive microcontroller is to parameterize the TMC428 and TMC423 and to send motion parameters like maximum speed or target position to the TMC428. Position validation is done by reading the actual position of the TMC428 and the TMC423. 3.1.2 Application with Step / Direction Power Stage Another possibility to built a close loop motion control system is to use the TMC423 as encoder interface and also as a step direction converter. Thereto the TMC423 converts the SPITM datagrams sent by the TMC428 into parameterizeable step and direction pulses. For parameterizing both the TMC428 and TMC423 have to be connected via SPITM interface to an inexpensive microcontroller. Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 10/22 3.2 3.2.1 Application Examples Application with TMC236 Stepper Motor Driver This example illustrates the encoder connection and the use of reference switches with the TMC423 and additionally the SPI interface connections between TMC423, TMC428 and a microcontroller. The communication to the drivers (e.g. TMC236) is performed via SPI by the TMC428 motion control chip. +5V +5V 16MHz CLK RESET 16MHz REF1 REF2 REF3 SDI SCK SDO NSCS SDO428 NSCS428 10k each CLK REF1 REF2 REF3 V5 V33 470nF Connect to encoders ENC1_A ENC1_B ENC1_N ENC2_A ENC2_B ENC2_N ENC3_A ENC3_B ENC3_N +5V +2.5V VCCI1 - VCCI5 VCCA1 - VCCA4 SDI_D SCK_D NSCS_D Test GND GND TMC428 SDI_C SCK_C SDO_C nSCS_C SDI_S SCK_S SDO_S nSCS_S SPI to Drivers TMC423 +5V SS423 SS428 MISO SCK MOSI 10k TRST TMS GND1 - GND8 SW_ROW0 - SW_ROW5 NC2 NC1 TCK TDI GND to nSCS_D of TMC423 from nSCS_S of TMC428 µC Notes: 1. Application without LED and Switch matrix. 2. If the NSCS428 pin is not in use it has to be tied to +5V. 3. NSCS_D activates the reference switches (inputs STOPRx/STOPLx and outputs REFx). 6x Reference Switch Inputs (active high) 10k GND 10k STOPR0 - STOPR2 STOPL0 - STOPL2 Figure 4: Example for Application with TMC236 Stepper Motor Driver 3.2.2 Application with Step / Direction Power Stage Additionally to the previous example the use of the TMC423 as step/direction converter is shown. The reference switches can be used as above. µC +5V 16MHz CLK RESET SS423 MISO SS428 SCK MOSI 10k each Connect to encoders ENC1_A ENC1_B ENC1_N ENC2_A ENC2_B ENC2_N ENC3_A ENC3_B ENC3_N +5V +2.5V VCCI1 - VCCI5 VCCA1 - VCCA4 +5V 10k TRST TMS STOPR0 - STOPR2 STOPL0 - STOPL2 GND SDI_D SCK_D NSCS SDO SCK SDI SDO428 NSCS428 SDI_D SCK_D SDO_D NSCS_D TMC428 SCK_C SDI_C SDO_C nSCS_C V33 SDO_S SCK_S SDI_S nSCS_S V5 CLK +5V 16MHz 470nF Test GND GND TMC423 STEP1 DIR1 STEP2 DIR2 STEP3 DIR3 GND1 - GND8 SW_ROW3 - SW_ROW5 NC2 NC1 TCK TDI GND Step/DIR to Drivers Notes: 1. Application without LED/switch matrix and reference switches. 2. If the NSCS428 pin is not in use, it has to be tied to +5V. Figure 5: Example for Application with Step / Direction Power Stage Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 11/22 4 Dynamic Resolution Adaptation The dynamic resolution adaptation is needed to link stepper motors and encoders with different resolutions. The characteristics of the connected hardware must provided to the TMC423 by sending the corresponding SPI telegram. (See 5.3.1 Overview on page 13 in this issue). The TMC423 multiplies the encoder counter by a user selectable value in the range 1..1024, and then divides it by 16. When using incremental encoders with N channel it is also possible to select between different behaviors when the N channel is triggered. Encoder: Resolution: e.g.: 1000 steps / rotation Stepper motor TMC423 SPI Interface Stepper Motor: Resolution: e.g.: 12800 steps / rotation TMC423: Prescaler = 3.2 -> 1000* 4 * 3.2 = 12800 Figure 6: TMC423 Application Table 4 shows a number of prescaler factors for possible combinations of micro step resolution and encoder resolution. Note: The given number of pulses have to be multiplied by four since 4-times encoder signal evaluation is used. (See Figure 10: Encoder Output and Evaluation on page 14). Microstep s 12800 6400 3200 1600 800 400 Encoder