INTEGRATED CIRCUITS
Dedicated Motion Controller for 2-/3-Phase PMSM
TMC4671 Datasheet
IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
The TMC4671 is a fully integrated servo controller, providing Field Oriented Control for BLDC/PMSM
and 2-phase Stepper Motors as well as DC motors and voice coils. All control functions are implemented in hardware. Integrated ADCs, position sensor interfaces, position interpolators, enable
a fully functional servo controller for a wide range of servo applications.
Features
• Servo Controller
w/ Field Oriented Control (FOC)
• Torque Control (FOC),
Velocity Control, Position Control
• Feed Forward Control Inputs
• Integrated ADCs, ∆Σ-ADC Frontend
• Encoder Engine: Hall analog/digital,
Encoder analog/digital
• Supports 3-Phase PMSM/BLDC,
2-Phase Stepper Motors,
and DC Motors
• Advanced PWM Engine (25kHz. . . 100kHz)
• Application SPI + Debug (UART, SPI)
• Step-Direction Interface (S/D)
Applications
• Robotics
• Pick and Place Machines
• Factory Automation
• E-Mobility
• Laboratory Automation
• Blowers
Simplified Block Diagram
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at: www.trinamic.com
Read entire documentation.
• Pumps
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
2 / 158
Contents
1 Order Codes
5
2 Functional Summary
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3 FOC Basics
3.1 Why FOC? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 What is FOC? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Why FOC as pure Hardware Solution? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 How does FOC work? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 What is Required for FOC? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark . . . . . . . . . . . . . . . . .
3.5.2 Measurement of Stator Coil Currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W
3.5.4 Measurement of Rotor Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.5 Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator . . . . .
3.5.6 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters
3.5.7 Proportional Integral (PI) Controllers for Closed Loop Current Control . . . . . . . . . .
3.5.8 Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM) .
3.5.9 Orientations, Models of Motors, and Coordinate Transformations . . . . . . . . . . . .
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4 Functional Description
4.1 Functional Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Communication Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 SPI Slave User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 TRINAMIC Real-Time Monitoring Interface (SPI Master) . . . . . . . . . . . . . . . . . . .
4.2.3 UART Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4 Step/Direction Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5 Single Pin Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs . . . . . . . . .
4.3.1 Numerical Representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 N_POLE_PAIRS, PHI_E, PHI_M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Numerical Representation of Angles PHI . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 ADC Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 ADC Group A and ADC Group B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Internal Delta Sigma ADCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.3 External Delta Sigma ADCs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Delta Sigma Configuration and Timing Configuration . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW . . . . . . . . . . .
4.5.2 External Delta Sigma Modulator Interface . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3 ADC Configuration - MDAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Analog Signal Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U,
U_V, U_W . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y . . . . . . .
4.6.3 ADC Selector & ADC Scaler w/ Offset Correction . . . . . . . . . . . . . . . . . . . . . . .
4.7 Encoder Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.1 Open-Loop Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Incremental ABN Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.3 Secondary Incremental ABN Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.4 Digital Hall Sensor Interface with optional Interim Position Interpolation . . . . . . . .
4.7.5 Digital Hall Sensor - Interim Position Interpolation . . . . . . . . . . . . . . . . . . . . .
4.7.6 Digital Hall Sensors - Masking and Filtering . . . . . . . . . . . . . . . . . . . . . . . . . .
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©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
4.7.7 Digital Hall Sensors together with Incremental Encoder . . . . . . . . . . . .
4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°)
4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) . . . . . . . . . . .
4.7.10 Encoder Initialization Support . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.11 Velocity Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.12 Reference Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 FOC23 Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.1 PI Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.2 PI Controller Calculations - Classic Structure . . . . . . . . . . . . . . . . . . .
4.8.3 PI Controller Calculations - Advanced Structure . . . . . . . . . . . . . . . . .
4.8.4 PI Controller - Clipping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.5 PI Flux & PI Torque Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.6 PI Velocity Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.7 P Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.8 Inner FOC Control Loop - Flux & Torque . . . . . . . . . . . . . . . . . . . . . .
4.8.9 FOC Transformations and PI(D) for control of Flux & Torque . . . . . . . . . .
4.8.10 Motion Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.11 Brake Chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Filtering and Feed-Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.1 Biquad Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.2 Standard Velocity Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.3 Feed-Forward Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 PWM Engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.1 PWM Polarities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.2 PWM Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.3 PWM Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.4 PWM Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.5 Break-Before-Make (BBM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.6 Space Vector PWM (SVPWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5 Safety Functions
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5.1 Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6 Register Map
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6.1 Register Map Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.2 Register Map Full . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7 Pinning
137
8 TMC4671 Pin Table
139
9 Electrical Characteristics
9.1 Absolute Maximum Ratings
9.2 Electrical Characteristics . .
9.2.1 Operational Range .
9.2.2 DC Characteristics .
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10 Sample Circuits
10.1 Supply Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Clock and Reset Circuitry . . . . . . . . . . . . . . . . . . . . . . .
10.3 Digital Encoder, Hall Sensor Interface and Reference Switches
10.4 Analog Frontend . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 Phase Current Measurement . . . . . . . . . . . . . . . . . . . .
10.6 Power Stage Interface . . . . . . . . . . . . . . . . . . . . . . . .
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©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
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4 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
11 Setup Guidelines
149
12 Package Dimensions
150
13 Supplemental Directives
13.1 Producer Information . . . . . . . . .
13.2 Copyright . . . . . . . . . . . . . . . . .
13.3 Trademark Designations and Symbols
13.4 Target User . . . . . . . . . . . . . . . .
13.5 Disclaimer: Life Support Systems . . .
13.6 Disclaimer: Intended Use . . . . . . .
13.7 Collateral Documents & Tools . . . . .
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14 Errata
154
15 Figures Index
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16 Tables Index
157
17 Revision History
158
17.1 IC Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
17.2 Document Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
5 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
1
Order Codes
Order Code
Description
Size [mm2 ]
TMC4671-ES
TMC4671 FOC Servo Controller IC
10.5 x 6.5
TMC4671-EVAL
TMC4671 Evaluation Board
55 x 85
TMC4671-BOB
TMC4671 Breakout Board
38 x 40
Table 1: Order codes
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
2
6 / 158
Functional Summary
• Servo Controller with Field Oriented Control (FOC)
– Torque (and flux) control mode
– Velocity control mode
– Position control mode
– update rate of current controller and PWM at maximum frequency of 100 kHz (speed and
position controller update rate is configurable by setting a divider of current controller update
rate)
• Control Functions/PI Controllers
– Programmable clipping of inputs and outputs of interim results
– Integrator windup protection for all controllers
q
2 + U 2 ) limiter
– Programmable field oriented voltage circular ( UD
Q
– Feed-forward offsets for target values and feed-forward friction compensation
– Advanced feed-forward control structure for optimal trajectory tracking performance
– Extended IRQ event masking options and limiter status register
– Advanced encoder initialization algorithms with Hall sensor or/and with minimal movement
• Motion Control and Ramping
– Trapezoidal velocity ramps by control structure
– Step/Direction interface for easy positioning
• Supported Motor Types
– FOC3 : 3-phase permanent magnet synchronous motors (PMSM)
– FOC2 : 2-phase stepper motors
– DC1 : brushed DC motors, or linear voice coil motors
• ADC Engine with Offset Correction and Scaling
– Integrated ∆Σ ADCs for current sense voltage, motor supply voltage, analog encoder, two AGPIs
– Integrated ∆Σ-Interface for external ∆Σ-Modulators
• Position Feedback Evaluation
– Open loop position generator (programmable [rpm], [rpm/s]) for initial setup
– Digital incremental encoder (ABN resp. ABZ, up to 5 MHz)
– Secondary digital incremental encoder
– Digital Hall sensor interface (H1 , H2 , H3 resp. HU , HV , HW ) with interpolation of interim positions
– Analog encoder/analog Hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
– multi-turn position counter (32-bit)
– Position target, velocity and target torque filters (Biquad)
• PWM Engine Including SVPWM
– Programmable PWM frequency within the range of 20 kHz . . . 100 kHz
– Programmable Brake-Before-Make (BBM) times (high side, low side) 0 ns . . . 2.5 µs in 10 ns steps
and gate driver input signals
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
7 / 158
– PWM auto scaling for transparent change of PWM frequency during motion
• SPI Communication Interface
– 40-bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits)
– Immediate SPI read response (register read access by single datagram)
– SPI clock frequency up to 1MHz (8MHz in future version)
• TRINAMIC RealTime Monitoring Interface
– High frequency sampling of real-time data via TRINAMIC’s real-time monitoring system
– Only single 10-pin high density connector on PCB needed
– Advanced controller tuning support by frequency response identification and advanced auto
tuning options with TRINAMIC’s IDE
• UART Debug Interface
– Three pin (GND, RxD, TxD) 3.3 V UART interface (1N8; 9600 (default), 115200, 921600, or 3M bps)
– Transparent register access parallel to embedded user application interface (SPI)
• Supply Voltages
– 5V and 3.3V; VCC_CORE is internally generated
• IO Voltage
– 3.3V for all digital IOs (choosable by VCCIO Supply), 5V input range for differential analog inputs,
1.25V input range for single ended inputs
• Clock Frequency
– 25 MHz (external oscillator needed)
• Packages
– QFN76
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
3
8 / 158
FOC Basics
This section gives a short introduction into some basics of Field Oriented Control (FOC) of electric motors.
3.1
Why FOC?
The Field Oriented Control (FOC), alternatively named Vector Control (VC), is a method for the most
energy-efficient way of turning an electric motor.
3.2
What is FOC?
The Field Oriented Control was independently developed by K. Hasse, TU Darmstadt, 1968, and by Felix
Blaschke, TU Braunschweig, 1973. The FOC is a current regulation scheme for electro motors that takes
the orientation of the magnetic field and the position of the rotor of the motor into account, regulating
the strength in such way that the motor gives that amount of torque that is requested as target torque.
The FOC maximizes active power and minimizes idle power - that finally results in power dissipation - by
intelligent closed-loop control illustrated by figure 1.
Figure 1: Illustration of the FOC basic principle by cartoon: Maximize active power and minimize idle power and
power dissipation by intelligent closed-loop control.
3.3
Why FOC as pure Hardware Solution?
The initial setup of the FOC is usually very time consuming and complex, although source code is freely
available for various processors. This is because the FOC has many degrees of freedom that all need to fit
together in a chain in order to work.
The hardware FOC as an existing standard building block drastically reduces the effort in system setup.
With that off the shelf building block, the starting point of FOC is the setup of the parameters for the FOC.
Setting up and implement the FOC itself and building and programming required interface blocks is no
longer necessary. The real parallel processing of hardware blocks de-couples the higher lever application
software from high speed real-time tasks and simplifies the development of application software. With the
TMC4671, the user is free to use its qualified CPU together with its qualified tool chain, freeing the user
from fighting with processer-specific challenges concerning interrupt handling and direct memory access.
There is no need for a dedicated tool chain to access the TMC4671 registers and to operate it - just SPI (or
UART) communication needs to be enabled for any given CPU.
The integration of the FOC as a SoC (System-on-Chip) drastically reduces the number of required components and reduces the required PCB space. This is in contrast to classical FOC servos formed by motor
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block and separate controller box wired with motor cable and encoder cable. The high integration of FOC,
together with velocity controller and position controller as a SoC, enables the FOC as a standard peripheral
component that transforms digital information into physical motion. Compact size together with high
performance and energy efficiency especially for battery powered mobile systems are enabling factors
when embedded goes autonomous.
3.4
How does FOC work?
Two force components act on the rotor of an electric motor. One component is just pulling in radial
direction (ID) where the other component is applying torque by pulling tangentially (IQ). The ideal FOC
performs a closed loop current control that results in a pure torque generating current IQ – without direct
current ID.
Figure 2: FOC optimizes torque by closed loop control while maximizing IQ and minimizing ID to 0
From top point of view, the FOC for 3-phase motors uses three phase currents of the stator interpreted as
a current vector (Iu; Iv; Iw) and calculates three voltages interpreted as a voltage vector (Uu; Uv; Uw) taking
the orientation of the rotor into account in a way that only a torque generating current IQ results.
From top point of view, the FOC for 2-phase motors uses two phase currents of the stator interpreted
as a current vector (Ix; Iy) and calculates two voltages interpreted as a voltage vector (Ux; Uy) taking the
orientation of the rotor into account in a way that only a torque generating current IQ results.
To do so, the knowledge of some static parameters (number of pole pairs of the motor, number of pulses
per revolution of an used encoder, orientation of encoder relative to magnetic axis of the rotor, count
direction of the encoder) is required together with some dynamic parameters (phase currents, orientation
of the rotor).
The adjustment of P parameter P and I parameters of two PI controllers for closed loop control of the
phase currents depends on electrical parameters of the motor (resistance, inductance, back EMF constant
of the motor that is also the torque constant of the motor, supply voltage).
3.5
What is Required for FOC?
The FOC needs to know the direction of the magnetic axis of the rotor of the motor in refrence to
the magnetic axis of the stator of the motor. The magnetic flux of the stator is calculated from the
currents through the phases of the motor. The magnetic flux of the rotor is fixed to the rotor and thereby
determined by an encoder device.
For the FOC, the user needs to measure the currents through the coils of the stator and the angle of the
rotor. The measured angle of the rotor needs to be adjusted to the magnetic axes.
The challenge of the FOC is the high number of degrees of freedom in all parameters.
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3.5.1
Coordinate Transformations - Clarke, Park, iClarke, iPark
The FOC requires different coordinate transformations formulated as a set of matrix multiplications. These
are the Clarke Transformation (Clarke), the Park Transformation (Park), the inverse Park Transformation (iPark) and the inverse Clarke Transformation (iClarke). Some put Park and Clarke together as DQ
transformation and Park and Clarke as inverse DQ transformation.
The TMC4671 takes care of the required transformations so the user no longer has to fight with implementation details of these transformations.
3.5.2
Measurement of Stator Coil Currents
The measurement of the stator coil currents is required for the FOC to calculate a magnetic axis out of the
stator field caused by the currents flowing through the stator coils.
Coil current stands for motor torque in context of FOC. This is because motor torque is proportional
to motor current, defined by the torque constant of a motor. In addition, the torque depends on the
orientation of the rotor of the motor relative to the magnetic field produced by the current through the
coils of the stator of the motor.
3.5.3
Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W
The correct association between stator terminal voltages U_U, U_V, U_W and stator coil currents I_U, I_V,
I_W is essential for the FOC. In addition to the association, the signs of each current channel need to
fit. Signs of the current can be adapted numerically by the ADC scaler. The mapping of ADC channels is
programmable via configuration registers for the ADC selector. Initial setup is supported by the integrated
open loop encoder block, that can support the user to turn a motor open loop.
3.5.3.1
Chain of Gains for ADC Raw Values
An ADC raw value is a result of a chain of gains that determine it. A coil current I_SENSE flowing through a
sense resistor causes a voltage difference according to Ohm’s law. The resulting ADC raw value is a result
of the analog signal path according to
ADC_RAW = (I_SENSE ∗ ADC_GAIN) + ADC_OFFSET.
(1)
The ADC_GAIN is a result of a chain of gains with individual signs. The sign of the ADC_GAIN is positive
or negative, depending on the association of connections between sense amplifier inputs and the sense
resistor terminals. The ADC_OFFSET is the result of electrical offsets of the phase current measurement
signal path. For the TMC4671, the maximum ADC_RAW value ADC_RAW_MAX = (216 − 1) and the minimum
ADC raw value is ADC_RAW_MIN = 0.
ADC_GAIN
=
(
∗
∗
I_SENSE_MAX ∗ R_SENSE
)
(2)
SENSE_AMPLIFIER_GAIN
( ADC_RAW_MAX/ADC_U_MAX
)
For the FOC, the ADC_RAW is scaled by the ADC scaler of the TMC4671 together with subtraction of offset
to compensate it. Internally, the TMC4671 FOC engine calculates with s16 values. Thus, the ADC scaling
needs to be chosen so that the measured currents fit into the s16 range. With the ADC scaler, the user can
choose a scaling with physical units like [mA].
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Measurement of Rotor Angle
Determination of the rotor angle is either done by sensors (digital encoder, analog encoder, digital Hall
sensors, analog Hall sensors) or sensorless by a reconstruction of the rotor angle. Currently, there are no
sensorless methods available for FOC that work in a general purpose way as a sensor down to velocity
zero.
The TMC4671 does not support sensorless FOC.
3.5.5
Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator
The rotor angle, measured by an encoder, needs to be adjusted to the magnetic axis of the rotor. This is
because an incremental encoder has an arbitrary orientation relative to the magnetic axis of the rotor, and
the rotor has an arbitrary orientation to magnetic axis of the stator.
The direction of counting depends on the encoder, its mounting, and wiring and polarities of encoder
signals and motor type. So, the direction of encoder counting is programmable for comfortable definition
for a given combination of motor and encoder.
3.5.5.1
Direction of Motion - Magnetic Field vs. Position Sensor
For FOC it is essential, that the direction of revolution of the magnetic field is compatible with the direction
of motion of the rotor position reconstructed from encoder signals: For revolution of magnetic field with
positive direction, the decoder position needs to turn into the same positive direction. For revolution of
magnetic field with negative direction, the decoder position needs to turn into the same negative direction.
With an absolute encoder, once adjusted to the relative orientation of the rotor and to the relative
orientation of the stator, one could start the FOC without initialization of the relative orientations.
3.5.5.2
Bang-Bang Initialization of the Encoder
A Bang-Bang initialization is an initialization where the motor is forced with high current into a specific
position. For Bang-Bang initialization, the user sets a current into direction D that is strong enough to
move the rotor into the desired direction. Other initialization methods ramp up the current smoothly and
adjust the current vector to rotor movement detected by the encoder.
3.5.5.3
Encoder Initialization using Hall Sensors
The encoder can be initialized using digital Hall sensor signals. Digital Hall sensor signals give absolute
positions within each electrical period with a resolution of sixty degrees. If the Hall sensor signals are used
to initialize the encoder position on the first change of a Hall sensor signal, an absolute reference within
the electrical period for commutation is given.
3.5.5.4
Minimum Movement Initialization of the Encoder
For minimal movement initialization of the encoder, the user slowly increases a current into direction D
and adjusts an offset of the measured angle in a way that the rotor of the motor does not move during
initialization while the offset of the measured angle is determined.
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3.5.6
3.5.6.1
12 / 158
Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters
Number of Pole Pairs of a Motor
The number of pole pairs is an essential motor parameter. It defines the ratio between electrical revolutions
and mechanical revolutions. For a motor with one pole pair, one mechanical revolution is equivalent to
one electrical revolution. For a motor with npp pole pairs, one mechanical revolution is equivalent to npp
electrical revolutions, with n = 1, 2, 3, 4, . . . .
Some define the number of poles NP instead of number of pole pairs NPP for a motor, which results in a
factor of two that might cause confusion. For the TMC4671, we use NPP number of pole pairs.
3.5.6.2
Number of Encoder Positions per Revolution
For the encoder, the number of positions per revolution (PPR) is an essential parameter. The number of
positions per revolution is essential for the FOC.
Some encoder vendors give the number of lines per revolution (LPR) or just named line count (LC) as
encoder parameter. Line count and positions per revolution might differ by a factor of four. This is because
of the quadrature encoding - A signal and B signal with phase shift - that give four positions per line,
enabling the determination of the direction of revolution. Some encoder vendors associate counts per
revolution (CPR) or pulses per revolution associated to PPR acronym.
The TMC4671 uses Positions Per Revolution (PPR) as encoder parameter.
3.5.7
Proportional Integral (PI) Controllers for Closed Loop Current Control
Last but not least, two PI controllers are required for the FOC. The TMC4671 is equipped with two PI
controllers - one for control of torque generating current I_Q and one to control current I_D to zero.
3.5.8
Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM)
The PWM power stage is a must-have for energy efficient motor control. The PWM engine of the TMC4671
just needs a couple of parameters to set PWM frequency fPWM and switching pauses for both high side
switches tBBM_H and low side switches tBBM_L. Some control bits are for the programming of power
switch polarities for maximum flexibility in the selection in gate drivers for the power MOS-FETs. An
additional control bit selects SVPWM on or off. The TMC4671 allows for change of PWM frequency by a
single parameter during operation.
With this, the TMC4671 is advanced compared to software solutions where PWM and SVPM configuration
of CPU internal peripherals normally needs settings of many parameters.
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3.5.9
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Orientations, Models of Motors, and Coordinate Transformations
The orientation of magnetic axes (U, V, W for FOC3 resp. X, Y for FOC2) is essential for the FOC together
with the relative orientation of the rotor. Here, the rotor is modeled by a bar magnet with one pole pair
(n_pole_pairs = 1) with magnetic axis in north-south direction.