Resolution [Pulses / Rotation] 512 500 256 250 200 125 6.25 6.4 12.5 12.8 16 25.6 3.125 3.2 6.25 6.4 8 12.8 1.5625 1.6 3.125 3.2 4 6.4 ------1.5625 1.6 2 3.2 ------------1 1.6 ------------------- 1024 3.125 1.5625 ------------- 1000 3.2 1.6 ------------- 50 64 32 16 8 4 2 25 ---64 32 16 8 4 Table 4: Prescaler factors for different motors and encoders Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 12/22 5 Serial Peripheral Interface (SPI) with 32-bit Register 5.1 Description and Specification Four pins named nSCS, SCK, SDI and SDO form the serial peripheral interface from a microcontroller to the TMC423. The communication between the microcontroller and the TMC423 takes place via datagrams with a fixed length of 32 bit. The microcontroller acts always as master and the TMC423 as slave. The SPITM of the TMC423 behaves like a simple 32-bit shift register. Incoming serial data at pin SDI is shifted with the rising edge of the clock signal SCK into the 32-bit register. The content of this register is copied after 32-bits with the rising edge of the selection signal nSCS into a buffer register of 32-bit length. The SPITM of the TMC423 sends back data read from registers immediately via the SDO signal. It processes serial data synchronously to the clock signal CLK. Because of on-the-fly processing of the input data stream, the serial microcontroller interface of the TMC423 requires the serial data clock signal SCK to have a minimum low / high time of three clock cycles. The data signal SDI driven by the microcontroller has to be valid at the rising edge of the serial data clock input SCK. The maximum duration of the serial data clock period is unlimited. A complete serial datagram frame has a fixed length of 32 bit. While the data transmission from the microcontroller to the TMC423 is idle, the low active serial chip select input nSCS and also the serial data clock signal SCK are set to high. The serial data input SDI of the TMC428 has to be driven by the microcontroller. Like other SPI compatible devices, the SDO signal of the TMC423 is high impedance ‘Z’ as long as nSCS is high. The signal nSCS has to be high for at least three clock cycles before starting a datagram transmission. To initiate a transmission, the signal nSCS has to be set to low. Three clock cycles later the serial data clock may go low. The most significant bit (MSB) of a 32 bit wide datagram comes first and the least significant bit (LSB) is transmitted as the last one. A data transmission is finished by setting nSCS high for three or more CLK cycles after the last rising SCK slope. nSCS and SCK change in opposite order from low to high at the end of a transmission as these signals change from high to low at the beginning. The timing of the serial microcontroller interface is outlined in Figure 7: Timing diagram of the Serial Interface. tCLK tDATAGRAMuC tSUCSC tHDCSC tSCKCL tSCKCH tHDCSC tSUCSC CLK nSCS SCK SDI SDO tIS 30 x sampled SDI_C 1 x SDI_C sampled one full 32 bit datagram 1 x SDI_C sampled tSD tSD tSD sdi_bit#31 sdo_bit#31 sdi_bit#30 . . . sdi_bit#1 tPD sdi_bit#0 sdo_bit#0 tSI sdo_bit#30 ... sdo_bit#1 Figure 7: Timing diagram of the Serial Interface Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 13/22 5.2 32-bit SPI Datagram Structure Datagram from TMC423 send to µC 3322222222221111111111 9876543210 1098765432109876543210 INT 0000 Data Datagram from µC to TMC423 3322222222221111111111 9876543210 1098765432109876543210 R W Address Data Figure 8: Structure 32-Bit Interface Interrupt Flags [Bit] 31 30 29 28 Name INT_ext INT_enc1 INT_enc2 INT_enc3 Description external Interrupt, e.g. TMC428 N Signal of Encoder Interface 1 detected N Signal of Encoder Interface 2 detected N Signal of Encoder Interface 3 detected Table 5: Interrupt Flags 5.3 5.3.1 SPI 32-bit Datagram Specification Overview Byte 3 31 30 29 28 27 26 25 24 23 22 21 Byte # Bit # Control Byte 2 20 19 18 17 16 15 14 13 Byte 1 12 11 10 9 8 7 6 5 Byte 0 4 3 2 1 0 Address 0 0 0 0 Data 0 0 0 Step /Dir 0 