The actual magnetic axis of the stator - formed by the motor coils - is determined by measurement of the
coil currents.
The actual magnetic axis of the rotor is determined by incremental encoder or by Hall sensors. Incremental
encoders need an initialization of orientation, where Hall sensors give an absolute orientation, but with
low resolution. A combination of Hall sensor and incremental encoder is useful for start-up initialization.
Figure 3: Orientations UVW (FOC3) and XY (FOC2)
Figure 4: Compass Motor Model w/ 3 Phases UVW (FOC3) and Compass Motor Model w/ 2 Phases (FOC2)
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Functional Description
The TMC4671 is a fully integrated controller for field-oriented control (FOC) of either one 2-phase stepper
motor (FOC2) or one 3-phase brushless motor (FOC3), as well as DC motors or voice coil actuators.
Containing the complete control loop core architecture (position, velocity, torque), the TMC4671 also has
the required peripheral interfaces for communication with an application controller, for feedback (digital
encoder, analog interpolator encoder, digital Hall with interpolator, analog inputs for current and voltage
measurement), and helpful additional IOs. The TMC4671 supports highest control loop speed and PWM
frequencies.
The TMC4671 is the building block which takes care of all real-time critical tasks of field-oriented motor
control. It decouples the real-time field-oriented motor control and its real-time sub-tasks such as current
measurement, real-time sensor signal processing, and real-time PWM signal generation from the user
application layer as outlined by figure 5.
Figure 5: Hardware FOC Application Diagram
4.1
Functional Blocks
The Application interface, register bank, ADC engine, encoder engine, FOC torque PI controller, velocity PI
controller, position P controller, and PWM engine make up the TMC4671.
Figure 6: Hardware FOC Block Diagram
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The ADC engine interfaces the integrated ADC channels and maps raw ADC values to signed 16 bit (s16)
values for the inner FOC current control loop based on programmable offset and scaling factors. The
FOC torque PI controller forms the inner base component including required transformations (Clark, Park,
inverse Park, inverse Clark). All functional blocks are pure hardware.
4.2
Communication Interfaces
The TMC4671 is equipped with an SPI interface for access to all registers of the TMC4671. The SPI interface
is the main application interface.
An additional UART interface is intended for system setup. With that interface, the user can access all
registers of the TMC4671 in parallel to the application accessing them via the SPI communication interface
- via the user’s firmware or via evaluation boards and the TMCL-IDE. The data format of the UART interface
is similar to the SPI communication interface - SPI 40 bit datagrams sent to the TMC4671 and SPI 40 bit
datagrams received by the MCU vs. five bytes sent via UART and five bytes received via UART. Sending
a burst of different real-time data for visualization and analysis via the TMCL-IDE can be triggered using
special datagrams. With that, the user can set up an embedded application together with the TMCL-IDE,
without having to write a complex set of visualization and analysis functions. The user can focus on its
application.
The TMC4671 is also equipped with an additional SPI master interface (TRINAMIC Real-time Monitoring
Interface, DBGSPI) for high-speed visualization of real-time data together with the TMCL-IDE.
4.2.1
SPI Slave User Interface
The SPI of the TMC4671 for the user application has an easy command and control structure. The TMC4671
user SPI acts as a slave. The SPI datagram length is 40 bit with a clock rate up to 1 MHz (8 MHz in future
chip version).
• The MSB (bit#39) is sent first. The LSB (bit#0) is sent last.
• The MSB (bit#39) is the WRITE_notREAD (WRnRD) bit.
• The bits (bit#39 to bit#32) are the address bits (ADDR).
• Bits (bit#31) to (bit#0) are 32 data bits.
The SPI of the TMC4671 immediately responses within the actual SPI datagram on read and write for
ease-of-use communication and uses SPI mode 3 with CPOL = 1 and CPHA = 1.
Figure 7: SPI Datagram Structure
A simple SPI datagram example:
0x8100000000 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR)
0x0000000000 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x34363731 ACSII "4671"
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Figure 8: SPI Timing
SPI Interface Timing
Characteristics, fCLK = 25MHz
Parameter
Symbol
SCK valid before or after change of nSCS
Condition
Min
Typ
Max
Unit
tCC
62.5
ns
nSCS high time
tCSH
62.5
ns
nSCS low time
tCSL
62.5
ns
SCK high time
tCH
62.5
ns
SCK low time
tCL
62.5
ns
SCK low time
tCL
62.5
ns
SCK frequency
8
fSCK
MHz
MOSI setup time before rising edge of SCK
tDU
62.5
ns
MOSI hold time after falling edge of SCK
tDH
62.5
ns
MISO data valid time after falling edge of SCK
tDO
10
ns
Table 2: SPI Timing Parameter
Info
The SPI in the TMC4671-ES shows following error: During transaction of read data
the MSB (Bit#31) might get corrupted. This shows in two different ways. The
first one being a 40 ns pulse (positive or negative) on MISO at the beginning of
transfer of that particular bit. This pulse can corrupt the MSB of read data and
this error can be avoided when SPI clock frequency is set to 1 MHz. The second
error also corrupts MSB of read data when MSB of register is unstable. Such as
current measurement noise around zero. In this case, MSB should be ignored
when possible. Please also consider that e.g. actual torque value can be read
from register PID_TORQUE_FLUX_ACTUAL or from INTERIM_DATA register, where
it is showing up in the lower 16 bits. These errors will be fixed in the next IC
version. SPI write access is not affected and can be performed at 8 MHz clock
frequency.
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4.2.2
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TRINAMIC Real-Time Monitoring Interface (SPI Master)
The TRINAMIC Real-Time Monitoring Interface (RTMI, SPI Master) is an additional fast interface enabling
real-time identification of motor and system parameters. The user can check configuration and access
registers in the TMC4671 via the TMCL-IDE with its build-in configuration wizards for FOC setup in parallel
to the user firmware. TRINAMIC provides a Monitoring Adapter to access the interface, which connects
easily to a single 10 pin high density connector (Type: Hirose DF20F-10DP-1V) on the user’s PCB or on the
evaluation board. If the interface is not needed, pins can be left open or can be used as GPIOs according
to the specification.
The connector needs to be placed near the TMC4671 and assignment needs to be as displayed in figure 9.
Figure 9: Connector for Real-Time Monitoring Interface (Connector Type: Hirose DF20F-10DP-1V)
Info
The TRINAMIC Real-Time Monitoring Interface can not be used with galvanic
isolation, as the timing of SPI communication is too strict. This will be fixed in
the next version so that galvanic isolation of SPI signals will be possible with a
defined latency of isolators.
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4.2.3
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UART Interface
The UART interface is a simple three pin (GND, RxD, TxD) 3.3V UART interface with up to 3 Mbit/s transfer
speed with one start bit, eight data bits, one stop bit, and no parity bits (1N8). The default speed is 9600
bps. Other supported speeds are 115200 bps, 921600 bps, and 3000000 bps.
With an 3.3V-UART-to-USB adapter cable (e.g. FTDI TTL-232R-RPi), the user can use the full maximum data
rate. The UART port enables In-System-Setup-Support by multiple-ported register access.
An UART datagram consists of five bytes - similar to the datagrams of the SPI. In contrast to SPI, the UART
interface has a time out feature. So, the five bytes of a UART datagram need to be send within one second.
A pause of sending more than one second causes a time out and sets the UART protocol handler back into
IDLE state. In other words, waiting for more than one second in sending via UART ensures that the UART
protocol handler is in IDLE state.
A simple UART example (similar to the simple SPI example):
0x81 0x00 0x00 0x00 0x00 // 1st write 0x00000000 into address 0x01 (CHIPINFO_ADDR)
0x00 0x00 0x00 0x00 0x00 // 2nd read register 0x00 (CHIPINFO_DATA), returns 0x34363731
Why UART Interface? It might become necessary during the system setup phase to simply access some
internal registers without disturbing the application, without changing the actual user application software,
and without adding additional debugging code that might disturb the application software itself. The UART
enables this supporting function. In addition, it also enables easy access for monitoring purposes with its
very simple and direct five byte protocol. It is not recommended as standard communication interface due
to low performance.
Figure 10: UART Read Datagram (TMC4671 register read via UART)
Figure 11: UART Write Datagram (TMC4671 register write via UART)
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4.2.4
Step/Direction Interface
The user can manipulate the target position via the step direction interface. It can be enabled by setting
the STEP_WIDTH (S32) register to a proper step width.
Info
4.2.5
The Step/Direction interface is not working properly, due to wrong mapping of
internal signals. The target position is updated, but not fed into the position
controller. This error will be fixed in next IC Version.
Single Pin Interface
The TMC4671 can be operated in Motion Modes in which the main target value is calculated from either a
PWM input signal on PIN PWM_I or by analog input to AGPI_A.
Number
Motion Mode
Using PWM_I or AGPI_A
0
Stopped Mode
no
1
Torque Mode
no
2
Velocity Mode
no
3
Position Mode
no
4
PRBS Flux Mode
no
5
PRBS Torque Mode
no
6
PRBS Velocity Mode
no
7
PRBS Position Mode
no
8
UQ UD Ext Mode
no
9
Encoder Init Mini Move Mode
no
10
AGPI_A Torque Mode
AGPI_A
11
AGPI_A Velocity Mode
AGPI_A
12
AGPI_A Position Mode
AGPI_A
13
PWM_I Torque Mode
PWM_I
14
PWM_I Velocity Mode
PWM_I
15
PWM_I Position Mode
PWM_I
Table 3: Single Pin Interface Motion Modes
Registers SINGLE_PIN_IF_OFFSET and SINGLE_PIN_IF_SCALE can be used to scale the value to desired range.
In case of the PWM input, a permanent low input signal or permanent high signal is treated as input error
and chosen target value is set to zero.
Register SINGLE_PIN_IF_CFG configures the length of a digital filter for the PWM_I signal. Spikes on the
signal can be thereby suppressed. Bit 0 in register SINGLE_PIN_IF_STATUS is set high when PWM_I is
constant low, Bit 1 is set high when the PWM_I is constant high. Writing to this register resets these flags.
Maximum PWM period of the PWM signal must be 65536 x 40 ns. The calculation of the normalized duty
cycle is started on the rising edge of PWM_I. The PWM frequency needs to be constant as big variations
(tolerance of 4 us in PWM period) in the PWM frequency are treated as error.
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A duty cycle of 50% equals an input value of 32768. With the offset and scaling factors it can be mapped to
desired range.
4.3
Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs
The TMC4671 uses different numerical representations for different parameters, measured values, and
interim results. The terms electrical angle PHI_E, mechanical angle PHI_M, and number of pole pairs
(N_POLE_PAIRS) of the motor are important for setup of FOC. This section describes the different numerical
representations of parameters and terms.
4.3.1
Numerical Representation
The TMC4671 uses signed and unsigned values of different lengths and fixed point representations for
parameters that require a non-integer granularity.
Symbol
Description
u16
unsigned 16 bit value
s16
signed 16 bit values, 2’th complement
u32
unsigned 32 bit value
s32
signed 32 bit values, 2’th complement
Min
Max
0
65535
-32767
32767
0
232 = 4294967296
-2147483647
231 - 1 = 2147483647
q8.8
signed fix point value with 8 bit integer part
and 8 bit fractional part
-32767/256
32767/256
q4.12
signed fix point value with 4 bit integer part
and 12 bit fractional part
-32767/4096
-32767/4096
Table 4: Numerical Representations
Info
Two’s complement of n bit is −2(n−1) . . . −2(n−1) − 1. To avoid unwanted overflow,
the range is clipped to −2(n−1) + 1 . . . −2(n−1) − 1.
Because the zero is interpreted as a positive number for 2’th complement representation of integer n bit
number, the smallest negative number is −2(n−1) where the largest positive number is 2(n−1) − 1. Using
the smallest negative number −2(n−1) might cause critical underflow or overflow. Internal clipping takes
this into account by mapping −2(n−1) to −2(n−1) + 1.
Hexadecimal Value
u16
s16
q8.8
q4.12
0x0000h
0
0
0.0
0.0
0x0001h
1
1
1 / 256
1 / 4096
0x0002h
2
2
2 / 256
2 / 4096
0x0080h
128
128
0.5
0.03125
0x0100h
256
256
1.0
0.0625
0x0200h
512
512
2.0
0.125
0x3FFFh
16383
16383
16383 / 256
16383 / 4096
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Hexadecimal Value
u16
s16
q8.8
q4.12
0x5A81h
23169
23169
23169 / 256
23169 / 4096
0x7FFFh
32767
32767
32767 / 256
32767 / 4096
0x8000h
32768
-32768
-32768 / 256
-32768 / 4096
0x8001h
32769
-32767
-32767 / 256
-32767 / 4096
0x8002h
32770
-32766
-32766 / 256
-32766 / 4096
0xC001h
49153
-16383
-16383 / 256
-16383 / 4096
0xFFFEh
65534
-2
-2 / 256
-2 / 4096
0xFFFFh
65535
-1
-1 / 256
-1 / 4096
Table 5: Examples of u16, s16, q8.8, q4.12
The q8.8 and q4.12 are used for P and I parameters which are positive numbers. Note that q8.8 and q4.12
are used as signed numbers. This is because theses values are multiplied with signed error values resp.
error integral values.
4.3.2
N_POLE_PAIRS, PHI_E, PHI_M
The parameter N_POLE_PAIRS defines the factor between electrical angle PHI_E and mechanical angle
PHI_M of a motor (pls. refer figure 12).
A motor with one (1) pole pair turns once for each electrical period. A motor with two (2) pole pairs turns
once for every two electrical periods. A motor with three (3) pole pairs turns once for every three electrical
periods. A motor with four pole (4) pairs turns once for every four electrical periods.
The electrical angle PHI_E is relevant for the commutation of the motor. It is relevant for the torque control
of the inner FOC loop.
PHI_E = PHI_M · N_POLE_PAIRS
(3)
The mechanical angle PHI_M is primarily relevant for velocity control and for positioning. This is because
one wants to control the motor speed in terms of mechanical turns and not in terms of electrical turns.
PHI_M = PHI_E/N_POLE_PAIRS
(4)
Different encoders give different kinds of position angles. Digital Hall sensors normally give the electrical
position PHI_E that can be used for commutation. Analog encoders give - depending on their resolution - angles that have to be scaled first to mechanical angles PHI_M and to electrical angles PHI_E for
commutation.
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Figure 12: N_POLE_PAIRS - Number of Pole Pairs (Number of Poles)
4.3.3
Numerical Representation of Angles PHI
Electrical angles and mechanical angles are represented as 16 bit integer values. One full revolution of
360 deg is equivalent to 216 = 65536 steps. Any position coming from a sensor is mapped to this integer
range. Adding an offset of PHI_OFFSET causes a rotation of an angle PHI_OFFSET/216 . Subtraction of an
offset causes a rotation of an angle PHI_OFFSET in opposite direction.
Figure 13: Integer Representation of Angles as 16 Bit signed (s16) resp. 16 Bit unsigned (u16)
u16
s16
PHI[°]
±PHI[°]
0x0000h
0
0
0.0
0.0
0x1555h
5461
5461
30.0
-330.0
0x2AAAh
10922
10922
60.0
-300.0
0x4000h
16384
16384
90.0
-270.0
Hexadecimal Value
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u16
s16
PHI[°]
±PHI[°]
0x5555h
21845
21845
120.0
-240.0
0x6AAAh
27306
27768
150.0
-210.0
0x8000h
32768
-32768
180.0
-180.0
0x9555h
38229
-27307
210.0
-150.0
0xAAAAh
43690
-21846
240.0
-120.0
0xC000h
49152
-16384
270.0
-90.0
0xD555h
54613
-10923
300.0
-60.0
0xEAAAh
60074
-5462
330.0
-30.0
Hexadecimal Value
Table 6: Examples of u16, s16, q8.8
The option of adding an offset is for adjustment of angle shift between the motor and stator and the rotor
and encoder. Finally, the relative orientations between the motor and stator and the rotor and encoder can
be adjusted by just one offset. Alternatively, one can set the counter position of an incremental encoder to
zero on initial position. For absolute encoders, one needs to use the offset to set an initial position.
4.4
ADC Engine
The ADC engine controls the sampling of different available ADC channels. The ADC channels (ADC_I0_POS,
ADC_I0_NEG, ADC_I1_POS, ADC_I1_NEG) for current measurement are differential inputs. For analog
Hall and for analog encoder, the ADC channels have differential inputs (AENC_UX_POS, AENC_UX_NEG,
AENC_VN_POS, AENC_VN_NEG, AENC_WY_POS, AENC_WY_NEG). Two general purpose ADC channels
are single-ended analog inputs (AGPI_A, AGPI_B). The ADC channel for measurement of supply voltage
(ADC_VM) is associated with the brake chopper.
The FOC engine expects offset corrected ADC values, scaled into the FOC engine’s 16 bit (s16) fixed
point representation. The integrated scaler and offset compensator maps raw ADC samples of current
measurement channels to 16 bit two’s complement values (s16). While the offset is compensated by
subtraction, the offset is represented as an unsigned value. The scaling value is signed to compensate
wrong measurement direction. The s16 scaled ADC values are available for read out from the register by
the user.
Info
Wrong scaling factors (ADC_SCALE) or wrong offsets (ADC_OFFSET) might cause
damages when the FOC is active. Integrated hardware limiters allow protection especially in the setup phase when using careful limits.
ADC samples for measurement of supply voltage (VM) and the general purpose analog ADC inputs are
available as raw values only without digital scaling. This is because these values are not processed by the
FOC engine. They are just additional ADC channels for the user. The general purpose analog inputs (AGPI)
are intended to monitor analog voltage signals representing MOSFET temperature or motor temperature.
AGPI_A can also be used for the Single Pin Interface (please see section 4.8.10).
Info
ADC_VM must be scaled down by voltage divider to the allowed voltage range,
and might require additional supply voltage spike protection.
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4.4.1
24 / 158
ADC Group A and ADC Group B
ADC inputs of the TMC4671 are grouped into two groups, to enable different sample rates for two groups
of analog signals if needed. For all applications both groups should work with the same sampling rates.
necessary to run its ADC channels with a much higher bandwidth than the ADC channels for current
measurement.
4.4.2 Internal Delta Sigma ADCs
The TMC4671 is equipped with internal delta sigma ADCs for current measurement, supply voltage
measurement, analog GPIs and analog encoder signal measurement. Delta sigma ADCs, as integrated
within the TMC4671, together with programmable digital filters are flexible in parameterizing concerning
resolution vs. speed. The advantage of delta sigma ADCs is that the user can adjust measurement from
lower speed with higher resolution to higher speed with lower resolution. This fits with motor control
application. Higher resolution is required for low speed signals, while lower resolution satisfies the needs
for high speed signals.
Due to high oversampling, the analog input front-end is easier to implement than for successive approximation register ADCs as anti aliasing filters can be chosen to a much higher cutoff frequency. The ADC
Engine processes all ADC channels in parallel hardware - avoiding phase shifts between the channels
compared to ADC channels integrated in MCUs.
An analog voltage V_IN of an analog input is mapped to a raw ADC value ADC_RAW.
4.4.3
External Delta Sigma ADCs
The delta sigma front-end of the ADC engine supports external delta sigma modulators to enable isolated
delta sigma modulators for the TMC4671. Additionally, the delta sigma front-end supports low-cost
comparators together with two resistors and one capacitor (R-C-R-CMP) forming first order delta sigma
modulators, as generic analog front-end for pure digital variants of the TMC4671 core.
4.4.3.1
ADC RAW
The sampled raw ADC values are available for read out by the user. This is important during the system
setup phase to determine offset and scaling factors.
4.4.3.2
ADC EXT
The user can write ADC values into the ADC_EXT registers of the register bank from external sources. These
values can be selected as raw current ADC values by selection. ADC_EXT registers are primarily intended
for test purposes as optional inputs for external current measurement sources.
4.5
Delta Sigma Configuration and Timing Configuration
The delta sigma configuration is programmed via MCFG register that selects the mode (internal/external
delta sigma modulator with fixed internal 100MHz system clock or with programmable MCLK; delta sigma
modulator clock mode (MCLK output, MCLK input, MCLK used as MDAC output with external R-C-R-CMP
configuration); delta sigma modulator clock and its polarity; and the polarity of the delta sigma modulator
data signal MDAT).