INT 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 1 1 0 0 1 1 0 0 1 0 1 0 1 0 1 0 RW 1 1 1 1 N Polarity Encoder 1 Prescaler Encoder 2 Prescaler Encoder 3 Prescaler Encoder 1, 2, 3 Prescaler - set all commonly Reserved N Trigger Direction N Clear N Hold Reserved Reserved Reserved Encoder 1 Position Register Encoder 2 Position Register Encoder 3 Position Register 1 Reg Hold 1 Step Pulse Length Clear Flags INT EN Step Pulse Delay Reserved Reserved Matrix 0 0 0 0 0 0 1 1 0 0 0 1 1 0 0 1 Switch Row 3 LED Row 3 Switch Row 2 LED Row 2 Switch Row 1 LED Row 1 Switch Row 0 LED Row 0 Figure 9: Overview TMC423 Registers Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 14/22 6 Incremental Encoder Incremental Encoders are translating the rotary motion of a shaft into a two-channel digital quadrature output. The light emitted from a LED is focused onto a reflective code wheel. As the shaft moves, the code wheel rotates, reflecting light from an alternating bright and dark pattern. The TMC423 samples the incoming signals ENCx_a and ENCx_B from the incremental encoder. A internal algorithm block counts the amount of edges generated by the encoder. A prescaler value can be used to adapt the incremental encoder resolution to the stepper motor resolution. For high resolution the TMC423 evaluates the encoder signals 4-times during each encoder step. This has to kept in mind when choosing the prescaler value. Step Channel A Channel B Channel N Evaluation Figure 10: Encoder Output and Evaluation Note: It is possible that the encoder signals ENCx_A, ENCx_B and ENCx_N are polluted with crosstalk noise. Crosstalk could influence the internal logic, to overcome this problem internal filters are applied to ensure correct functionality. Furthermore is saves the need for external analog filters. e.g.: Figure 11: Crosstalk on Encoder Wire shows crosstalk from channel A to channel B. Figure 11: Crosstalk on Encoder Wire Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 15/22 7 Configuration Datagrams 7.1 Encoder Interface Configuration Prescaler and Null Event The Encoder Interface Initialization datagram configures the parameterizeable encoder prescaler to adapt the TMC423 for different incremental encoders. Furthermore the TMC423 behavior concerning the N channel can be selected. Example: A 1000 steps per rotation encoder is to connect at a stepper motor with 12800 microsteps per rotation. When the next event at the high active N channel is found, the position register must set to zero. Only Encoder Interface 1 is connected. The following datagram performs this task: • Bits 31 down to 24 have to be set to 01HEX to select encoder interface 1 • The prescaler value has to set to 12800 / (1000*4) = 3.2. Therefore bits 23 down to 12 must set to 831HEX. • The N channel is set up correctly when bits 11 down to 0 are set to A0HEX. Bit 31…28 27…25 24 23…12 Encoder Interface Initialization “0000” Register Address Interface Selection 000 = Interface 1 001 = Interface 2 010 = Interface 3 011 = Interface 1, 2 and 3 ‘1’ External Encoder Resolution and Corresponding Prescaler Factor Bits 15 … 12: Fractional part of Factor. Unit: 1/16 (when bit 23 = 0) resp. 1/5 (bit 23 = 1) Bits 22 … 16: Integer part of Factor Bit 23: Switches Fractional part between 1/5 resolution or 1/16 resolution Default: (010)h (prescaler 1) (default value after power on) Example settings: Encoder: 1024 lines (4096 steps per rotation) (032)h for 12800 micro steps per rotation (prescaler 3.125) (019)h for 6400 micro steps (prescaler 1.5625) Encoder: 1000 lines (831) h for 12800 micro steps (prescaler 3.2) (813)h for 6400 micro steps (prescaler 1.6) Encoder: 512 lines (064)h for 12800 micro steps (prescaler 6.25) (032)h for 6400 micro steps (prescaler 3.125) (019)h for 3200 micro steps (prescaler 1.5625) Encoder: 500 lines (862)h for 12800 micro steps (prescaler 6.4) (831)h for 6400 micro steps (prescaler 3.2) (813)h for 3200 micro steps (prescaler 1.6) Encoder: 256 lines (0C8)h for 12800 micro steps (prescaler 12.5) (064)h for 6400 micro steps (prescaler 6.25) (032)h for 3200 micro steps (prescaler 3.125) (019)h for 1600 micro steps (prescaler 1.5625) Encoder: 250 lines (8C4)h for 12800 micro steps (prescaler 12.8) (862)h for 6400 micro steps (prescaler 6.4) (831)h for 3200 micro steps (prescaler 3.2) (813)h for 1600 micro steps (prescaler 1.6) Encoder: 200 lines (100)h for 12800 micro steps (prescaler 16) (080)h for 6400 micro steps (prescaler 8) (040)h for 3200 micro steps (prescaler 4) (020)h for 1600 micro steps (prescaler 2) Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 16/22 (010)h for 800 micro steps (prescaler 1) Encoder: 125 lines (993)h for 12800 micro steps (prescaler 25.6) (8C4)h for 6400 micro steps (prescaler 12.8) (862)h for 3200 micro steps (prescaler 6.4) (831)h for 1600 micro steps (prescaler 3.2) (813)h for 800 micro steps (prescaler 1.6) Encoder: 50 lines (200 steps per rotation) (400)h for 12800 micro steps (prescaler 64) (200)h for 6400 micro steps (prescaler 32) (100)h for 3200 micro steps (prescaler 16) (080)h for 1600 micro steps (prescaler 8) (040)h for 800 micro steps (prescaler 4) (020)h for 400 micro steps (prescaler 2) (010)h for 200 steps per rotation (prescaler 1) 11 10 9 8 7 6…0 N Polarity for Selected Interface 0 = active low (default) 1 = active high When changing the polarity, please be aware that a single clear on N Event might be triggered, and thus should not be initiated in the same write access. Hold on N for Selected Interface 0 = no hold (default) 1 = active: Encoder counter freezes during 0 channel event. Clear on N Event for Selected Interface 0 = no clear (default) 1 = active When switched to active, then it depends on bit 8, if a clear event is issued only once, or always when the N channel becomes active. N Trigger Selection 0 = only at next N signal (default) 1 = always at N signal The clear event last until the N signal goes inactive again. If earlier termination is desired, i.e. to preset the encoder counter to a different value, disable “Clear on N” prior to changing the position register. add or sub register for each step (CW = looking onto the axis) 0= add for CW, sub for CCW (default) 1= add for CCW, sub for CW Reserved Table 6: SPI Datagram Prescaler 7.2 Bit 31…28 27…25 Encoder Interface Hold Register Operation Encoder Interface Control (Read/Preload Encoder Hold Register) “0000” Register Address Select Encoder Hold Register 100 = Hold register in encoder interface 1 101 = Hold register in encoder interface 2 110 = Hold register in encoder interface 3 Read or Preload Selection 0 = Read encoder hold register 1 = Preload encoder hold register Encoder Hold Register Data Table 7: SPI Datagram Hold Register To read the actual contents of the position register or to preset the position register the following command is to be used: 24 23…0 Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 17/22 7.3 Bit 31…25 24 23…16 15…6 5…0 Timer Logic Step Pulse Length and Delay Write Step Pulse Length / Delay “0000111” Register Address ‘1’ Step Pulse Length (default value = 48(10) after PON) Step Pulse Delay after Direction Change (default value = 160(10) after PON) Reserved Table 8: SPI Datagram Step-/Dir logic To parameterize the step length and delay the next datagram is to be used: 7.4 Bit 31…25 24 23 22 21 20…0 Control Register and Interrupt Control Control Register “0001000” Register Address ‘1’ Set Common Hold for Encoder Hold Registers 0 = no hold (default) 1 = freeze encoder hold registers Encoder Interrupt Enable, if Null signal 0 = interrupt disable (default) 1 = interrupt enable Clear Interrupt Flags 0 = no clear (default) 1= clear flags Reserved Table 9: SPI Datagram Control Register This datagram configures the interrupt control of the TMC423. When enabled, the N channel pulse of all encoders is fed to the NINT pin. 7.5 Bit 31…25 24 23…18 17…12 11…6 5…0 Switch Matrix Read Control Register “0001001” Register Address ‘0’ Switch Matrix Register Row Switch Matrix Register Row