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Figure 14: Delta Sigma ADC Configurations dsADC_CONFIG (internal: ANALOG vs. external: MCLKO, MCLKI, MDAC)
dsADC_CONGIG
Description
NC_MCLKO_MCLKI_MDAC
VIN_MDAT
ANALOG
integrated internal ADC mode,
VIN_MDAT is analog input VIN
MCLK not connected (NC)
VIN (analog)
MCLKO
external dsModulator (e.g.
AD7403) with MCLK input
driven by MCLKO
MCLK output
MDAT input
MCLKI
external dsModulator (e.g.
AD7400) with MCLK output
that drives MCLKI
MCLK input
MDAT input
MDAC
external dsModulator (e.g.
LM339, LM319) realized by
external comparator CMP with
two R and one C
MDAC output (= MCLK out)
MDAT input for CMP
Table 7: Delta Sigma ADC Configurations (figure 14), selected with dsADC_MCFG_A and dsADC_MCFG_B.
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register
26 / 158
function
dsADC_MCFG_B
delta sigma modulator configuration MCFG (ANALOG, MCLKI, MCLKO, MDAC), group B
dsADC_MCFG_A
delta sigma modulator configuration MCFG (ANALOG, MCLKI, MCLKO, MDAC), group A
dsADC_MCLK_B
delta sigma modulator clock MCLK, group B
dsADC_MCLK_A
delta sigma modulator clock MCLK, group A
dsADC_MDEC_B
delta sigma decimation parameter MDEC, group B
dsADC_MDEC_A
delta sigma decimation parameter MDEC, group A
Table 8: Registers for Delta Sigma Configuration
4.5.0.1
Timing Configuration MCLK
When the programmable MCLK is selected, the MCLK_A and MCLK_B parameter registers define the
programmable clock frequency fMCLK of the delta sigma modulator clock signal MCLK for delta sigma
modulator group A and group B. For a given target delta sigma modulator frequency fMCLK, together with
the internal clock frequency fCLK = 100MHz, the MCLK frequency parameter is calculated by
MCLK = 231 ∗ fMCLK[Hz]/fCLK[Hz]
(5)
Due to the 32 bit’s length of the MCLK frequency parameter, the resulting frequency fMCLK might differ
from the desired frequency fMCLK. The back calculation of the resulting frequency fMCLK for a calculated
MCLK parameter with 32 bit length is defined by
fMCLK[Hz] = fCLK[Hz] ∗ MCLK/231
(6)
The precise programming of the MCLK frequency is primarily intended for external delta sigma modulators
to meet given EMI requirements. With that, the user can programm frequencies fMCLK with a resolution
better than 0.1 Hz. This advantage concerning EMI might cause trouble when using external delta signal
modulators if they are sensitive to slight frequency alternating. This is not an issue when using external
first-order delta sigma modulators based on R-C-R-CMP (e.g. LM339). But for external second-order delta
signal modulators, it is recommended to configure the MCLK parameter for frequencies fMCLK with kHz
quantization (e.g. 10,001,000 Hz instead of 10,000,001 Hz). Table 9 gives an overview of MCLK parameter
settings for different frequencies fMCLK.
fMCLK_target
MCLK
fMCLK_resulting
comment
25 MHz
0x20000000
25 MHz
w/o fMCLK frequency jitter, recommended
20 MHz
0x19000000
20 MHz -468750 Hz
recommended for ext. ∆Σ modulator
20 MHz
0x19999999
20 MHz -0.03 Hz
might be critical for ext. ∆Σ modulator
12.5 MHz
0x10000000
12.5 MHz
w/o fMCLK frequency jitter, recommended
10 MHz
0x0CCCCCCC
10 MHz -0.04 Hz
might be critical for ext. ∆Σ modulator
10 MHz
0x0CC00000
10 MHz -39062.5 Hz
recommended for ext. ∆Σ modulator
Table 9: Delta Sigma MCLK Configurations
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Parametrization of fMCLK will be changed in a future version of the chip to match
usual modulator frequencies like 10MHz and 20MHz better. It is recommended to
use a Modulatorfrequency of 25kHz for all applications. If the second ADC group
is not needed, it is recommended to shut it off by setting the MCLK_B register to
0x0.
Info
4.5.0.2
Decimation Configuration MDEC
The high oversampled single bit delta sigma data stream (MDAT) is digitally filtered by Sinc3 filters. To
get raw ADC data, the actual digitally filtered values need to be sampled periodically with a lower rate
called decimation ratio. The decimation is controlled by parameter MDEC_A for ADC group A and MDEC_B
for ADC group B. A new ADC_RAW value is available after MDEC delta sigma pulses of MCLK. As such, the
parameters MCLK and MDEC together define the sampling rate of the 16 bit ADC_RAW values.
The delta sigma modulator with Sinc3 filter works with best noise reduction performance when the length
of the step response time tSINC3 of the Sinc3 filter is equal to the length of the PWM period tPWM =
(PWM_MAXCNT+1) / fPWMCLK = ((PWM_MAXCNT+1) * 10 ns) of the period. The length of the step function
response of a Sinc3 filter is
tSINC3 = (3 · (MDEC − 1) + 1) · tMCLK
(7)
tPWM
−2
3 · tMCLK
(8)
MDECrecommended =
fMCLK
tMCLK
MDEC25 (25 kHz, 40µs)
MDEC50 (50 kHz, 20µs)
MDEC100 (100 kHz, 10µs)
50 MHz
20 ns
665
331
165
25 MHz
40 ns
331
165
81
20 MHz
50 ns
265
131
65
12.5 MHz
80 ns
165
81
40
10 MHz
100 ns
131
65
31
Table 10: Recommended Decimation Parameter MDEC (equation (8) for different PWM frequencies fPWM
(MDEC25 for fPWM=25kHz w/ PWM_MAXCNT=3999, MDEC50 for fPWM=50kHz w/ PWM_MAXCNT=1999,
MDEC100 for fPWM=100kHz w/ PWM_MAXCNT=999).
Info
Internal structure of the Sinc3 and synchronization to PWM will be enhanced
in future version of the chip. This might need the user’s application controller
software to be changed.
4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW
Generally, delta sigma modulators work best for a typical input voltage range of 25% V_MAX . . . 75% V_MAX.
For the integrated delta sigma modulators, this input voltage operation range is recommended with V_MAX
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= 5V where V_MAX = 3.3V is possible. The table 11 defines the recommended voltage ranges for both 5V
and 3.3V analog supply voltages.
V_SUPPLY[V]
(V_MIN[V])
V_MIN25%[V]
V_MAX50%[V]
V_MAX75%[V]
(V_MAX[V])
(3.3)
(0.0)
(0.825)
(1.65)
(2.75)
(3.3)
5.0
(0.0)
1.250
2.50
3.75
(5.0)
Table 11: Recommended input voltage range from V_MIN25%[V] to V_MAX75%[V] for internal Delta Sigma
Modulators; V_SUPPLY[V] = 5V is recommended for the analog part of the TMC4671.
V_RAW
=
V_MAX
for
(V_IN − V_REF) for
V_MIN
V_IN
V_MIN
for
> V_MAX
< (V_IN − V_REF) < V_MAX
V_IN
(9)
< V_MIN
The resulting raw ADC value is
V_RAW
ADC_RAW = (216 − 1) ·
V_MAX
for
V_MIN25%[V] < V_RAW < V_MAX75%[V].
(10)
The idealized expression (equation 9) is valid for recommended voltage ranges (table 11) neglecting
deviations in linearities. These deviations primarily depend on different impedance on the analog signal
path, but also on digital parameterization. Finally, the deviation is quantified in terms of resulting ADC
resolution.
So, the Delta Sigma ADC engine maps the analog input voltages V_RAW = V_IN - V_REF of voltage
range V_MIN < V_RAW < V_MAX to ADC_RAW values of range {0 . . . (216 ) − 1} {0 . . . 65535}
0x0000 . . . 0xFFFF.
Vmin[V]
Vref[V]
Vmax[V]
VIN[V]
DUTY[%]
ADC_RAW
0.0
2.5
5.0
(0.0)
(0%)
(0x0000)
0.0
2.5
5.0
1.0
25%
0x4000
0.0
2.5
5.0
2.5
50%
0x7fff
0.0
2.5
5.0
3.75
75%
0xC000
0.0
2.5
5.0
(5.0)
(100%)
(0xffff)
Table 12: Delta Sigma input voltage mapping of internal Delta Sigma Modulators)
Info
For calibrating purposes, the input voltage of the delta sigma ADC inputs can be
programmed to fixed voltages (25%, 50%, 75% of analog supply voltage) via the
associated configuration register DS_ANALOG_INPUT_STAGE_CFG.
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4.5.2
External Delta Sigma Modulator Interface
The TMC4671 is equipped with integrated digital filters for extraction of ADC raw values from delta sigma
data stream for both internal and external delta sigma modulators. The interface for external delta sigma
modulators is intended for external isolated sigma delta modulators, such as AD7401 (with MCLK input
driven by TMC4671), or AD7402 (with MCLK output to drive TMC4671). In addition, the external delta sigma
interface supports the use of simple comparator with a R-C-R network as external low cost delta sigma
modulators (R-C-R-CMP, e.g. LM339).
When selecting the external delta sigma ADC Interface, the high-performance
Debug SPI Interface (RTMI) it not available in parallel due to pin sharing. The UART
is always available, but with less performance than the RTMI.
Info
Each external delta sigma modulator channel (dsMOD) has two signals (pls. refer figure 14), one dedicated
input, and one programmable input/output. The configuration of the external delta sigma modulator
interface is defined by programming associated registers. When selecting external delta signal ADC, the
associated analog ADC inputs are configured as digital inputs for the delta sigma signal data stream MDAT.
4.5.3
ADC Configuration - MDAC
Figure 15: ∆Σ ADC Configuration - MDAC (Comparator-R-C-R as ∆Σ-Modulator)
In the MDAC delta sigma modulator, the delay of the comparator CMP determines the MCLK of the
comparator modulator. A capacitor CM CCM P within a range of 100 pF . . . 1nF fits in most cases. The time
constant τ RC should be in a range of 0.1 tCMP . . . tCMP of the comparator. The resistors should be in the
range of 1K to 10K. The fMAXtyp depends also on the choice of the decimation ratio.
CMP
tCMPtyp [ns]
fMCLKmaxTYP
1
CMCMP [pF ]
100
LM319
100
RMCMP [kΩ]
1
LM319
100
10
10
100
1 MHz
LM319
100
100
100
100
100 kHz
RMCMP [kΩ]
1
RMDAC [kΩ]
CMCMP [pF ]
100
fMCLKmaxTYP
CMP
LM339
tCMPtyp [ns]
1000
RMDAC [kΩ]
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10 MHz
1 MHz
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CMP
tCMPtyp [ns]
LM339
1000
RMCMP [kΩ]
10
LM339
1000
100
fMCLKmaxTYP
10
CMCMP [pF ]
100
100
100
10 kHz
RMDAC [kΩ]
Table 13: Delta Sigma R-C-R-CMP Configurations (pls. refer 14)
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Vmin[V]
Vref[V]
Vmax[V]
VIN[V]
DUTY[%]
0.0
1.65
3.3
0.0
0%
0x0000
0.0
1.65
3.3
0.825
25%
0x4000
0.0
1.65
3.3
1.65
50%
0x7fff
0.0
1.65
3.3
2.475
75%
0xC000
0.0
1.65
3.3
3.3
100%
0xffff
Vmin[V]
Vref[V]
Vmax[V]
VIN[V]
0.0
2.5
5.0
0.0
0%
0x0000
0.0
2.5
5.0
1.0
25%
0x4000
0.0
2.5
5.0
2.5
50%
0x7fff
0.0
2.5
5.0
3.75
75%
0xC000
0.0
2.5
5.0
5.0
100%
0xffff
DUTY[%]
ADC_RAW
ADC_RAW
Table 14: Delta Sigma input voltage mapping of external comparator (CMP)
4.6
Analog Signal Conditioning
The range of measured coil currents, resp. the measured voltages of sense resistors, needs to be mapped
to the valid input voltage range of the delta sigma ADC inputs. This analog preprocessing is the task of the
analog signal conditioning.
4.6.0.1
Chain of Gains for ADC Raw Values
An ADC raw value is a result of a chain of gains that determine it. A coil current I_SENSE flowing through a
sense resistor causes a voltage difference according to Ohm’s law. Finally, a current is mapped to an ADC
raw value
ADC_RAW = (I_SENSE ∗ ADC_GAIN) + ADC_OFFSET.
(11)
The ADC_GAIN is a result of a chain of gains with individual signs. The sign of the ADC_GAIN is positive
or negative, depending on the association of connections between sense amplifier inputs and the sense
resistor terminals. The ADC_OFFSET is the result of electrical offsets of the phase current measurement
signal path. For the TMC4671, the maximum ADC_RAW value is ADC_RAW_MAX = (216 −1) and the minimum
ADC raw value is ADC_RAW_MIN = 0.
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ADC_GAIN
=
(
∗
∗
I_SENSE_MAX ∗ R_SENSE
)
(12)
SENSE_AMPLIFIER_GAIN
( ADC_RAW_MAX/ADC_U_MAX
)
Rsense [mΩ]
Isense [A]
Usense [mV ]
GAIN[V /V ]
ADC_GAIN[A/V ]
Sense Amplifier
5
10
50
20
10
AD8204
10
5
50
20
5
AD8204
Table 15: Example Parameters for ADC_GAIN
For the FOC, the ADC_RAW is scaled by the ADC scaler of the TMC4671 together with subtraction of offset
to compensate it. Internally, the TMC4671 FOC engine calculates with s16 values. So, the ADC scaling needs
to be chosen so that the measured currents fit into the s16 range. With the ADC scaler, the user can choose
a scaling with physical units like [mA]. A scaling to [mA] covers a current range of −32A . . . + 32A with
m[A] resolution. For higher currents, the user can choose unusual units like centi Ampere [cA] covering
−327A . . . + 327A or deci Ampere −3276A . . . + 3276A.
ADC scaler and offset compensators are for mapping raw ADC values to s16 scaled and offset cleaned
current measurement values that are adequate for the FOC.
4.6.1
FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W
The correct association between stator terminal voltages U_U, U_V, U_W and stator coil currents I_U, I_V,
I_W is essential for the FOC.
For three-phase motors with three terminals U, V, W, the voltage U_U is in phase with the current I_U, U_V
is in phase with I_V, and U_W is in phase with I_W according to equations (13) and (14) for FOC3.
U_UVW_FOC3(U_D, PHI_E) =
U (φ ) = UD
U e
UV (φe ) = UD
U (φ ) = U
W
I_UVW_FOC3(I_D, PHI_E) =
e
D
I (φ ) = ID
U e
IV (φe ) = ID
I (φ ) = I
W
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e
D
· sin(φe )
· sin(φe + 120o )
(13)
· sin(φe − 120o )
· sin(φe )
· sin(φe + 120o )
· sin(φe − 120o )
(14)
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4.6.2
33 / 158
Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y
For two-phase motors (stepper) with four terminals X1, X2, and Y1, Y2, voltage U_Ux = U_X1 - U_X2 is in
phase with the measured current I_X and U_Wy = U_Y1 - U_Y2 is in phase with the measured current I_Y
according to equations (15) and (16) for FOC2.
U_XY_FOC2 =
U (φ ) = U
X
e
X
U (φ ) = U
Y
I_XY_FOC2 =
Y
I (φ ) = I
X
e
D
I (φ ) = I
Y
4.6.3
e
e
D
∗
sin(φe )
∗
sin(φe + 90o )
∗
sin(φe )
∗
sin(φe + 90o )
(15)
(16)
ADC Selector & ADC Scaler w/ Offset Correction
The ADC selector selects ADC channels for FOC. The 3-phase FOC uses two of three ADC channels for
measurement and calculates the third channel via Kirchhoff’s Law using the scaled and offset-corrected
ADC values. The 2-phase FOC just uses two ADC channels because for a 2-phase stepper motor, the two
phases are independent from each other.
Note
The open-loop encoder is useful for setting up ADC channel selection, scaling,
and offset by running a motor open-loop.
The FOC23 Engine processes currents as 16 bit signed (s16) values. Raw ADC values are expanded to 16 bit
width, regardless of their resolution. With this, each ADC is available for read out as a 16 bit number.
The ADC scaler w/ offset correction is for the preprocessing of measured raw current values. It might be
used to map to user’s own units (e.g. A or mA). For scaling, gains of current amplifiers, reference voltages,
and offsets have to be taken into account.
Info
Raw ADC values generally are of 16 bit width, regardless of their real resolution.
Info
The ADC scaler maps raw ADC values to the 16 bit signed (s16) range and centers
the values to zero by removing offsets.
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Figure 16: ADC Selector & Scaler w/ Offset Correction
ADC offsets and ADC scalers for the analog current measurement input channels need to be programmed
into the associated registers. Each ADC_I_U, ADC_I_V, ADC_I_UX, ADC_I_WY, ADCSD_I_UX, ADCSD_I_WY,
ADC_I0_EXT, and ADC_I1_EXT is mapped either to ADC_I0_RAW or to ADC_I1_RAW by ADC_I0_SELECT and
ADC_I1_SELECT.
In addition, the ADC_OFFSET is for conversion of unsigned ADC values into signed ADC values as required
for the FOC.
ADC_I0 = (ADC_I0_RAW + ADC_I0_OFFSET) · ADC_I0_SCALE
(17)
ADC_I1 = (ADC_I1_RAW + ADC_I1_OFFSET) · ADC_I1_SCALE
(18)
For FOC3, the third current ADC_I2 is calculated via Kirchhoff’s Law. This requires the correct scaling and
offset correction beforehand. For FOC2, there is no calculation of a third current.
The ADC_UX_SELECT selects one of the three ADC channels ADC_I0 ADC_I1, or ADC_I2 for ADC_UX.
The ADC_V_SELECT selects one of the three ADC channels ADC_I0 ADC_I1, or ADC_I2 for ADC_V.
The ADC_WY_SELECT selects one of the three ADC channels ADC_I0 ADC_I1, or ADC_I2 for ADC_WY.
The ADC_UX, ADC_V, and ADC_WY are for the FOC3 (U, V, W). The ADC_UX and ADC_WY (X, Y) are for the
FOC2.
Note
The open-loop encoder is useful to run a motor open loop for setting up the ADC
channel selection with correct association between phase currents I_U, I_V, I_W
and phase voltages U_U, U_V, U_W.
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35 / 158
Encoder Engine
The encoder engine is an unified position sensor interface. It maps the selected encoder position information to electrical position (phi_e) and to mechanical position (phi_e). Both are 16 bit values. The encoder
engine maps single turn positions from position sensors to multi-turn positions. The user can overwrite
the multi-turn position for initialization.
The different position sensors are the position sources for torque and flux control via FOC, for velocity
control, and for position control. The PHI_E_SELECTION selects the source of the electrical angel phi_e
for the inner FOC control loop. VELOCITY_SELECTION selects the source for velocity measurement. With
phi_e selected as source for velocity measurement, one gets the electrical velocity. With the mechanical
angle phi_m selected as source for velocity measurement, one gets the mechanical velocity taking the
set number of pole pairs (N_POLE_PAIRS) of the motor into account. Nevertheless, for a highly precise
positioning, it might be useful to do positioning based on the electrical angel phi_e.
4.7.1
Open-Loop Encoder
For initial system setup, the encoder engine is equipped with an open-loop position generator. This allows
for turning the motor open-loop by specifying speed in rpm and acceleration in rpm/s, together with
a voltage UD_EXT in D direction. As such, the open-loop encoder is not a real encoder. It simply gives
positions as an encoder does. The open-loop decoder has a direction bit to define direction of motion for
the application.
Note
The open-loop encoder is useful for initial ADC setup, encoder setup, Hall signal
validation, and for validation of the number of pole pairs of a motor. The openloop encoder turns a motor open with programmable velocity in unit [RPM] with
programmable acceleration in unit [RPM/s].
With the open-loop encoder, the user can turn a motor without any position sensor and without any
current measurement as a first step of doing the system setup. With the turning motor, the user can
adjust the ADC scales and offsets and set up positions sensors (Hall, incremental encoder, . . . ) according
to resolution, orientation, and direction of rotation.
4.7.2 Incremental ABN Encoder
The incremental encoders give two phase shifted incremental pulse signals A and B. Some incremental
encoders have an additional null position signal N or zero pulse signal Z. An incremental encoder (called
ABN encoder or ABZ encoder) has an individual number of incremental pulses per revolution. The number
of incremental pulses define the number of positions per revolution (PPR). The PPR might mean pulses
per revolution or periods per revolution. Instead of positions per revolution, some incremental encoder
vendors call these CPR counts per revolution.
The PPR parameter is the most important parameter of the incremental encoder interface. With that, it
forms a modulo (PPR) counter, counting from 0 to (PPR-1). Depending on the direction, it counts up or
down. The modulo PPR counter is mapped into the register bank as a dual ported register. The user can
overwrite it with an initial position. The ABN encoder interface provides both the electrical position and
the multi-turn position, which are accessible through dual-ported read-write registers.
Note
The PPR parameter must be set exactly according to the used encoder.
The N pulse from an encoder triggers either sampling of the actual encoder count to fetch the position at
the N pulse or it re-writes the fetched n position on an N pulse. The N pulse can either be used as stand
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alone pulse or and-ed with NAB = N and A and B. It depends on the decoder what kind of N pulse has to be
used - either N or NAB. For those encoders with precise N pulse within one AB quadrant, the N pulse must
be used. For those encoders with N pulse over four AB quadrants the user can enhance the precision of
the N pulse position detection by using NAB instead of N.
Note
Incremental encoders are available with N pulse and without N pulse.
Figure 17: ABN Incremental Encoder N Pulse
The polarity of N pulse, A pulse and B pulse are programmable. The N pulse is for reinitialization with each
turn of the motor. Once fetched, the ABN decoder can be configured to write back the fetched N pulse
position with each N pulse.
Note
The ABN encoder interface has a direction bit to set to match wiring of motor to
direction of encoder.
Logical ABN = A and B and N might be useful for incremental encoders with low resolution N pulse to
enhance the resolution. On the other hand, for incremental encoders with high resolution N pulse a logical
ABN = A and B and N might totally suppress the resulting N pulse.
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Figure 18: Encoder ABN Timing - high precise N pulse and less precise N pulse
4.7.3
Secondary Incremental ABN Encoder
For commutating a motor with FOC, the user selects a position sensor source (digital incremental encoder,
digital Hall, analog Hall, analog incremental encoder, . . . ) that is mounted close to the motor. The inner
FOC loop controls torque and flux of the motor based on the measured phase currents and the electrical
angle of the rotor.
The TMC4671 is equipped with a secondary incremental encoder interface. This secondary encoder
interface is available as source for velocity control or position control. This is for applications where a
motor with a gearing positions an object.
Info
4.7.4
The secondary incremental encoder is not available for commutation (phi_e) for
the inner FOC. In others words, there is no electrical angle phi_e selectable from
the secondary encoder.
Digital Hall Sensor Interface with optional Interim Position Interpolation
The digital Hall interface is the position sensor interface for digital Hall signals. The digital Hall signal
interface first maps the digital Hall signals to an electrical position PHI_E_RAW. An offset PHI_E_OFFSET can
be used to rotate the orientation of the Hall signal angle. The electrical angle PHI_E is for commutation.
Optionally, the default electrical positions of the Hall sensors can be adjusted by writes into the associated
registers.
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Figure 19: Hall Sensor Angles
Hall sensors give absolute positions within an electrical period with a resolution of 60° as 16 bit positions
(s16 resp. u16) PHI. With activated interim Hall position interpolation, the user gets high resolution interim
positions when the motor is running at a speed above 60 rpm.
4.7.5
Digital Hall Sensor - Interim Position Interpolation
For lower torque ripple the user can switch on the position interpolation of interim Hall positions. This
function is useful for motors that are compatible with sine wave commutation, but equipped with digital
Hall sensors.
When the position interpolation is switched on, it becomes active on speeds above 60 rpm. For lower
speeds it automatically disables itself. This is especially important when the motor has to be at rest.
Hall sensor position interpolation might fail when Hall sensors are not properly placed in the motor. Please
adjust Hall sensor positions for this case.
4.7.6
Digital Hall Sensors - Masking and Filtering
Sometimes digital Hall sensor signals get disturbed by switching events in the power stage. The TMC4671
can automatically mask switching distortions by correct setting of the HALL_MASKING register. When
a switching event occurs, the Hall sensor signals are held for HALL_MASKING value times 10 ns. This
way, Hall sensor distortions are eliminated. Uncorrelated distortions can be filtered via a digital filter of
parameterizable length. If the input signal to the filter does not change for HALL_DIG_FILTER times 5 us,
the signal can pass the filter. This filter eliminates issues with bouncing Hall signals.
4.7.7
Digital Hall Sensors together with Incremental Encoder
If a motor is equipped with both Hall sensors and incremental encoder, the Hall sensors can be used for
the initialization as a low resolution absolute position sensor. Later on, the incremental encoder can be
used as a high resolution sensor for commutation.
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Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°)
An analog encoder interface is part of the decoder engine. It is able to handle analog position signals of 0°
and 90° and of 0° 120° 240°. The analog decoder engine adds offsets and scales the raw analog encoder
signals, while also calculating the electrical angle PHI_E from these analog position signals by an ATAN2
algorithm.
An individual signed offset is added to each associated raw ADC channel and scaled by its associated
scaling factors according to
AENC_VALUE = (AENC_RAW + AENC_OFFSET) · AENC_SCALE
(19)
In addition, the AENC_OFFSET is for conversion of unsigned ADC values into signed ADC values as required
for the FOC.
Figure 20: Analog Encoder (AENC) Selector & Scaler w/ Offset Correction
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The analog N pulse is just a raw ADC value. Handling of analog N pulse similar
to N pulse handling of digital encoder N pulse is not implemented for analog
encoder.
Info
4.7.9
40 / 158
Analog Position Decoder (SinCos of 0°90° or 0°120°240°)
The extracted positions from the analog decoder are available for read out from registers.
4.7.9.1
Multi-Turn Counter
Electrical angles are mapped to a multi-turn position counter. The user can overwrite this multi-turn
position for initialization purposes.
4.7.9.2
Encoder Engine Phi Selector
The angle selector selects the source for the commutation angle PHI_E. That electrical angle is available for
commutation.
4.7.9.3
External Position Register
A register value written into the register bank via the application interface is available for commutation
as well. With this, the user can interface to any encoder by just writing positions extracted from external
encoder into this regulator. From the decoder engine point of view this is just one more selectable encoder
source.
4.7.10
Encoder Initialization Support
The TMC4671 needs proper feedback for correct and stable operation. One main parameter is the commutation angle offset PHI_E_OFFSET. This offset must not be calculated when an absolute sensor system
like analog or digital Hall sensors is used. All other supported feedback systems need to be initialized their PHI_E_OFFSETs need to be identified. The user has several options to determine PHI_E_OFFSET with
support of the TMC4671.
4.7.10.1
Encoder Initialization in Open-Loop Mode
In the case of a free driving motor, the motor can be switched to Open-Loop Mode. In this mode, the
used commutation angle (PHI_OPEN_LOOP) can be used to match the measured PHI_E. This method is
supported by the TMCL-IDE.
4.7.10.2
Encoder Initialization by Minimal Movement
If the motor shall not make a big move during initialization, the MOTION_MODE ENCODER_INIT_MINI_MOVE
can be used which determines PHI_E_OFFSET by ramping up the flux and controlling the movement to
a minimum by manipulating the used PHI_E_OFFSET. After the procedure is finished, the estimated
PHI_E_OFFSET can be read from the register and used as the corresponding PHI_E_OFFSET for the feedback
system.
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Figure 21: Encoder Initialization by minimal Movement
The flux ramping can be controlled by setting the U_D_INKR - which manipulates the slope of the ramp.
The maximum voltage can be set by the parameter U_D_MAX. During operation, the current is monitored
and the process is stopped when the current limit I_D_MAX is reached.
Figure 22: Flux Ramping
Info
4.7.10.3
For correct operation of this module a few parameters have to be set. Please try
TRINAMIC TMCL-IDE Support for first usage and parameter tuning.
Encoder Initialization by Hall sensors
The TMC4671 can calculate PHI_E_OFFSET very precisely at a Hall state change for a second encoder
system, when Hall sensors are correctly aligned. Therefore, the function needs to be enabled and calculate
a new offset at the next Hall state change. After disabling of the module, the process can be started again.
This function can also be used as a rough plausibility check during longer operation.
4.7.10.4
Encoder Initialization by N Pulse Detection
After determination of a correct offset, the value can be used again after power cycle. The encoder’s N
pulse can be used as reference for this. For starters the user can drive the motor in open-loop mode or by
using digital Hall sensor signals. After passing the encoder’s N pulse, the ABN encoder is initialized and
can be used for operation.
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Velocity Measurement
Servo control comprises position, velocity and current control. The position and the current are measured
by separate sensors. The actual velocity has to be calculated by time discrete differentiation from the
position signal. the user can choose a calculated position from the various encoder interfaces for velocity
measurement by parameter VELOCITY_SELECTION.
The user can switch between two different velocity calculation algorithms with the parameter VELOCITY_METER_SELECTION. Default setting (VELOCITY_METER_SELECTION = 0) is the standard velocity meter,
which calculates the velocity at a sampling rate of about 4369.067 Hz by differentiation. Output value is
displayed in rpm (revolutions per minute). This option is recommended for usage with the standard PI
controller structure.
By choosing the second option (VELOCITY_METER_SELECTION = 1), the sampling frequency is synchronized
to the PWM frequency. This option is recommended for usage with the advanced PI controller structure.
Otherwise, the controller structure might tend to be unstable due to non-matched sampling.
Velocity filters can be applied to reduce noise on velocity signals. Section 4.9 describes filtering opportunities in detail.
4.7.12
Reference Switches
The TMC4671 is equipped with three input pins for reference switches (REF_SW_L, REF_SW_H and REF_SW_R).
These pins can be used to determine three reference positions. The TMC4671 displays the status of the
reference switches in the register TMC_INPUTS_RAW and is able to store the actual position at rising
edge of the corresponding signal. The signal polarities are programmable and the module reacts only on
toggling the ENABLE register. The signals can be filtered with a configurable digital filter, which suppresses
spike errors.
4.8
FOC23 Engine
Support for the TMC4671 is integrated into the TMCL-IDE including wizards for
set up and configuration. With the TMCL-IDE, configuration and operation can be
done in a few steps and the user gets direct access to all registers of the TMC4671.
Info
The FOC23 engine performs the inner current control loop for the torque current IQ and the flux current
ID including the required transformations. Programmable limiters take carep
of clipping of interim results.
p
Per default, the programmable circular limiter clips U_D and U_Q to U_D_R = (2)· U_Q and U_R_R = (2)·
U_D. PI controllers perform the regulation tasks.
4.8.1
PI Controllers
PI controllers are used for current control and velocity control. A P controller is used for position control.
The derivative part is not yet supported but might be added in the future. The user can choose between
two PI controller structures: The classic PI controller structure, which is also used in the TMC4670, and
the advanced PI controller structure. The advanced PI controller structure shows better performance in
dynamics and is recommended for high performance applications. User can switch between controllers by
setting register MODE_PID_TYPE. Controller type can not be switched individually for each cascade level.
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PI Controller Calculations - Classic Structure
The PI controllers in the classic structure perform the following calculation
Z t
dXdT = P · e + I ·
e(t) dt
(20)
0
with
e = X_TARGET − X
(21)
where X_TARGET stands for target flux, target torque, target velocity, or target position with error e, which
is the difference between target value and actual values. The time constant dt is 1µs with the integral part
is divided by 256.
Info
4.8.3
Changing the I-parameter of the classic PI controller during operation causes the
controller output to jump, as the control error is first integrated and then gained
by the I parameter. Be careful during controller tuning or use the advanced PI
controller structure instead. The normalization of the PI parameters might be
changed due to low performance at high PWM frequencies. This will need small
changes in user’s application controller software.
PI Controller Calculations - Advanced Structure
The PI controllers in the advanced controller structure perform the calculation
Z t
dXdT = P · e +
P · I · e(t) dt
(22)
0
with
e = X_TARGET − X
(23)
where X_TARGET represents target flux, target torque, target velocity, or target position with control error e,
which is the difference between target value and actual values. The time constant dt is set according to the
PWM period but can be downsampled for the velocity and position controller by register MODE_PID_SMPL.
Velocity and position controller evaluation can be down-sampled by a constant factor when needed.
Figure 23: Advanced PI Controller
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Info
The PI velocity controller will be given a derivative part (so it will be a PID controller)
in a future version of the chip. Also, the normalization of the PI parameters might
be changed due to low performance at high PWM frequencies. This will need
changes in the user’s application controller software.
Info
The P Factor in the advanced position controller is not properly scaled. Due
to the high gain in velocity control loop, the position controller gain should be
respectively low. The P Factor normalization of Q8.8 does not match these needs.
This will be changed in a future version of the chip to a different Q format.
This change will need changes in the user’s application controller software. We
recommend to use the classical PI control structure if performance is not sufficient.
4.8.4
PI Controller - Clipping
The limiting of target values for PI controllers and output values of PI controllers is programmable. Per
power on default these limits are set to maximum values. During initialization, these limits should be set
properly for correct operation and clipping.
The target input is clipped to X_TARGET_LIMIT. The output of a PI controller is named dXdT because it gives
the desired derivative d/dt as a target value to the following stage: The position (x) controller gives velocity
(dx/dt). The output of the PI Controller is clipped to dXdT_LIMIT. The error integral of (20) is clipped to
dXdT_LIMIT / I in the classic controller structure, and the integrator output is clipped to dXdT_LIMIT in the
advanced controller structure.
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Figure 24: PI Architectures
4.8.5
PI Flux & PI Torque Controller
The P part is represented as q8.8 and I is the I part represented as q0.15.
4.8.6
PI Velocity Controller
The P part is represented as q8.8 and I is the I part represented as q0.15.
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P Position Controller
For the position regulator, the P part is represented as q4.12 to be compatible with the high resolution
positions - one single rotation is handled as an s16.
4.8.8 Inner FOC Control Loop - Flux & Torque
The inner FOC loop (figure 25) controls the flux current to the flux target value and the torque current to
the desired torque target. The inner FOC loop performs the desired transformations according to figure 26
for 3-phase motors (FOC3). For 2-phase motors (FOC2) both Clarke (CLARKE) transformation and inverse
Clarke (iCLARKE) are bypassed. For control of DC motors, transformations are bypassed and only the first
full bridge (connected to X1 and X2) is used.
The inner FOC control loop gets a target torque value (I_Q_TARGET) which represents acceleration, the rotor
position, and the measured currents as input data. Together with the programmed P and I parameters,
the inner FOC loop calculates the target voltage values as input for the PWM engine.
Figure 25: Inner FOC Control Loop
4.8.9
FOC Transformations and PI(D) for control of Flux & Torque
The Clarke transformation (CLARKE) maps three motor phase currents (IU , IV , IW ) to a two-dimensional
coordinate system with two currents (Iα , Iβ ). Based on the actual rotor angle determined by an encoder
or via sensorless techniques, the Park transformation (PARK) maps these two currents to a quasi-static
coordinate system with two currents (ID , IQ ). The current ID represents flux and the current IQ represents
torque. The flux just pulls on the rotor but does not affect torque. The torque is affected by IQ . Two PI
controllers determine two voltages (UD , UQ ) to drive desired currents for a target torque and a target
flux. The determined voltages (UD , UQ ) are re-transformed into the stator system by the inverse Park
transformation (iPARK). The inverse Clarke Transformation (iCLARKE) transforms these two currents into
three voltages (UU , UV , UW ). Theses three voltage are the input of the PWM engine to drive the power
stage.
In case of the FOC2, Clarke transformation CLARKE and inverse Clarke Transformation iCLARKE are skipped.
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Figure 26: FOC3 Transformations (FOC2 just skips CLARKE and iCLARKE)
4.8.10
Motion Modes
The user can operate the TMC4671 in several motion modes. Standard motion modes are position control,
velocity control and torque control, where target values are fed into the controllers via register access. The
motion mode UD_UQ_EXTERN allows the user to set voltages for open-loop operation and for tests during
setup.
Figure 27: Standard Motion Modes
In position control mode, the user can feed the step and direction interface to generate a position target
value for the controller cascade. Additional motion modes are the motion mode for encoder initialisation
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(ENCODER_INIT_MINI_MOVE), and motion modes where target values are fed into the TMC4671 via PWM
interface (Pin: PWM_IN) or analog input via pin AGPI_A.
There are additional motion modes, which are using input from the PWM_I input and the AGPI_A input.
Input signals can be scaled via a standard scaler providing offset and gain correction. The interface can
be configured via the registers SINGLE_PIN_IF_OFFSET_SCALE and SINGLE_PIN_IF_STATUS_CFG, where the
status of the interface can be monitored as well. PWM input signals which are out of frequency range can
be neglected. In case of wrong input data, last correct position is used or velocity and torque are set to
zero.
Number
Motion Mode
Description
0
Stopped Mode
Disabling all controllers
1
Torque Mode
Standard Torque Control Mode
2
Velocity Mode
Standard Velocity Control Mode
3
Position Mode
Standard Position Control Mode
4
PRBS Flux Mode
PRBS Value is used as Target Flux Value for Ident.
5
PRBS Torque Mode
PRBS Value is used as Target Torque Value for Ident.
6
PRBS Velocity Mode
PRBS Value is used as Target Velocity Value for Ident.
7
PRBS Position Mode
PRBS Value is used as Target Position Value for Ident.
8
UQ UD Ext Mode
Voltage control mode (Software Mode)
9
Encoder Init Mini Move Mode
Encoder Initialization by minimal movement of the rotor.
10
AGPI_A Torque Mode
AGPI_A used as Target Torque value
11
AGPI_A Velocity Mode
AGPI_A used as Target Velocity value
12
AGPI_A Position Mode
AGPI_A used as Target Position value
13
PWM_I Torque Mode
PWM_I used as Target Torque value
14
PWM_I Velocity Mode
PWM_I used as Target Velocity value
15
PWM_I Position Mode
PWM_I used as Target Position value
Table 16: Motion Modes
4.8.11
Brake Chopper
During regenerative braking of the motor, current is driven into the DC link. If the power frontend is not
actively controlled, the DC link voltage will rise. The brake chopper output pin (BRAKE) can be used for
control of an external brake chopper, which burns energy over a brake resistor. The BRAKE pin is set to
high for a complete PWM cycle if measured voltage is higher then ADC_VM_LIMIT_HIGH. Once active it will
be deactivated when voltage drops below ADC_VM_LIMIT_LOW. This acts like a hysteresis. BRAKE can be
deactivated by setting both registers to Zero. By setting proper values in the registers it is automatically
enabled.
4.9
Filtering and Feed-Forward Control
The TMC4671 uses different filters for certain target and actual values. When using standard velocity
meter, a standard velocity filter is used which is optimized for velocity signals from Hall sensors. Additional
Biquad filters can be used to suppress measurement noise or damp resonances.
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4.9.1
49 / 158
Biquad Filters
The TMC4671 uses standard biquad filters (standard IIR filter of second order) in the following structure.
Y(n) = X(n) · b_0 + X(n-1) · b_1 + X(n-2) · b_2 + Y(n-1) · a_1 + Y(n-2) · a_2
(24)
In this equation X(n) is the actual input sample, while Y(n-1) is the filter output of the last cycle. All
coefficients are S32 values and are normalized to a Q3.29 format. Users must take care of correct
parametrization of the filter. There is no built-in plausibility or stability check. All filters can be disabled or
enabled via register access. Biquad state variables are reset when parameters are changed. The TRINAMIC
IDE supports parametrization with wizards.
A standard biquad filter has the following transfer function in the Laplace-Domain:
G(s) =
b_2_cont · s2 + b_1_cont · s + b_0_cont
a_2_cont · s2 + a_1_cont · s + a_0_cont
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The transfer function needs to be transformed to time discrete domain by Z-Transformation and coefficients need to be normalized. This is done by the following equations.
b_2_z = (b_0_cont · T 2 + 2 · b_1_cont · T + 4 · b_2_cont)/(T 2 − 2 · a_1_cont · T + 4 · a_2_cont)
2
2
b_1_z = (2 · b_0_cont · T − 8 · b_2_cont)/(T − 2 · a_1_cont · T + 4 · a_2_cont)
2
2
b_0_z = (b_0_cont · T − 2 · b_1_cont · T + 4 · b_2_cont)/(T − 2 · a_1_cont · T + 4 · a_2_cont)
2
2
a_2_z = (T + 2 · a_1_cont · T + 4 · a_2_cont)/(T − 2 · a_1_cont · T + 4 · a_2_cont)
2
2
a_1_z = (2 · T − 8 · a_2_cont)/(T − 2 · a_1_cont · T + 4 · a_2_cont)
(26)
(27)
(28)
(29)
(30)
29
(31)
29
(32)
b_0 = round(b_0_z · 2 )
b_1 = round(b_1_z · 2 )
29
b_2 = round(b_2_z · 2 )
(33)
29
(34)
29
(35)
a_1 = round(−a_1_z · 2 )
a_2 = round(−a_2_z · 2 )
while T is the sampling time according to PWM_MAX_COUNT · 10 ns and variables with index z are auxiliary
variables.