Switch Matrix Register Row Switch Matrix Register Row 3 2 1 0 Table 10: Switch Matrix Read 7.6 Bit 31…25 24 23…18 17…12 11…6 5…0 LED Matrix Write Control Register “0001010” Register Address ‘1’ LED Matrix Register Row 3 LED Matrix Register Row 2 LED Matrix Register Row 1 LED Matrix Register Row 0 Table 11: LED Matrix Write Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 18/22 8 SPI-Protocol for Interface with 6-bit Register The 6-bit SPI Interface is used to receive step / direction information from the TMC428. The TMC423 processes the data and issues the corresponding step / direction signals via the step / direction pins. Bit0 (Pulse 1) have to be sent first to the TMC423. Bit 0 1 2 3 4 5 Step / Direction Converter Pulse 1 Direction 1 Pulse 2 Direction 2 Pulse 3 Direction 3 Table 12: SPI Datagram Step / Direction Converter The order of the control signals serially sent from the TMC428 has to be defined. This can be done by writing so called primary signal codes into the stepper motor driver datagram configuration area of the on-chip configuration RAM of the TMC428. This signals codes are $13 (step first) and $12 (direction). To switch to the next motor the next motor bit (NxM) has to be set. Position within datagram 0 1 2 3 4 5 Driver/motor NxM bit 0 1 0 1 0 1 TMC428 signal code $13 $12 $13 $12 $13 $12 RAM data $13 $32 $13 $32 $13 $32 TMC428 mnemonic of primary signal Step Direction Step Direction Step Direction 1 2 3 Table 13: Datagram example and RAM contents for three step-direction drivers 8.1 Step and Direction Pulse conversion Step pulses can be modified in their pulse width and delayed after an direction change was done. The corresponding datagram (See 7.3) on page 17) is used to parameterize the Step / Dir interface. step pulse length step_in t step_out step pulse delay t dir t Figure 12: Step Direction conversion Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 19/22 9 LED and Switch Matrix The TMC423 can be used to drive a LED matrix or to get information from a switch matrix, whether the switches are on or off. LEDs or switches are only active when the corresponding column is selected by setting it to zero. The switch frequency of the column pins is fixed to 500 Hz at a clock frequency of 16MHz. The LEDs are driven with a maximum current of 20mA. The following Table 14: TMC423 LED Matrix Pins shows how the LED Matrix Write register is mapped to the corresponding TMC423 pins to drive the LEDs. TMC423 Pin: COLUMN_PIN [3:0] Bit 3 0 1 1 1 Bit 2 1 0 1 1 Bit 1 1 1 0 1 Bit 0 1 1 1 0 23 17 11 5 TMC423 Pin: LED_ROW_PIN [5:0] 22 16 10 4 LED_Matrix_Write [23:0] 21 20 15 14 9 8 3 2 19 13 7 1 18 12 6 0 Table 14: TMC423 LED Matrix Pins For correct external connection of the matrix please refer to the following Figure 13: Connection to the matrix. If distortions causes by long PCB traces are to expect, then filter capacitors Cfilter of 100pF have to be added. TMC423 Column Pin [3:0] 7407 5V 10k LED_ROW_PIN[5:0] SW_ROW_PIN [5:0] Cfilter (opt.) 180 Figure 13: Connection to the matrix Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 20/22 10 Package dimensions Figure 14: 100-Pin TQFP Top View Figure 15: 100-Pin TQFP Side View Figure 16: 100-Pin TQFP Side View Detail A Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 21/22 JEDEC Equivalent Dimension A A1 A2 b c D/E D1/E1 e L ccc Theta Min 0.05 1.35 0.17 0.09 TQFP100 MS-026 VAR BED Nom 1.40 0.22 16.00 BSC 14.00 BSC 0.50 BSC 0.60 0.08 3.50 deg Max 1.60 0.15 1.45 0.27 0.20 0.45 0 0.75 7 deg Table 15: TQFP Dimensions Notes : - all dimensions are in millimeters - BSC Basic Spacing between Centers Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG TMC423 Data Sheet – (V1.13 / June 20th, 2007) 22/22 Life support policy 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. © 2004 TRINAMIC Motion Control GmbH & Co. KG 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 form its use. Specifications subject to change without notice. Copyright © 2004 TRINAMIC Motion Control GmbH & Co. KG