There are four biquad filters in the control structure. Figure 28 illustrates their placement in the control
structure.
Figure 28: Biquad Filters
The biquad filter for the position target value is intended to be used as a low-pass filter for smoothening
position input to the control structure. It is evaluated in every PWM cycle, or down-sampled according to
the down-sampling factor for the velocity and position controllers. After powering on it is disabled.
The biquad filter for the flux target value is also intended to be used as a low-pass filter for input values
from the user’s microcontroller. Sampling frequency is fixed to the PWM frequency.
The biquad filter for the torque target value can be used as a low-pass filter for bandwidth limitation
and noise suppression. Moreover, it can be designed to suppress a resonance or anti-resonance. Same
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statements are correct for the velocity biquad filter. Both filters’ sampling times are fixed to the PWM
period.
The velocity target value biquad is configured as a second order low-pass with a cutoff frequency at 200 Hz
- by default at a sampling frequency of 25 kHz. Biquad filters can be activated separately.
4.9.2
Standard Velocity Filter
By using the standard velocity measurement algorithm, the default velocity filter is enabled and can not be
switched off. The standard velocity filter is a low-pass filter with a cutoff frequency of 20 Hz (slope of -20
dB/Decade). In this configuration, a new velocity is calculated at a sample rate of approx. 4369.067 Hz.
This configuration is intended to be used in low-performance applications with a simple position feedback
system like digital Hall sensors.
4.9.3
Feed-Forward Control Structure
The TMC4671 provides a feed-forward control structure for torque target value and velocity target value.
The structure is intended to support controllers at high dynamic input profiles. It can be switched on when
using the advanced PI controller structure. The feed-forward value is calculated with a DT1 (29) element.
Each DT1 element can be parametrized with two parameters.
Figure 29: DT1 Element Structure
Equations:
Info
e = X − int_val
Z
int_val =
e dt
(37)
Y = b_1 · e
(38)
(36)
Tuning of feed-forward control structure is supported by the TRINAMIC TMCL-IDE
wizard.
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The coefficients a_0 and b_1 are represented in Q2.30 format. Registers for parametrization of feed-forward
control structure are feed_forward_velocity_gain, feed_forward_velocity_filter_constant, feed_forward_torque_gain,
and feed_forward_torque_filter_constant.
The input target value to the velocity feed-forward entity is the filtered position target value. For the torque
feed-forward entity the output of the velocity feed-forward entity is used. Sampling time for both entities’
integrators is fixed to the PWM frequency.
4.10
PWM Engine
The PWM engine takes care of converting voltage vectors to pulse width modulated (PWM) control signals.
These digital PWM signals control the gate drivers of the power stage. For a detailed description of the
PWM control registers and PWM register control bits pls. refer section 6 page 56.
The ease-of-use PWM engine requires just a couple of parameter settings. Primarily, the polarities for the
gate control signal of high-side and low-side must be set. The power on default PWM mode is 0, meaning
PWM = OFF. For operation, the centered PWM mode must be switched on by setting the PWM mode to 7.
A single bit switches the space vector PWM (SVPWM) on. For 3-phase PMSM, the SVPWM = ON gives more
effective voltage. Nevertheless, for some applications it makes sense to switch the SVPWM = OFF to keep
the star point voltage of a motor almost at rest.
4.10.1
PWM Polarities
The PWM polarities register (PWM_POLARITIES) controls the polarities of the control signals. Positive
polarity for gate control means 1 represents ON and 0 represents OFF. The gate control signal polarities
are individually programmable for low-side gate control and for high-side gate control. The PWM polarities
register controls the polarity of other control signals as well.
4.10.2
PWM Frequency
The PWM counter maximum length register PWM_MAXCNT controls the PWM frequency. For a clock
frequency fCLK = 25 MHz, the PWM frequency fPWM[Hz] = (4.0 · fCLK [Hz]) / (PWM_MAXCNT + 1). With
fCLK = 25 MHz and power-on reset (POR) default of PWM_MAXCNT=3999, the PWM frequency fPWM =
25 kHz. The PWM frequency fPWM is recommended to be in the range of 25 kHz to 100 kHz by setting
PWM_MAXCNT between 3999 to 999.
Note
Info
4.10.3
The PWM frequency is the fundamental frequency of the control system. It can be
changed at any time, also during motion for the classic PI controller structure. The
advanced PI controller structure is tied to the PWM frequency and integrator gains
have to be changed. Please make sure to set current measurement decimation
rates to fit PWM period in high performance applications.
Please be informed that later versions of the chip will support lower PWM frequencies. This might affect the user’s software.
PWM Resolution
The base resolution of the PWM is 12 bit internally mapped to 16 bit range. The minimal PWM increment
is 20ns due to the symmetrical PWM with 100 MHz counter frequency. MAX_PWMCNT = 4095 gives the
full resolution of 12 bit with ≈ 25 kHz w/ fCLK=25 MHz. MAX_PWMCNT=2047 results in 11 bit resolution,
but with ≈ 50kHz w/ fCLK=25 MHz. So the PWM_MAXCNT defines the PWM frequency, but also affects the
resolution of the PWM.
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The PWM resolution might be increased in a future version of the chip.
Info
4.10.4
53 / 158
PWM Modes
The power-on reset (POR) default of the PWM is OFF. The standard PWM scheme is the centered PWM.
Passive braking and freewheeling modes are available on demand. Please refer to section 6 concerning
the settings.
Info
4.10.5
The PWM modes might be changed in a future version of the chip to support
so-called two-switch modulation or flat-bottom modulation.
Break-Before-Make (BBM)
One register controls BBM time for the high side, another register controls BBM time for the low side. The
BBM times are programmable in 10 ns steps. The BBM time can be set to zero for gate drivers that have
their own integrated BBM timers.
Figure 30: BBM Timing
Info
Note
Info
Measured BBM times at MOS-FET gates differ from programmed BBM times due
to driver delays and possible additional gate driver BBM times. The programmed
BBM times are for the digital control signals.
Too short BBM times cause electrical shortcuts of the MOS-FET bridges - so called
shoot through - that short the power supply and might damage the power stage
and the power supply.
BBM time registers might be changed in a future version of this chip to support
longer BBM times then 2.55 us.
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4.10.6
Note
54 / 158
Space Vector PWM (SVPWM)
The Space Vector PWM does not allow higher voltage utilization. This will be fixed
in next version of the chip.
A single bit enables the Space Vector PWM (SVPWM). No further settings are required for the space vector
PWM - just ON or OFF. The power on default for the SVPWM is OFF. Space Vector PWM can be enabled
to maximize voltage utilization in the case of an isolated star point of the motor. If the star point is not
isolated, unintended current flows through the star point. Space Vector PWM is only used for three-phase
motors. For other motors the SVPWM must be switched off.
5
Safety Functions
Different safety functions are integrated and mapped to status bits. A programmable mask register selects
bits for activation of the STATUS output.
Internal hardware limiters for real time clipping and monitoring of interim values are available. LIMIT or
LIMITS is part of register names of registers associated to internal limiters. Please refer to table 17.
Bit
Source
0
pid_x_target_limit
1
pid_x_target_ddt_limit
2
pid_x_errsum_limit
3
pid_x_output_limit
4
pid_v_target_limit
5
pid_v_target_ddt_limit
6
pid_v_errsum_limit
7
pid_v_output_limit
8
pid_id_target_limit
9
pid_id_target_ddt_limit
10
pid_id_errsum_limit
11
pid_id_output_limit
12
pid_iq_target_limit
13
pid_iq_target_ddt_limit
14
pid_iq_errsum_limit
15
pid_iq_output_limit
16
ipark_cirlim_limit_u_d
17
ipark_cirlim_limit_u_q
18
ipark_cirlim_limit_u_r
19
not_PLL_locked
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20
ref_sw_r
21
ref_sw_h
22
ref_sw_l
23
——-
24
pwm_min
25
pwm_max
26
adc_i_clipped
27
adc_aenc_clipped
28
ENC_N
29
ENC2_N
30
AENC_N
31
wd_error
55 / 158
Table 17: Status Flags Register
All controllers have input limiters as offsets can be added to target values and they can be limited to stay
in certain ranges. Also all controller outputs can be limited and the integrating parts (error sums) of the
PI controllers are also limited to controller outputs. If d/dt-limiters are enabled they are also capable of
limiting target values.
If one of these limiters gets active, the flag will go to high state. This is usually a normal operation, when
controllers are working on the boarders of there working area. With STATUS_MASK register corresponding
flags can be activated.
Other status flags go to high state whether the voltage limitation is reached (circular limiter in iPark
transformation) or PWM is saturated (pwm_min and pwm_max). This is also usual operation as the current
controller has to deal with voltage limitation at high velocity operation.
The user can also use the status output to generate an IRQ on reference switch or N-channel of encoder.
Also ADC clipping can be monitored which is a good indicator of wrong or faulty behaviour.
Remaining wd_error status flag indicates an error on the clock input of the TMC4671 (see following section).
5.1
Watchdog
The TMC4671 uses an internal RC oscillator to monitor the clock input signal CLK. If during operation the
CLK signal is lost, the user can program the TMC4671 for different responses via register WATCHDOG_CFG.
Power on default action is: no action, otherwise the ENABLE_OUT signal can be removed to disable the
power stage or the TMC4671 can be reset.
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
6
Register Map
The TMC4671 has an register address range of 128 addresses with registers up to 32 bit data width. Some
registers hold 32 bit data, some hold 2 x 16 bit data and other hold combinations of data defined by data
masks. This section descibes the register bank of the TMC4671.
Section 6.1 gives an overview over all registers and section 6.2 gives the detailed description of all registers.
6.1
Register Map Overview
Address
Registername
Access
0x00h
CHIPINFO_DATA
R
0x01h
CHIPINFO_ADDR
RW
0x02h
ADC_RAW_DATA
R
0x03h
ADC_RAW_ADDR
RW
0x04h
dsADC_MCFG_B_MCFG_A
RW
0x05h
dsADC_MCLK_A
RW
0x06h
dsADC_MCLK_B
RW
0x07h
dsADC_MDEC_B_MDEC_A
RW
0x08h
ADC_I1_SCALE_OFFSET
RW
0x09h
ADC_I0_SCALE_OFFSET
RW
0x0Ah
ADC_I_SELECT
RW
0x0Bh
ADC_I1_I0_EXT
RW
0x0Ch
DS_ANALOG_INPUT_STAGE_CFG
RW
0x0Dh
AENC_0_SCALE_OFFSET
RW
0x0Eh
AENC_1_SCALE_OFFSET
RW
0x0Fh
AENC_2_SCALE_OFFSET
RW
0x11h
AENC_SELECT
RW
0x12h
ADC_IWY_IUX
R
0x13h
ADC_IV
R
0x15h
AENC_WY_UX
R
0x16h
AENC_VN
R
0x17h
PWM_POLARITIES
RW
0x18h
PWM_MAXCNT
RW
0x19h
PWM_BBM_H_BBM_L
RW
0x1Ah
PWM_SV_CHOP
RW
0x1Bh
MOTOR_TYPE_N_POLE_PAIRS
RW
0x1Ch
PHI_E_EXT
RW
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Address
Registername
Access
0x1Dh
PHI_M_EXT
RW
0x1Eh
POSITION_EXT
RW
0x1Fh
OPENLOOP_MODE
RW
0x20h
OPENLOOP_ACCELERATION
RW
0x21h
OPENLOOP_VELOCITY_TARGET
RW
0x22h
OPENLOOP_VELOCITY_ACTUAL
RW
0x23h
OPENLOOP_PHI
RWI
0x24h
UQ_UD_EXT
RW
0x25h
ABN_DECODER_MODE
RW
0x26h
ABN_DECODER_PPR
RW
0x27h
ABN_DECODER_COUNT
RW
0x28h
ABN_DECODER_COUNT_N
RW
0x29h
ABN_DECODER_PHI_E_PHI_M_OFFSET
RW
0x2Ah
ABN_DECODER_PHI_E_PHI_M
R
0x2Ch
ABN_2_DECODER_MODE
RW
0x2Dh
ABN_2_DECODER_PPR
RW
0x2Eh
ABN_2_DECODER_COUNT
RW
0x2Fh
ABN_2_DECODER_COUNT_N
RW
0x30h
ABN_2_DECODER_PHI_M_OFFSET
RW
0x31h
ABN_2_DECODER_PHI_M
R
0x33h
HALL_MODE
RW
0x34h
HALL_POSITION_060_000
RW
0x35h
HALL_POSITION_180_120
RW
0x36h
HALL_POSITION_300_240
RW
0x37h
HALL_PHI_E_PHI_M_OFFSET
RW
0x38h
HALL_DPHI_MAX
RW
0x39h
HALL_PHI_E_INTERPOLATED_PHI_E
R
0x3Ah
HALL_PHI_M
R
0x3Bh
AENC_DECODER_MODE
RW
0x3Ch
AENC_DECODER_N_THRESHOLD
RW
0x3Dh
AENC_DECODER_PHI_A_RAW
R
0x3Eh
AENC_DECODER_PHI_A_OFFSET
RW
0x3Fh
AENC_DECODER_PHI_A
R
0x40h
AENC_DECODER_PPR
RW
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0x41h
AENC_DECODER_COUNT
R
0x42h
AENC_DECODER_COUNT_N
RW
0x45h
AENC_DECODER_PHI_E_PHI_M_OFFSET
RW
0x46h
AENC_DECODER_PHI_E_PHI_M
R
0x47h
AENC_DECODER_POSITION
R
0x4Bh
PIDIN_VELOCITY_TARGET
R
0x4Ch
PIDIN_POSITION_TARGET
R
0x4Dh
CONFIG_DATA
RW
0x4Eh
CONFIG_ADDR
RW
0x50h
VELOCITY_SELECTION
RW
0x51h
POSITION_SELECTION
RW
0x52h
PHI_E_SELECTION
RW
0x53h
PHI_E
R
0x54h
PID_FLUX_P_FLUX_I
RW
0x56h
PID_TORQUE_P_TORQUE_I
RW
0x58h
PID_VELOCITY_P_VELOCITY_I
RW
0x5Ah
PID_POSITION_P_POSITION_I
RW
0x5Ch
PID_TORQUE_FLUX_TARGET_DDT_LIMITS
RW
0x5Dh
PIDOUT_UQ_UD_LIMITS
RW
0x5Eh
PID_TORQUE_FLUX_LIMITS
RW
0x5Fh
PID_ACCELERATION_LIMIT
RW
0x60h
PID_VELOCITY_LIMIT
RW
0x61h
PID_POSITION_LIMIT_LOW
RW
0x62h
PID_POSITION_LIMIT_HIGH
RW
0x63h
MODE_RAMP_MODE_MOTION
RW
0x64h
PID_TORQUE_FLUX_TARGET
RW
0x65h
PID_TORQUE_FLUX_OFFSET
RW
0x66h
PID_VELOCITY_TARGET
RW
0x67h
PID_VELOCITY_OFFSET
RW
0x68h
PID_POSITION_TARGET
RW
0x69h
PID_TORQUE_FLUX_ACTUAL
R
0x6Ah
PID_VELOCITY_ACTUAL
R
0x6Bh
PID_POSITION_ACTUAL
RW
0x6Ch
PID_ERROR_DATA
R
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0x6Dh
PID_ERROR_ADDR
RW
0x6Eh
INTERIM_DATA
RW
0x6Fh
INTERIM_ADDR
RW
0x74h
WATCHDOG_CFG
RW
0x75h
ADC_VM_LIMITS
RW
0x76h
TMC4671_INPUTS_RAW
R
0x77h
TMC4671_OUTPUTS_RAW
R
0x78h
STEP_WIDTH
RW
0x79h
UART_BPS
RW
0x7Ah
UART_ADDRS
RW
0x7Bh
GPIO_dsADCI_CONFIG
RW
0x7Ch
STATUS_FLAGS
RW
0x7Dh
STATUS_MASK
RW
Table 18: TMC4671 Registers
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
6.2
Register Map Full
Register Map for TMC4671
Address
Registername
0x00h
Access
CHIPINFO_DATA
R
Variant 0
Mask
0xFFFFFFFFh
Name
Type
SI_TYPE
ASCII
Min
Max
Default
0
4294967295
0
Unit
Hardware type (ASCII).
Variant 1
Mask
Name
0xFFFFFFFFh
Type
SI_VERSION
Version
Min
Max
Default
0
4294967295
0
Unit
Hardware version (u16.u16).
Variant 2
Mask
0xFFFFFFFFh
Name
Type
SI_DATE
Date
Min
Max
Default
0
4294967295
0
Unit
Hardware date (nibble wise date stamp yyyymmdd).
Variant 3
Mask
0xFFFFFFFFh
Name
Type
SI_TIME
Time
Min
Max
Default
0
16777215
0
Unit
Hardware time (nibble wise time stamp –hhmmss)
Variant 4
Mask
Name
0xFFFFFFFFh
Type
SI_VARIANT
Unsigned
Min
Max
Default
0
4294967295
0
Unit
Variant 5
Mask
Name
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Type
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0xFFFFFFFFh
Access
SI_BUILD
Unsigned
Min
Max
Default
0
4294967295
0
0x01h
Unit
CHIPINFO_ADDR
Mask
RW
Name
0x000000FFh
Type
CHIP_INFO_ADDRESS
Min
Max
Default
0
5
0
Choice
Unit
0: SI_TYPE
1: SI_VERSION
2: SI_DATE
3: SI_TIME
4: SI_VARIANT
5: SI_BUILD
0x02h
ADC_RAW_DATA
R
Variant 0
Mask
Name
0x0000FFFFh
Type
ADC_I0_RAW
Unsigned
Min
Max
Default
0
65535
0
Unit
Raw phase current I0
Mask
Name
0xFFFF0000h
Type
ADC_I1_RAW
Unsigned
Min
Max
Default
0
65535
0
Unit
Raw phase current I1
Variant 1
Mask
Name
0x0000FFFFh
Type
ADC_VM_RAW
Unsigned
Min
Max
Default
0
65535
0
Unit
aw supply voltage value.
Mask
Name
0xFFFF0000h
Type
ADC_AGPI_A_RAW
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unsigned
Default
Unit
62 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
65535
Access
0
Raw analog gpi A value.
Variant 2
Mask
Name
0x0000FFFFh
Type
ADC_AGPI_B_RAW
Unsigned
Min
Max
Default
0
65535
0
Unit
Raw analog gpi B value.
Mask
Name
0xFFFF0000h
Type
ADC_AENC_UX_RAW
Min
Max
Default
0
65535
0
Unsigned
Unit
Raw analog encoder signal.
Variant 3
Mask
Name
0x0000FFFFh
Type
ADC_AENC_VN_RAW
Min
Max
Default
0
65535
0
Unsigned
Unit
Raw analog encoder signal.
Mask
Name
0xFFFF0000h
Type
ADC_AENC_WY_RAW
Min
Max
Default
0
65535
0
Unsigned
Unit
Raw analog encoder signal.
0x03h
ADC_RAW_ADDR
Mask
RW
Name
0x000000FFh
Type
ADC_RAW_ADDR
Choice
Min
Max
Default
0
3
0
Unit
0: ADC_I1_RAW & ADC_I0_RAW
1: ADC_AGPI_A_RAW & ADC_VM_RAW
2: ADC_AENC_UX_RAW & ADC_AGPI_B_RAW
3: ADC_AENC_WY_RAW & ADC_AENC_VN_RAW
0x04h
dsADC_MCFG_B_MCFG_A
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Type
63 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x00000003h
Access
cfg_dsmodulator_a
Min
Max
Default
0
3
0
Choice
Unit
0: int. dsMOD
1: ext. dsMOD with MCLK input
2: ext. dsMOD with MCLK output
3: ext. dsMOD with ext. CMP
Mask
0x00000004h
Name
Type
mclk_polarity_a
Bool
Min
Max
Default
0
1
0
Unit
0: Data is sampled on rising edge
1: Data is sampled on falling edge
Mask
0x00000008h
Name
Type
mdat_polarity_a
Bool
Min
Max
Default
0
1
0
Unit
0: MDAT is not inverted
1: MDAT is inverted
Mask
0x00000010h
Name
Type
sel_nclk_mclk_i_a
Bool
Min
Max
Default
0
1
0
Unit
0: MCLK is used (divided clock)
1: CLK (100 MHz) is used
Mask
Name
0x000000FF00h
Type
blanking_a
Unsigned
Min
Max
Default
0
255
0
Mask
Name
0x00030000h
Type
cfg_dsmodulator_b
Min
Max
Default
0
3
0
0: int. dsMOD
1: ext. dsMOD with MCLK input
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
Choice
Unit
64 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
2: ext. dsMOD with MCLK output
3: ext. dsMOD with ext. CMP
Mask
0x00040000h
Name
Type
mclk_polarity_b
Bool
Min
Max
Default
0
1
0
Unit
0: Data is sampled on rising edge
1: Data is sampled on falling edge
Mask
0x00080000h
Name
Type
mdat_polarity_b
Bool
Min
Max
Default
0
1
0
Unit
0: MDAT is not inverted
1: MDAT is inverted
Mask
0x00100000h
Name
Type
sel_nclk_mclk_i_b
Bool
Min
Max
Default
0
1
0
Unit
0: MCLK is used (divided clock)
1: CLK (100 MHz) is used
Mask
Name
0xFF000000h
Type
blanking_b
Unsigned
Min
Max
Default
0
255
0
0x05h
Unit
dsADC_MCLK_A
Mask
RW
Name
0xFFFFFFFFh
Type
dsADC_MCLK_A
Unsigned
Min
Max
Default
0
4294967295
214748365
Unit
fMCLK_A = 231 / (fCLK * (dsADC_MCLK_A+1)), dsADC_MCLK_A =
(231 / (fMCLK * fCLK)) - 1
0x06h
dsADC_MCLK_B
Mask
RW
Name
0xFFFFFFFFh
Type
dsADC_MCLK_B
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unsigned
Default
Unit
65 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
4294967295
Access
214748365
31
fMCLK_B = 2 / (fCLK * (dsADC_MCLK_B+1)), dsADC_MCLK_B =
(231 / (fMCLK * fCLK)) - 1
0x07h
dsADC_MDEC_B_MDEC_A
Mask
Name
0x0000FFFFh
Type
dsADC_MDEC_A
Unsigned
Min
Max
Default
0
65535
256
Mask
Name
0xFFFF0000h
Unit
Type
dsADC_MDEC_B
Unsigned
Min
Max
Default
0
65535
256
0x08h
RW
Unit
ADC_I1_SCALE_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
ADC_I1_OFFSET
Unsigned
Min
Max
Default
0
65535
0
Unit
Offset for current ADC channel 1.
Mask
Name
0xFFFF0000h
Type
ADC_I1_SCALE
Signed
Min
Max
Default
-32768
32767
256
Unit
Scaling factor for current ADC channel 1.
0x09h
ADC_I0_SCALE_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
ADC_I0_OFFSET
Unsigned
Min
Max
Default
0
65535
0
Unit
Offset for current ADC channel 0.
Mask
Name
0xFFFF0000h
Type
ADC_I0_SCALE
Signed
Min
Max
Default
-32768
32767
256
Unit
Scaling factor for current ADC channel 0.
0x0Ah
ADC_I_SELECT
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RW
66 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0x000000FFh
Type
ADC_I0_SELECT
Choice
Min
Max
Default
0
3
0
Unit
Select input for raw current ADC_I0_RAW.
0: ADCSD_I0_RAW (sigma delta ADC)
1: ADCSD_I1_RAW (sigma delta ADC)
2: ADC_I0_EXT (from register)
3: ADC_I1_EXT (from register)
Mask
Name
0x0000FF00h
Type
ADC_I1_SELECT
Choice
Min
Max
Default
0
3
1
Unit
Select input for raw current ADC_I1_RAW.
0: ADCSD_I0_RAW (sigma delta ADC)
1: ADCSD_I1_RAW (sigma delta ADC)
2: ADC_I0_EXT (from register)
3: ADC_I1_EXT (from register)
Mask
Name
0x03000000h
Type
ADC_I_UX_SELECT
Choice
Min
Max
Default
0
2
0
Unit
0: UX = ADC_I0 (default)
1: UX = ADC_I1
2: UX = ADC_I2
Mask
Name
0x0C000000h
Type
ADC_I_V_SELECT
Choice
Min
Max
Default
0
2
1
Unit
0: V = ADC_I0
1: V = ADC_I1 (default)
2: V = ADC_I2
Mask
Name
0x30000000h
Type
ADC_I_WY_SELECT
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Download newest version at www.trinamic.com
Default
Choice
Unit
67 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
2
Access
2
0: WY = ADC_I0
1: WY = ADC_I1
2: WY = ADC_I2 (default)
0x0Bh
ADC_I1_I0_EXT
Mask
RW
Name
0x0000FFFFh
Type
ADC_I0_EXT
Unsigned
Min
Max
Default
0
65535
0
Unit
Register for write of ADC_I0 value from external source (eg.
CPU).
Mask
Name
0xFFFF0000h
Type
ADC_I1_EXT
Unsigned
Min
Max
Default
0
65535
0
Unit
Register for write of ADC_I1 value from external source (eg.
CPU).
0x0Ch
DS_ANALOG_INPUT_STAGE_CFG
Mask
Name
0x0000000Fh
RW
Type
ADC_I0
Choice
Min
Max
Default
0
7
0
Unit
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x000000F0h
Type
ADC_I1
Choice
Min
Max
Default
0
7
0
0: INP vs. INN
1: GND vs. INN
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
68 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x00000F00h
Type
ADC_VM
Choice
Min
Max
Default
0
7
0
Unit
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x0000F000h
Type
ADC_AGPI_A
Choice
Min
Max
Default
0
7
0
Unit
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x000F0000h
Type
ADC_AGPI_B
Choice
Min
Max
Default
0
7
0
0: INP vs. INN
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
69 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x00F00000h
Type
ADC_AENC_UX
Choice
Min
Max
Default
0
7
0
Unit
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0x0F000000h
Type
ADC_AENC_VN
Choice
Min
Max
Default
0
7
0
Unit
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
Mask
Name
0xF0000000h
Type
ADC_AENC_WY
Choice
Min
Max
Default
0
7
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
70 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0: INP vs. INN
1: GND vs. INN
2: VDD/4
3: 3*VDD/4
4: INP vs. GND
5: VDD/2
6: VDD/4
7: 3*VDD/4
0x0Dh
AENC_0_SCALE_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
AENC_0_OFFSET
Unsigned
Min
Max
Default
0
65535
0
Unit
Offset for Analog Encoder ADC channel 0.
Mask
Name
0xFFFF0000h
Type
AENC_0_SCALE
Signed
Min
Max
Default
-32768
32767
256
Unit
Scaling factor for Analog Encoder ADC channel 0.
0x0Eh
AENC_1_SCALE_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
AENC_1_OFFSET
Unsigned
Min
Max
Default
0
65535
0
Unit
Offset for Analog Encoder ADC channel 1.
Mask
Name
0xFFFF0000h
Type
AENC_1_SCALE
Signed
Min
Max
Default
-32768
32767
256
Unit
Scaling factor for Analog Encoder ADC channel 1.
0x0Fh
AENC_2_SCALE_OFFSET
Mask
Name
0x0000FFFFh
Type
AENC_2_OFFSET
Unsigned
Min
Max
Default
0
65535
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Unit
71 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Offset for Analog Encoder ADC channel 2.
Mask
Name
0xFFFF0000h
Type
AENC_2_SCALE
Signed
Min
Max
Default
-32768
32767
256
Unit
Scaling factor for Analog Encoder ADC channel 2.
0x11h
AENC_SELECT
Mask
RW
Name
0x000000FFh
Type
AENC_0_SELECT
Choice
Min
Max
Default
0
2
0
Unit
Select analog encoder ADC channel for raw analog encoder
signal AENC_0_RAW.
0: AENC_UX_RAW (default)
1: AENC_VN_RAW
2: AENC_WY_RAW
Mask
Name
0x0000FF00h
Type
AENC_1_SELECT
Choice
Min
Max
Default
0
2
1
Unit
Select analog encoder ADC channel for raw analog encoder
signal AENC_1_RAW.
0: AENC_UX_RAW
1: AENC_VN_RAW (default)
2: AENC_WY_RAW
Mask
Name
0x00FF0000h
Type
AENC_2_SELECT
Choice
Min
Max
Default
0
2
2
Unit
Select analog encoder ADC channel for raw analog encoder
signal AENC_2_RAW.
0: AENC_UX_RAW
1: AENC_VN_RAW
2: AENC_WY_RAW (default)
0x12h
ADC_IWY_IUX
Mask
Name
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R
Type
72 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x0000FFFFh
Access
ADC_IUX
Signed
Min
Max
Default
-32768
32767
0
Unit
Register of scaled current ADC value including signed added
offset as input for the FOC.
Mask
Name
0xFFFF0000h
Type
ADC_IWY
Signed
Min
Max
Default
-32768
32767
0
Unit
Register of scaled current ADC value including signed added
offset as input for the FOC.
0x13h
ADC_IV
Mask
R
Name
0x0000FFFFh
Type
ADC_IV
Signed
Min
Max
Default
-32768
32767
0
Unit
Register of scaled current ADC value including signed added
offset as input for the FOC.
0x15h
AENC_WY_UX
Mask
R
Name
0x0000FFFFh
Type
AENC_UX
Signed
Min
Max
Default
-32768
32767
0
Unit
Register of scaled analog encoder value including signed added
offset as input for the interpolator.
Mask
Name
0xFFFF0000h
Type
AENC_WY
Signed
Min
Max
Default
-32768
32767
0
Unit
Register of scaled analog encoder value including signed added
offset as input for the interpolator.
0x16h
AENC_VN
Mask
R
Name
0x0000FFFFh
Type
AENC_VN
Signed
Min
Max
Default
-32768
32767
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
73 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Register of scaled analog encoder value including signed added
offset as input for the interpolator.
0x17h
PWM_POLARITIES
Mask
0x00000001h
RW
Name
Type
PWM_POLARITIES[0]
Bool
Min
Max
Default
0
1
0
Unit
polarity of Low Side (LS) gate control signal
0: off
1: on
Mask
0x00000002h
Name
Type
PWM_POLARITIES[1]
Bool
Min
Max
Default
0
1
0
Unit
polarity of High Side (HS) gate control signal
0: off
1: on
0x18h
PWM_MAXCNT
Mask
RW
Name
0x0000FFFFh
Type
PWM_MAXCNT
Unsigned
Min
Max
Default
0
65535
3999
Unit
PWM maximum (count-1), PWM frequency is fPWM[Hz] =
100MHz/(PWM_MAXCNT+1)
0x19h
PWM_BBM_H_BBM_L
Mask
Name
0x000000FFh
RW
Type
PWM_BBM_L
Unsigned
Min
Max
Default
0
255
20
Unit
Break Before Make time tBBM_L[10ns] for low side MOS-FET
gate control
Mask
Name
0x0000FF00h
Type
PWM_BBM_H
Unsigned
Min
Max
Default
0
255
20
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
74 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Break Before Make time tBBM_H[10ns] for high side MOS-FET
gate control
0x1Ah
PWM_SV_CHOP
Mask
RW
Name
0x000000FFh
Type
PWM_CHOP
Choice
Min
Max
Default
0
7
0
Unit
PWM chopper mode, defining how to chopper
0: PWM = OFF, free running
1: PWM = OFF, Low Side (LS) permanent = ON
2: PWM = OFF, High Side (HS) permanent = ON
3: PWM off, free running
4: PWM off, free running
5: PWM low side (LS) chopper only, high side (HS) off; not
suitable for FOC
6: PWM high side (HS) chopper only, low side (LS) off; not
suitable for FOC
7: centered PWM for FOC
Mask
0x00000100h
Name
Type
PWM_SV
Bool
Min
Max
Default
0
1
0
Unit
use Space Vector PWM
0: Space Vector PWM disabled
1: Space Vector PWM enabled
0x1Bh
MOTOR_TYPE_N_POLE_PAIRS
Mask
Name
0x0000FFFFh
RW
Type
N_POLE_PAIRS
Unsigned
Min
Max
Default
1
65535
1
Unit
Number n of pole pairs of the motor for calcualtion phi_e =
phi_m / N_POLE_PAIRS.
Mask
Name
0x00FF0000h
Type
MOTOR_TYPE
Choice
Min
Max
Default
0
3
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
75 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0: No motor
1: Single phase DC motor
2: Two phase Stepper motor
3: Three phase BLDC motor
0x1Ch
PHI_E_EXT
Mask
RW
Name
0x0000FFFFh
Type
PHI_E_EXT
Signed
Min
Max
Default
-32768
32767
0
Unit
Electrical angle phi_e_ext for external writing into this register.
0x1Dh
PHI_M_EXT
Mask
RW
Name
0x0000FFFFh
Type
PHI_M_EXT
Signed
Min
Max
Default
-32768
32767
0
Unit
Mechanical angle phi_m_ext for external writing into this register.
0x1Eh
POSITION_EXT
Mask
RW
Name
0xFFFFFFFFh
Type
POSITION_EXT
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Mechanical (multi turn) position for external writing into this
register.
0x1Fh
OPENLOOP_MODE
Mask
0x00001000h
RW
Name
Type
OPENLOOP_PHI_DIRECTION
Bool
Min
Max
Default
0
1
0
Unit
Open loop phi direction.
0: positive
1: negative
0x20h
OPENLOOP_ACCELERATION
Mask
0xFFFFFFFFh
Name
OPENLOOP_ACCELERATION
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RW
Type
Unsigned
76 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
4294967295
0
Unit
Acceleration of open loop phi.
0x21h
OPENLOOP_VELOCITY_TARGET
Mask
Name
0xFFFFFFFFh
RW
Type
OPENLOOP_VELOCITY_TARGET
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Target velocity of open loop phi.
0x22h
OPENLOOP_VELOCITY_ACTUAL
Mask
Name
0xFFFFFFFFh
RW
Type
OPENLOOP_VELOCITY_ACTUAL
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Actual velocity of open loop generator.
0x23h
OPENLOOP_PHI
Mask
RWI
Name
0x0000FFFFh
Type
OPENLOOP_PHI
Signed
Min
Max
Default
-32768
32767
0
Unit
Angle phi open loop (either mapped to electrical angel phi_e
or mechanical angle phi_m).
0x24h
UQ_UD_EXT
Mask
RW
Name
0x0000FFFFh
Type
UD_EXT
Signed
Min
Max
Default
-32768
32767
0
Unit
External writable parameter for open loop voltage control
mode, usefull during system setup, U_D component.
Mask
Name
0xFFFF0000h
Type
UQ_EXT
Signed
Min
Max
Default
-32768
32767
0
Unit
External writable parameter for open loop voltage control
mode, usefull during system setup, U_Q component.
0x25h
ABN_DECODER_MODE
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
77 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Mask
Name
Type
0x00000001h
apol
Bool
Min
Max
Default
0
1
0
Unit
Polarity of A pulse.
0: off
1: on
Mask
Name
Type
0x00000002h
bpol
Bool
Min
Max
Default
0
1
0
Unit
Polarity of B pulse.
0: off
1: on
Mask
Name
Type
0x00000004h
npol
Bool
Min
Max
Default
0
1
0
Unit
Polarity of N pulse.
0: off
1: on
Mask
0x00000008h
Name
Type
use_abn_as_n
Bool
Min
Max
Default
0
1
0
Unit
0: Ignore A and B polarity with Npulse = N, 1 : Npulse = N and
A and B
0: Ignore A and B polarity with Npulse = N
1: Npulse = N and A and B
Mask
Name
Type
cln
Bool
0x00000100h
Min
Max
Default
0
1
0
Unit
Clear writes ABN_DECODER_COUNT_N into decoder count at
Npulse.
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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78 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
0x00001000h
Name
Type
direction
Bool
Min
Max
Default
0
1
0
Unit
Decoder count direction.
0: positive
1: negative
0x26h
ABN_DECODER_PPR
Mask
Name
0x00FFFFFFh
RW
Type
ABN_DECODER_PPR
Min
Max
Default
0
16777215
65536
Unsigned
Unit
Decoder pules per mechanical revolution.
0x27h
ABN_DECODER_COUNT
Mask
Name
0x00FFFFFFh
RW
Type
ABN_DECODER_COUNT
Min
Max
Default
0
16777215
0
Unsigned
Unit
Raw decoder count; the digital decoder engine counts modulo
(decoder_ppr).
0x28h
ABN_DECODER_COUNT_N
Mask
Name
0x00FFFFFFh
RW
Type
ABN_DECODER_COUNT_N
Min
Max
Default
0
16777215
0
Unsigned
Unit
Decoder count latched on N pulse, when N pulse clears decoder_count also decoder_count_n is 0.
0x29h
ABN_DECODER_PHI_E_PHI_M_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
ABN_DECODER_PHI_M_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_DECODER_PHI_M_OFFSET to shift (rotate) angle DECODER_PHI_M.
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
79 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0xFFFF0000h
Access
ABN_DECODER_PHI_E_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_DECODER_PHI_E_OFFSET to shift (rotate) angle DECODER_PHI_E.
0x2Ah
ABN_DECODER_PHI_E_PHI_M
Mask
Name
0x0000FFFFh
R
Type
ABN_DECODER_PHI_M
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_DECODER_PHI_M = ABN_DECODER_COUNT * 2ˆ
16 /
ABN_DECODER_PPR + ABN_DECODER_PHI_M_OFFSET;
Mask
Name
0xFFFF0000h
Type
ABN_DECODER_PHI_E
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_DECODER_PHI_E
=
(ABN_DECODER_PHI_M
N_POLE_PAIRS_) + ABN_DECODER_PHI_E_OFFSET
0x2Ch
ABN_2_DECODER_MODE
RW
Mask
Name
Type
0x00000001h
apol
Bool
Min
Max
Default
0
1
0
Unit
Polarity of A pulse.
0: off
1: on
Mask
Name
Type
0x00000002h
bpol
Bool
Min
Max
Default
0
1
0
Unit
Polarity of B pulse.
0: off
1: on
Mask
Name
Type
0x00000004h
npol
Bool
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Default
*
Unit
80 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
1
Access
0
Polarity of N pulse.
0: off
1: on
Mask
0x00000008h
Name
Type
use_abn_as_n
Bool
Min
Max
Default
0
1
0
Unit
0: Ignore A and B polarity with Npulse = N, 1 : Npulse = N and
A and B
0: Ignore A and B polarity with Npulse = N
1: Npulse = N and A and B
Mask
Name
Type
cln
Bool
0x00000100h
Min
Max
Default
0
1
0
Unit
Clear writes ABN_2_DECODER_COUNT_N into decoder count
at Npulse.
0: off
1: on
Mask
0x00001000h
Name
Type
direction
Bool
Min
Max
Default
0
1
0
Unit
Decoder count direction.
0: positive
1: negative
0x2Dh
ABN_2_DECODER_PPR
Mask
Name
0x00FFFFFFh
RW
Type
ABN_2_DECODER_PPR
Min
Max
Default
1
16777215
65536
Unsigned
Unit
Decoder_2 pules per mechanical revolution. This 2nd ABN
encoder interface is for positioning or velocity control but NOT
for motor commutation.
0x2Eh
ABN_2_DECODER_COUNT
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
81 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0x00FFFFFFh
Type
ABN_2_DECODER_COUNT
Min
Max
Default
0
16777215
0
Unsigned
Unit
Raw decoder_2 count; the digital decoder engine counts modulo (decoder_2_ppr).
0x2Fh
ABN_2_DECODER_COUNT_N
Mask
Name
0x00FFFFFFh
RW
Type
ABN_2_DECODER_COUNT_N
Min
Max
Default
0
16777215
0
Unsigned
Unit
Decoder_2 count latched on N pulse, when N pulse clears
decoder_2_count also decoder_2_count_n is 0.
0x30h
ABN_2_DECODER_PHI_M_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
ABN_2_DECODER_PHI_M_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_2_DECODER_PHI_M_OFFSET to shift (rotate) angle DECODER_2_PHI_M.
0x31h
ABN_2_DECODER_PHI_M
Mask
Name
0x0000FFFFh
R
Type
ABN_2_DECODER_PHI_M
Min
Max
Default
-32768
32767
0
Signed
Unit
ABN_2_DECODER_PHI_M = ABN_2_DECODER_COUNT * 2ˆ
16 /
ABN_2_DECODER_PPR + ABN_2_DECODER_PHI_M_OFFSET;
0x33h
HALL_MODE
Mask
0x00000001h
RW
Name
Type
polarity
Bool
Min
Max
Default
0
1
0
Unit
polarity
0: off
1: on
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
82 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x00000100h
Access
interpolation
Bool
Min
Max
Default
0
1
0
Unit
interpolation
0: off
1: on
Mask
0x00001000h
Name
Type
direction
Bool
Min
Max
Default
0
1
0
Unit
direction
0: off
1: on
Mask
Name
0x0FFF0000h
Type
HALL_BLANK
Unsigned
Min
Max
Default
0
4095
0
Unit
tBLANK = 10ns * HALL_BLANK
0x34h
HALL_POSITION_060_000
Mask
Name
0x0000FFFFh
RW
Type
HALL_POSITION_000
Min
Max
Default
-32768
32767
0
Signed
Unit
s16 hall sensor position at 0°
Mask
Name
0xFFFF0000h
Type
HALL_POSITION_060
Min
Max
Default
-32768
32767
10922
Signed
Unit
s16 hall sensor position at 60°.
0x35h
HALL_POSITION_180_120
Mask
Name
0x0000FFFFh
Type
HALL_POSITION_120
Min
Max
Default
-32768
32767
21845
s16 hall sensor position at 120°.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Signed
Unit
83 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0xFFFF0000h
Type
HALL_POSITION_180
Min
Max
Default
-32768
32767
-32768
Signed
Unit
s16 hall sensor position at 180°.
0x36h
HALL_POSITION_300_240
Mask
Name
0x0000FFFFh
RW
Type
HALL_POSITION_240
Min
Max
Default
-32768
32767
-21846
Signed
Unit
s16 hall sensor position at 240°.
Mask
Name
0xFFFF0000h
Type
HALL_POSITION_300
Min
Max
Default
-32768
32767
-10923
Signed
Unit
s16 hall sensor position at 300°.
0x37h
HALL_PHI_E_PHI_M_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
HALL_PHI_M_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Offset of mechanical angle hall_phi_m of hall decoder.
Mask
Name
0xFFFF0000h
Type
HALL_PHI_E_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Offset for electrical angle hall_phi_e of hall decoder.
0x38h
HALL_DPHI_MAX
Mask
RW
Name
0x0000FFFFh
Type
HALL_DPHI_MAX
Unsigned
Min
Max
Default
0
65535
10922
Unit
Maximum dx for interpolation (default for digital hall: u16/6).
0x39h
HALL_PHI_E_INTERPOLATED_PHI_E
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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R
Type
84 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x0000FFFFh
Access
HALL_PHI_E
Signed
Min
Max
Default
-32768
32767
0
Unit
Raw electrical angle hall_phi_e of hall decoder, selection programmed via HALL_MODE control bit.
Mask
Name
0xFFFF0000h
Type
HALL_PHI_E_INTERPOLATED
Min
Max
Default
-32768
32767
0
Signed
Unit
Interpolated electrical angle hall_phi_e_interpolated, selection
programmed via HALL_MODE control bit.
0x3Ah
HALL_PHI_M
Mask
R
Name
0x0000FFFFh
Type
HALL_PHI_M
Signed
Min
Max
Default
-32768
32767
0
Unit
Mechanical angle hall_phi_m of hall decoder.
0x3Bh
AENC_DECODER_MODE
Mask
0x00000001h
RW
Name
Type
AENC_DECODER_MODE[0]
Bool
Min
Max
Default
0
1
0
Unit
nXY_UVW : 0: SinCos Mode // 1: 0° 120° 240° Mode
0: off
1: on
Mask
0x00001000h
Name
Type
AENC_DECODER_MODE[12]
Bool
Min
Max
Default
0
1
0
Unit
decoder count direction
0: positive
1: negative
0x3Ch
AENC_DECODER_N_THRESHOLD
Mask
0x0000FFFFh
Name
AENC_DECODER_N_THRESHOLD
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Type
Unsigned
85 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
65535
0
Unit
Threshold for generating of N pulse from analog AENC_N signal
(only needed for analog SinCos encoders with analog N signal).
Mask
Name
0xFFFF0000h
Type
AENC_DECODER_N_MASK
Min
Max
Default
-32768
32767
0
Signed
Unit
Optional position mask (position) for the analog N pulse within
phi_a period to be and-ed with the digital N pulse generated
via aenc_decoder_n_threshold.
0x3Dh
AENC_DECODER_PHI_A_RAW
Mask
Name
0x0000FFFFh
R
Type
AENC_DECODER_PHI_A_RAW
Min
Max
Default
-32768
32767
0
Signed
Unit
Raw analog angle phi calculated from analog AENC inputs
(analog hall, analog SinCos, ...).
0x3Eh
AENC_DECODER_PHI_A_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
AENC_DECODER_PHI_A_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Offset for angle phi from analog decoder (analog hall, analog
SinCos, ...).
0x3Fh
AENC_DECODER_PHI_A
Mask
Name
0x0000FFFFh
R
Type
AENC_DECODER_PHI_A
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Resulting phi available for the FOC (phi_e might need to be
calculated from this angle via aenc_decoder_ppr, for analog
hall sensors phi_a might be used directly as phi_e depends on
analog hall signal type).
0x40h
AENC_DECODER_PPR
Mask
0x0000FFFFh
Name
AENC_DECODER_PPR
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Type
Signed
86 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-32768
32767
1
Unit
Number of periods per revolution also called lines per revolution (different nomenclatur compared to digital ABN encoders).
0x41h
AENC_DECODER_COUNT
Mask
Name
0xFFFFFFFFh
R
Type
AENC_DECODER_COUNT
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Decoder position, raw unscaled.
0x42h
AENC_DECODER_COUNT_N
Mask
Name
0xFFFFFFFFh
RW
Type
AENC_DECODER_COUNT_N
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Latched decoder position on analog N pulse event.
0x45h
AENC_DECODER_PHI_E_PHI_M_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
AENC_DECODER_PHI_M_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Offset for mechanical angle phi_m.
Mask
Name
0xFFFF0000h
Type
AENC_DECODER_PHI_E_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Offset for electrical angle phi_e.
0x46h
AENC_DECODER_PHI_E_PHI_M
Mask
Name
0x0000FFFFh
R
Type
AENC_DECODER_PHI_M
Min
Max
Default
-32768
32767
0
Signed
Unit
Resulting angle phi_m.
Mask
0xFFFF0000h
Name
AENC_DECODER_PHI_E
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
Signed
87 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-32768
32767
0
Unit
Resulting angle phi_e.
0x47h
AENC_DECODER_POSITION
Mask
Name
0xFFFFFFFFh
R
Type
AENC_DECODER_POSITION
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Multi-turn position.
0x4Bh
PIDIN_VELOCITY_TARGET
Mask
Name
0xFFFFFFFFh
R
Type
PIDIN_VELOCITY_TARGET
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Target velocity at PI controller input.
0x4Ch
PIDIN_POSITION_TARGET
Mask
Name
0xFFFFFFFFh
R
Type
PIDIN_POSITION_TARGET
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Target position at PI controller input.
0x4Dh
CONFIG_DATA
RW
Variant 1
Mask
Name
0xFFFFFFFFh
Type
biquad_x_a_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 2
Mask
Name
0xFFFFFFFFh
Type
biquad_x_a_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 4
Mask
0xFFFFFFFFh
Name
biquad_x_b_0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
Signed
88 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 5
Mask
Name
0xFFFFFFFFh
Type
biquad_x_b_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 6
Mask
Name
0xFFFFFFFFh
Type
biquad_x_b_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 7
Mask
0xFFFFFFFFh
Name
Type
biquad_x_enable
Bool
Min
Max
Default
0
1
0
Unit
0: off
1: on
Variant 9
Mask
Name
0xFFFFFFFFh
Type
biquad_v_a_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 10
Mask
Name
0xFFFFFFFFh
Type
biquad_v_a_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 12
Mask
Name
0xFFFFFFFFh
Type
biquad_v_b_0
Signed
Min
Max
Default
-2147483648
2147483647
0
Variant 13
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
89 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0xFFFFFFFFh
Type
biquad_v_b_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 14
Mask
Name
0xFFFFFFFFh
Type
biquad_v_b_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 15
Mask
0xFFFFFFFFh
Name
Type
biquad_v_enable
Bool
Min
Max
Default
0
1
0
Unit
0: off
1: on
Variant 17
Mask
Name
0xFFFFFFFFh
Type
biquad_t_a_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 18
Mask
Name
0xFFFFFFFFh
Type
biquad_t_a_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 20
Mask
Name
0xFFFFFFFFh
Type
biquad_t_b_0
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 21
Mask
Name
0xFFFFFFFFh
Type
biquad_t_b_1
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Signed
Default
Unit
90 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
-2147483648
2147483647
Access
0
Variant 22
Mask
Name
0xFFFFFFFFh
Type
biquad_t_b_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 23
Mask
0xFFFFFFFFh
Name
Type
biquad_t_enable
Bool
Min
Max
Default
0
1
0
Unit
0: off
1: on
Variant 25
Mask
Name
0xFFFFFFFFh
Type
biquad_f_a_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 26
Mask
Name
0xFFFFFFFFh
Type
biquad_f_a_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 28
Mask
Name
0xFFFFFFFFh
Type
biquad_f_b_0
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 29
Mask
Name
0xFFFFFFFFh
Type
biquad_f_b_1
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 30
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
91 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0xFFFFFFFFh
Access
biquad_f_b_2
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 31
Mask
0xFFFFFFFFh
Name
Type
biquad_f_enable
Bool
Min
Max
Default
0
1
0
Unit
0: off
1: on
Variant 32
Mask
Name
0xFFFFFFFFh
Type
prbs_amplitude
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 33
Mask
Name
0xFFFFFFFFh
Type
prbs_down_sampling_ratio
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 40
Mask
Name
0xFFFFFFFFh
Type
feed_forward_velocity_gain
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 41
Mask
0xFFFFFFFFh
Name
Type
feed_forward_velocity_filter_constant
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 42
Mask
Name
0xFFFFFFFFh
Type
feed_forward_torque_gain
Min
Max
Default
-2147483648
2147483647
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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Signed
Unit
92 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Variant 43
Mask
Name
0xFFFFFFFFh
Type
feed_forward_torgue_filter_constant
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 50
Mask
Name
0x0000FFFFh
Type
VELOCITY_METER_PPTM_MIN_POS_DEV
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 51
Mask
Name
0x0000FFFFh
Type
ref_switch_config
Unsigned
Min
Max
Default
0
65535
0
Unit
Variant 52
Mask
0x00000001h
Name
Type
Encoder_Init_hall_Enable
Bool
Min
Max
Default
0
1
0
Unit
0: off
1: on
Variant 60
Mask
Name
0x000000FFh
Type
SINGLE_PIN_IF_CFG
Min
Max
Default
0
255
0
Mask
Name
0xFFFF0000h
Unsigned
Unit
Type
SINGLE_PIN_IF_STATUS
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 61
Mask
Name
0x0000FFFFh
Type
SINGLE_PIN_IF_OFFSET
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Default
Unsigned
Unit
93 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
65535
Access
0
Offset for scaling of Single pin Interface input
Mask
Name
0xFFFF0000h
Type
SINGLE_PIN_IF_SCALE
Min
Max
Default
-32767
32767
0
Signed
Unit
Gain factor of Single pin Interface input
0x4Eh
CONFIG_ADDR
Mask
RW
Name
0xFFFFFFFFh
Type
CONFIG_ADDR
Choice
Min
Max
Default
1
52
0
1: biquad_x_a_1
2: biquad_x_a_2
4: biquad_x_b_0
5: biquad_x_b_1
6: biquad_x_b_2
7: biquad_x_enable
9: biquad_v_a_1
10: biquad_v_a_2
12: biquad_v_b_0
13: biquad_v_b_1
14: biquad_v_b_2
15: biquad_v_enable
17: biquad_t_a_1
18: biquad_t_a_2
20: biquad_t_b_0
21: biquad_t_b_1
22: biquad_t_b_2
23: biquad_t_enable
25: biquad_f_a_1
26: biquad_f_a_2
28: biquad_f_b_0
29: biquad_f_b_1
30: biquad_f_b_2
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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Unit
94 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
31: biquad_f_enable
32: prbs_amplitude
33: prbs_down_sampling_ratio
40: feed_forward_velocity_gain
41: feed_forward_velicity_filter_constant
42: feed_forward_torque_gain
43: feed_forward_torgue_filter_constant
50: VELOCITY_METER_PPTM_MIN_POS_DEV
51: ref_switch_config
52: Encoder_Init_hall_Enable
60: SINGLE_PIN_IF_STATUS_CFG
61: SINGLE_PIN_IF_SCALE_OFFSET
0x50h
VELOCITY_SELECTION
Mask
Name
0x000000FFh
RW
Type
VELOCITY_SELECTION
Min
Max
Default
0
12
0
Choice
Unit
Selects the source of the velocity source for velocity measurement.
0: phi_e selected via PHI_E_SELECTION
1: phi_e_ext
2: phi_e_openloop
3: phi_e_abn
4: reserved
5: phi_e_hal
6: phi_e_aenc
7: phi_a_aenc
8: reserved
9: phi_m_abn
10: phi_m_abn_2
11: phi_m_aenc
12: phi_m_hal
Mask
Name
0x0000FF00h
Type
VELOCITY_METER_SELECTION
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Default
Choice
Unit
95 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
1
Access
0
0: default velocity meter (fixed frequency sampling)
1: advanced velocity meter (time difference measurement)
0x51h
POSITION_SELECTION
Mask
Name
0x000000FFh
RW
Type
POSITION_SELECTION
Min
Max
Default
0
12
0
Choice
Unit
0: phi_e selected via PHI_E_SELECTION
1: phi_e_ext
2: phi_e_openloop
3: phi_e_abn
4: reserved
5: phi_e_hal
6: phi_e_aenc
7: phi_a_aenc
8: reserved
9: phi_m_abn
10: phi_m_abn_2
11: phi_m_aenc
12: phi_m_hal
0x52h
PHI_E_SELECTION
Mask
RW
Name
0x000000FFh
Type
PHI_E_SELECTION
Choice
Min
Max
Default
0
7
0
Unit
0: reserved
1: phi_e_ext
2: phi_e_openloop
3: phi_e_abn
4: reserved
5: phi_e_hal
6: phi_e_aenc
7: phi_a_aenc
0x53h
PHI_E
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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R
96 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Mask
Name
Type
0x0000FFFFh
PHI_E
Signed
Min
Max
Default
-32768
32767
0
Unit
Angle used for the inner FOC loop.
0x54h
PID_FLUX_P_FLUX_I
Mask
Name
0x0000FFFFh
Type
PID_FLUX_I
Signed
Min
Max
Default
0
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
PID_FLUX_P
Signed
Min
Max
Default
0
32767
0
0x56h
RW
Unit
PID_TORQUE_P_TORQUE_I
Mask
Name
0x0000FFFFh
Type
PID_TORQUE_I
Signed
Min
Max
Default
0
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
PID_TORQUE_P
Signed
Min
Max
Default
0
32767
0
0x58h
RW
Unit
PID_VELOCITY_P_VELOCITY_I
Mask
Name
0x0000FFFFh
Signed
Min
Max
Default
0
32767
0
Name
0xFFFF0000h
0x5Ah
Type
PID_VELOCITY_I
Mask
RW
Unit
Type
PID_VELOCITY_P
Signed
Min
Max
Default
0
32767
0
Unit
PID_POSITION_P_POSITION_I
Mask
0x0000FFFFh
Name
PID_POSITION_I
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Type
Signed
97 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Min
Max
Default
0
32767
0
Mask
Name
0xFFFF0000h
0x5Ch
Access
Unit
Type
PID_POSITION_P
Signed
Min
Max
Default
0
32767
0
Unit
PID_TORQUE_FLUX_TARGET_DDT_LIMITS
Mask
Name
0xFFFFFFFFh
RW
Type
PID_TORQUE_FLUX_TARGET_DDT_LIMITS
Unsigned
Min
Max
Default
Unit
0
32767
32767
[1/us]
Limits of change in time [d/dt] of the target torque and target
flux.
0x5Dh
PIDOUT_UQ_UD_LIMITS
Mask
Name
0x0000FFFFh
RW
Type
PIDOUT_UQ_UD_LIMITS
Min
Max
Default
0
32767
23169
Unsigned
Unit
Two dimensional circular limiter for inputs of iPark.
0x5Eh
PID_TORQUE_FLUX_LIMITS
Mask
Name
0x0000FFFFh
RW
Type
PID_TORQUE_FLUX_LIMITS
Min
Max
Default
0
32767
32767
Unsigned
Unit
PID torque limt and PID flux limit, limits the target values coming from the target registers.
0x5Fh
PID_ACCELERATION_LIMIT
Mask
Name
0xFFFFFFFFh
RW
Type
PID_ACCELERATION_LIMIT
Min
Max
Default
0
4294967295
2147483647
Unsigned
Unit
Acceleration limit.
0x60h
PID_VELOCITY_LIMIT
Mask
0xFFFFFFFFh
Name
PID_VELOCITY_LIMIT
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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RW
Type
Unsigned
98 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
4294967295
2147483647
Unit
Velocity limit.
0x61h
PID_POSITION_LIMIT_LOW
Mask
Name
0xFFFFFFFFh
RW
Type
PID_POSITION_LIMIT_LOW
Min
Max
Default
-2147483648
2147483647
-2147483647
Signed
Unit
Position limit low, programmable positon barrier.
0x62h
PID_POSITION_LIMIT_HIGH
Mask
Name
0xFFFFFFFFh
RW
Type
PID_POSITION_LIMIT_HIGH
Min
Max
Default
-2147483648
2147483647
2147483647
Signed
Unit
Position limit high, programmable positon barrier.
0x63h
MODE_RAMP_MODE_MOTION
Mask
Name
0x000000FFh
Type
MODE_MOTION
Choice
Min
Max
Default
0
15
0
0: stopped_mode
1: torque_mode
2: velocity_mode
3: position_mode
4: prbs_flux_mode
5: prbs_torque_mode
6: prbs_velocity_mode
7: prbs_position_mode
8: uq_ud_ext
9: enc_init_mini_move
10: AGPI_A torque_mode
11: AGPI_A velocity_mode
12: AGPI_A position_mode
13: PWM_I torque_mode
14: PWM_I velocity_mode
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
RW
Unit
99 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
15: PWM_I position_mode
Mask
Name
0x0000FF00h
Type
MODE_RAMP
Choice
Min
Max
Default
0
7
0
Unit
0: no velocity ramping
1: reserved
2: reserved
3: reserved
4: reserved
5: reserved
6: reserved
7: reserved
Mask
Name
0x00FF0000h
Type
MODE_FF
Choice
Min
Max
Default
0
2
0
Unit
0: disabled
1: feed forward velocity control
2: feed forward torque control
Mask
Name
0x7F000000h
Type
MODE_PID_SMPL
Unsigned
Min
Max
Default
0
127
0
Unit
Controller downsampling factor for advanced velocity and position controller
Mask
Name
0x80000000h
Type
MODE_PID_TYPE
Choice
Min
Max
Default
0
1
0
Unit
0: Classic PI architecture
1: Advanced PI architecture
0x64h
PID_TORQUE_FLUX_TARGET
Mask
0x0000FFFFh
Name
PID_FLUX_TARGET
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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RW
Type
Signed
100 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Type
PID_TORQUE_TARGET
Min
Max
Default
-32768
32767
0
0x65h
Unit
Signed
Unit
PID_TORQUE_FLUX_OFFSET
Mask
Name
0x0000FFFFh
RW
Type
PID_FLUX_OFFSET
Signed
Min
Max
Default
-32768
32767
0
Unit
Flux offset for feed forward control.
Mask
Name
0xFFFF0000h
Type
PID_TORQUE_OFFSET
Min
Max
Default
-32768
32767
0
Signed
Unit
Torque offset for feed forward control.
0x66h
PID_VELOCITY_TARGET
Mask
Name
0xFFFFFFFFh
RW
Type
PID_VELOCITY_TARGET
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Target velocity register (for velocity mode).
0x67h
PID_VELOCITY_OFFSET
Mask
Name
0xFFFFFFFFh
RW
Type
PID_VELOCITY_OFFSET
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Velocity offset for feed forward control.
0x68h
PID_POSITION_TARGET
Mask
Name
0xFFFFFFFFh
Type
PID_POSITION_TARGET
Min
Max
Default
-2147483648
2147483647
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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RW
Signed
Unit
101 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Target position register (for position mode).
0x69h
PID_TORQUE_FLUX_ACTUAL
Mask
Name
0x0000FFFFh
Type
PID_FLUX_ACTUAL
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_TORQUE_ACTUAL
Min
Max
Default
-32768
32767
0
0x6Ah
R
Signed
Unit
PID_VELOCITY_ACTUAL
Mask
Name
0xFFFFFFFFh
R
Type
PID_VELOCITY_ACTUAL
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Actual velocity.
0x6Bh
PID_POSITION_ACTUAL
Mask
Name
0xFFFFFFFFh
RW
Type
PID_POSITION_ACTUAL
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Actual multi turn position for positioning.
WRITE
on PID_POSITION_ACTUAL writes same value into
PID_POSITION_TARGET to avoid unwanted move.
0x6Ch
PID_ERROR_DATA
R
Variant 0
Mask
Name
0xFFFFFFFFh
Type
PID_TORQUE_ERROR
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID torque error.
Variant 1
Mask
Name
0xFFFFFFFFh
Type
PID_FLUX_ERROR
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Signed
Default
Unit
102 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
-2147483648
2147483647
Access
0
PID flux error.
Variant 2
Mask
Name
0xFFFFFFFFh
Type
PID_VELOCITY_ERROR
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID velocity error.
Variant 3
Mask
Name
0xFFFFFFFFh
Type
PID_POSITION_ERROR
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID position error.
Variant 4
Mask
Name
0xFFFFFFFFh
Type
PID_TORQUE_ERROR_SUM
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID torque error.
Variant 5
Mask
Name
0xFFFFFFFFh
Type
PID_FLUX_ERROR_SUM
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID flux error sum.
Variant 6
Mask
Name
0xFFFFFFFFh
Type
PID_VELOCITY_ERROR_SUM
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PID velocity error sum.
Variant 7
Mask
0xFFFFFFFFh
Name
PID_POSITION_ERROR_SUM
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Type
Signed
103 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-2147483648
2147483647
0
Unit
PID position error sum.
0x6Dh
PID_ERROR_ADDR
Mask
RW
Name
0x000000FFh
Type
PID_ERROR_ADDR
Choice
Min
Max
Default
0
7
0
Unit
0: PID_TORQUE_ERROR
1: PID_FLUX_ERROR
2: PID_VELOCITY_ERROR
3: PID_POSITION_ERROR
4: PID_TORQUE_ERROR_SUM
5: PID_FLUX_ERROR_SUM
6: PID_VELOCITY_ERROR_SUM
7: PID_POSITION_ERROR_SUM
0x6Eh
INTERIM_DATA
RW
Variant 0
Mask
Name
0xFFFFFFFFh
Type
PIDIN_TARGET_TORQUE
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDIN target torque.
Variant 1
Mask
Name
0xFFFFFFFFh
Type
PIDIN_TARGET_FLUX
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDIN target flux.
Variant 2
Mask
Name
0xFFFFFFFFh
Type
PIDIN_TARGET_VELOCITY
Min
Max
Default
-2147483648
2147483647
0
PIDIN target velocity.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Signed
Unit
104 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Variant 3
Mask
Name
0xFFFFFFFFh
Type
PIDIN_TARGET_POSITION
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDIN target position.
Variant 4
Mask
Name
0xFFFFFFFFh
Type
PIDOUT_TARGET_TORQUE
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDOUT target torque.
Variant 5
Mask
Name
0xFFFFFFFFh
Type
PIDOUT_TARGET_FLUX
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDOUT target flux.
Variant 6
Mask
Name
0xFFFFFFFFh
Type
PIDOUT_TARGET_VELOCITY
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDOUT target velocity.
Variant 7
Mask
Name
0xFFFFFFFFh
Type
PIDOUT_TARGET_POSITION
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
PIDOUT target position.
Variant 8
Mask
Name
0x0000FFFFh
Type
FOC_IUX
Signed
Min
Max
Default
-32768
32767
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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Unit
105 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0xFFFF0000h
Type
FOC_IWY
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 9
Mask
Name
0x0000FFFFh
Type
FOC_IV
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 10
Mask
Name
0x0000FFFFh
Type
FOC_IA
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
FOC_IB
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 11
Mask
Name
0x0000FFFFh
Type
FOC_ID
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
FOC_IQ
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 12
Mask
Name
0x0000FFFFh
Type
FOC_UD
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Type
FOC_UQ
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
Signed
Default
Unit
106 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
-32768
32767
Access
0
Variant 13
Mask
Name
0x0000FFFFh
Type
FOC_UD_LIMITED
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
FOC_UQ_LIMITED
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 14
Mask
Name
0x0000FFFFh
Type
FOC_UA
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
FOC_UB
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 15
Mask
Name
0x0000FFFFh
Type
FOC_UUX
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
FOC_UWY
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 16
Mask
Name
0x0000FFFFh
Type
FOC_UV
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 17
Mask
Name
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
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Type
107 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x0000FFFFh
Access
PWM_UX
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
PWM_WY
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 18
Mask
Name
0x0000FFFFh
Type
PWM_V
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 19
Mask
Name
0x0000FFFFh
Type
ADC_I_0
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
ADC_I_1
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 20
Mask
Name
0x000000FFh
PID_FLUX_ACTUAL_DIV256
Min
Max
Default
-128
127
0
Mask
Name
0x0000FF00h
Min
Max
Default
-128
127
0
Name
0x00FF0000h
Min
Max
Default
-128
127
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
Signed
Unit
Type
PID_FLUX_TARGET_DIV256
Name
Signed
Type
PID_TORQUE_ACTUAL_DIV256
Mask
Mask
Type
Signed
Unit
Type
108 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0xFF000000h
Access
PID_TORQUE_TARGET_DIV256
Min
Max
Default
-128
127
0
Signed
Unit
Variant 21
Mask
Name
0x0000FFFFh
Type
PID_TORQUE_ACTUAL
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_TORQUE_TARGET
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 22
Mask
Name
0x0000FFFFh
Type
PID_FLUX_ACTUAL
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_FLUX_TARGET
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 23
Mask
Name
0x0000FFFFh
Type
PID_VELOCITY_ACTUAL_DIV256
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_VELOCITY_TARGET_DIV256
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 24
Mask
Name
0x0000FFFFh
Type
PID_VELOCITY_ACTUAL_LSB
Min
Max
Default
-32768
32767
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Signed
Unit
109 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0xFFFF0000h
Type
PID_VELOCITY_TARGET_LSB
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 25
Mask
Name
0x0000FFFFh
Type
PID_POSITION_ACTUAL_DIV256
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_POSITION_TARGET_DIV256
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 26
Mask
Name
0x0000FFFFh
Type
PID_POSITION_ACTUAL_LSB
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Signed
Unit
Type
PID_POSITION_TARGET_LSB
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 27
Mask
Name
0xFFFFFFFFh
Type
FF_VELOCITY
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 28
Mask
Name
0x0000FFFFh
Type
FF_TORQUE
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 29
Mask
0xFFFFFFFFh
Name
ACTUAL_VELOCITY_PPTM
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Type
Signed
110 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 30
Mask
Name
0x0000FFFFh
Type
REF_SWITCH_STATUS
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 31
Mask
Name
0xFFFFFFFFh
Type
HOME_POSITION
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 32
Mask
Name
0xFFFFFFFFh
Type
LEFT_POSITION
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 33
Mask
Name
0xFFFFFFFFh
Type
RIGHT_POSITION
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 34
Mask
Name
0x0000FFFFh
Type
ENC_INIT_HALL_STATUS
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 35
Mask
Name
0x0000FFFFh
Type
ENC_INIT_HALL_PHI_E_ABN_OFFSET
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 36
Mask
0x0000FFFFh
Name
ENC_INIT_HALL_PHI_E_AENC_OFFSET
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Type
Unsigned
111 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
65535
0
Unit
Variant 37
Mask
Name
0x0000FFFFh
Type
ENC_INIT_HALL_PHI_A_AENC_OFFSET
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 40
Mask
Name
0x0000FFFFh
Type
ENC_INIT_MINI_MOVE_STATUS
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unsigned
Unit
Type
ENC_INIT_MINI_MOVE_U_D
Min
Max
Default
-32768
32767
0
Signed
Unit
Variant 41
Mask
Name
0x0000FFFFh
Type
ENC_INIT_MINI_MOVE_PHI_E_OFFSET
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unsigned
Unit
Type
ENC_INIT_MINI_MOVE_PHI_E
Min
Max
Default
0
65535
0
Unsigned
Unit
Variant 42
Mask
Name
0x0000FFFFh
Type
SINGLE_PIN_IF_TARGET_TORQUE
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Min
Max
Default
-32768
32767
0
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
Type
SINGLE_PIN_IF_RAW_VALUE
Variant 43
Signed
Unsigned
Unit
112 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0xFFFFFFFFh
Type
SINGLE_PIN_IF_TARGET_VELOCITY
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 44
Mask
Name
0xFFFFFFFFh
Type
SINGLE_PIN_IF_TARGET_POSITION
Min
Max
Default
-2147483648
2147483647
0
Signed
Unit
Variant 192
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_0
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_1
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 193
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_2
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_3
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 194
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_4
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Type
DEBUG_VALUE_5
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
Signed
Default
Unit
113 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
-32768
32767
Access
0
Variant 195
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_6
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_7
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 196
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_8
Unsigned
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_9
Unsigned
Min
Max
Default
0
65535
0
Unit
Variant 197
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_10
Unsigned
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_11
Unsigned
Min
Max
Default
0
65535
0
Unit
Variant 198
Mask
Name
0x0000FFFFh
Mask
0xFFFF0000h
Type
DEBUG_VALUE_12
Unsigned
Min
Max
Default
0
65535
0
Name
DEBUG_VALUE_13
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
Type
Unsigned
114 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
65535
0
Unit
Variant 199
Mask
Name
0x0000FFFFh
Type
DEBUG_VALUE_14
Unsigned
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unit
Type
DEBUG_VALUE_15
Unsigned
Min
Max
Default
0
65535
0
Unit
Variant 200
Mask
Name
0xFFFFFFFFh
Type
DEBUG_VALUE_16
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 201
Mask
Name
0xFFFFFFFFh
Type
DEBUG_VALUE_17
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 202
Mask
Name
0xFFFFFFFFh
Type
DEBUG_VALUE_18
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 203
Mask
Name
0xFFFFFFFFh
Type
DEBUG_VALUE_19
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
Variant 208
Mask
Name
0xFFFFFFFFh
Type
CONFIG_REG_0
Min
Max
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unsigned
Default
Unit
115 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0
4294967295
Access
0
Variant 209
Mask
Name
0xFFFFFFFFh
Type
CONFIG_REG_1
Unsigned
Min
Max
Default
0
4294967295
0
Unit
Variant 210
Mask
Name
0x0000FFFFh
Type
CTRL_PARAM_0
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
CTRL_PARAM_1
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 211
Mask
Name
0x0000FFFFh
Type
CTRL_PARAM_2
Signed
Min
Max
Default
-32768
32767
0
Mask
Name
0xFFFF0000h
Unit
Type
CTRL_PARAM_3
Signed
Min
Max
Default
-32768
32767
0
Unit
Variant 212
Mask
Name
0xFFFFFFFFh
Type
STATUS_REG_0
Unsigned
Min
Max
Default
0
4294967295
0
Unit
Variant 213
Mask
Name
0xFFFFFFFFh
Type
STATUS_REG_1
Unsigned
Min
Max
Default
0
4294967295
0
Variant 214
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
116 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
Access
Name
0x0000FFFFh
Type
STATUS_PARAM_0
Unsigned
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Unit
Type
STATUS_PARAM_1
Unsigned
Min
Max
Default
0
65535
0
Unit
Variant 215
Mask
Name
0x0000FFFFh
Type
STATUS_PARAM_2
Unsigned
Min
Max
Default
0
65535
0
Mask
Name
0xFFFF0000h
Type
STATUS_PARAM_3
Unsigned
Min
Max
Default
0
65535
0
0x6Fh
Unit
Unit
INTERIM_ADDR
Mask
RW
Name
0x000000FFh
Type
INTERIM_ADDR
Choice
Min
Max
Default
0
215
0
0: PIDIN_TARGET_TORQUE
1: PIDIN_TARGET_FLUX
2: PIDIN_TARGET_VELOCITY
3: PIDIN_TARGET_POSITION
4: PIDOUT_TARGET_TORQUE
5: PIDOUT_TARGET_FLUX
6: PIDOUT_TARGET_VELOCITY
7: PIDOUT_TARGET_POSITION
8: FOC_IWY_IUX
9: FOC_IV
10: FOC_IB_IA
11: FOC_IQ_ID
12: FOC_UQ_UD
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
117 / 158
Access
13: FOC_UQ_UD_LIMITED
14: FOC_UB_UA
15: FOC_UWY_UUX
16: FOC_UV
17: PWM_WY_UX
18: PWM_UV
19: ADC_I1_I0
20: PID_TORQUE_TARGET_FLUX_TARGET_TORQUE_ACTUAL_FLUX_ACTUAL_DIV256
21: PID_TORQUE_TARGET_TORQUE_ACTUAL
22: PID_FLUX_TARGET_FLUX_ACTUAL
23: PID_VELOCITY_TARGET_VELOCITY_ACTUAL_DIV256
24: PID_VELOCITY_TARGET_VELOCITY_ACTUAL
25: PID_POSITION_TARGET_POSITION_ACTUAL_DIV256
26: PID_POSITION_TARGET_POSITION_ACTUAL
27: FF_VELOCITY
28: FF_TORQUE
29: ACTUAL_VELOCITY_PPTM
30: REF_SWITCH_STATUS
31: HOME_POSITION
32: LEFT_POSITION
33: RIGHT_POSITION
34: ENC_INIT_HALL_STATUS
35: ENC_INIT_HALL_PHI_E_ABN_OFFSET
36: ENC_INIT_HALL_PHI_E_AENC_OFFSET
37: ENC_INIT_HALL_PHI_A_AENC_OFFSET
40: enc_init_mini_move_u_d_status
41: enc_init_mini_move_phi_e_phi_e_offset
42: SINGLE_PIN_IF_RAW_VALUE_TARGET_TORQUE
43: SINGLE_PIN_IF_TARGET_VELOCITY
44: SINGLE_PIN_IF_TARGET_POSITION
192: DEBUG_VALUE_1_0
193: DEBUG_VALUE_3_2
194: DEBUG_VALUE_5_4
195: DEBUG_VALUE_7_6
196: DEBUG_VALUE_9_8
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
118 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
197: DEBUG_VALUE_11_10
198: DEBUG_VALUE_13_12
199: DEBUG_VALUE_15_14
200: DEBUG_VALUE_16
201: DEBUG_VALUE_17
202: DEBUG_VALUE_18
203: DEBUG_VALUE_19
208: CONFIG_REG_0
209: CONFIG_REG_1
210: CTRL_PARAM_10
211: CTRL_PARAM_32
212: STATUS_REG_0
213: STATUS_REG_1
214: STATUS_PARAM_10
215: STATUS_PARAM_32
0x74h
WATCHDOG_CFG
Mask
RW
Name
0x00000003h
Type
WATCHDOG_CFG
Choice
Min
Max
Default
0
3
0
Unit
0: No action on watchdog error
1: PWM and power stage disable on watchdog error
2: Global reset on watchdog error
3: reserved
0x75h
ADC_VM_LIMITS
Mask
RW
Name
0x0000FFFFh
Type
ADC_VM_LIMIT_LOW
Min
Max
Default
0
65535
65535
Unsigned
Unit
Low limit for brake chopper output BRAKE_OUT.
Mask
Name
0xFFFF0000h
Type
ADC_VM_LIMIT_HIGH
Min
Max
Default
0
65535
65535
Unsigned
Unit
High limit for brake chopper output BRAKE_OUT.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
119 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
0x76h
Access
TMC4671_INPUTS_RAW
Mask
0x00000001h
R
Name
Type
A of ABN_RAW
Bool
Min
Max
Default
0
1
0
Unit
A of ABN_RAW
0: off
1: on
Mask
0x00000002h
Name
Type
B of ABN_RAW
Bool
Min
Max
Default
0
1
0
Unit
B of ABN_RAW
0: off
1: on
Mask
0x00000004h
Name
Type
N of ABN_RAW
Bool
Min
Max
Default
0
1
0
Unit
N of ABN_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x00000008h
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
Mask
0x00000010h
Name
Type
A of ABN_2_RAW
Bool
Min
Max
Default
0
1
0
A of ABN_2_RAW
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
120 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
0x00000020h
Name
Type
B of ABN_2_RAW
Bool
Min
Max
Default
0
1
0
Unit
B of ABN_2_RAW
0: off
1: on
Mask
0x00000040h
Name
Type
N of ABN_2_RAW
Bool
Min
Max
Default
0
1
0
Unit
N of ABN_2_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x00000080h
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
Mask
0x00000100h
Name
Type
HALL_UX of HALL_RAW
Bool
Min
Max
Default
0
1
0
Unit
HALL_UX of HALL_RAW
0: off
1: on
Mask
0x00000200h
Name
Type
HALL_V of HALL_RAW
Bool
Min
Max
Default
0
1
0
HALL_V of HALL_RAW
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
121 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
0x00000400h
Name
Type
HALL_WY of HALL_RAW
Bool
Min
Max
Default
0
1
0
Unit
HALL_WY of HALL_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x00000800h
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
Mask
0x00001000h
Name
Type
REF_SW_R_RAW
Bool
Min
Max
Default
0
1
0
Unit
REF_SW_R_RAW
0: off
1: on
Mask
0x00002000h
Name
Type
REF_SW_H_RAW
Bool
Min
Max
Default
0
1
0
Unit
REF_SW_H_RAW
0: off
1: on
Mask
0x00004000h
Name
Type
REF_SW_L_RAW
Bool
Min
Max
Default
0
1
0
REF_SW_L_RAW
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
122 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
0x00008000h
Name
Type
ENABLE_IN_RAW
Bool
Min
Max
Default
0
1
0
Unit
ENABLE_IN_RAW
0: off
1: on
Mask
0x00010000h
Name
Type
STP of DIRSTP_RAW
Bool
Min
Max
Default
0
1
0
Unit
STP of DIRSTP_RAW
0: off
1: on
Mask
0x00020000h
Name
Type
DIR of DIRSTP_RAW
Bool
Min
Max
Default
0
1
0
Unit
DIR of DIRSTP_RAW
0: off
1: on
Mask
0x00040000h
Name
Type
PWM_IN_RAW
Bool
Min
Max
Default
0
1
0
Unit
PWM_IN_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x00080000h
Min
Max
Default
0
1
0
—
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
123 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
0x00100000h
Name
Type
HALL_UX_FILT
Bool
Min
Max
Default
0
1
0
Unit
ESI_0 of ESI_RAW
0: off
1: on
Mask
0x00200000h
Name
Type
HALL_V_FILT
Bool
Min
Max
Default
0
1
0
Unit
ESI_1 of ESI_RAW
0: off
1: on
Mask
0x00400000h
Name
Type
HALL_WY_FILT
Bool
Min
Max
Default
0
1
0
Unit
ESI_2 of ESI_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x00800000h
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
Mask
Name
Type
-
Bool
0x01000000h
Min
Max
Default
0
1
0
CFG_0 of CFG
0: off
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Unit
124 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
Name
Type
-
Bool
0x02000000h
Min
Max
Default
0
1
0
Unit
CFG_1 of CFG
0: off
1: on
Mask
Name
Type
-
Bool
0x04000000h
Min
Max
Default
0
1
0
Unit
CFG_2 of CFG
0: off
1: on
Mask
Name
Type
-
Bool
0x08000000h
Min
Max
Default
0
1
0
Unit
CFG_3 of CFG
0: off
1: on
Mask
0x10000000h
Name
Type
PWM_IDLE_L_RAW
Bool
Min
Max
Default
0
1
0
Unit
PWM_IDLE_L_RAW
0: off
1: on
Mask
0x20000000h
Name
Type
PWM_IDLE_H_RAW
Bool
Min
Max
Default
0
1
0
PWM_IDLE_H_RAW
0: off
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
1: on
Mask
Name
Type
-
Bool
0x40000000h
Min
Max
Default
0
1
0
Unit
DRV_ERR_IN_RAW
0: off
1: on
Mask
Name
Type
-
Bool
0x80000000h
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
0x77h
TMC4671_OUTPUTS_RAW
Mask
0x00000001h
R
Name
Type
TMC4671_OUTPUTS_RAW[0]
Bool
Min
Max
Default
0
1
0
Unit
PWM_UX1_L
0: off
1: on
Mask
0x00000002h
Name
Type
TMC4671_OUTPUTS_RAW[1]
Bool
Min
Max
Default
0
1
0
Unit
PWM_UX1_H
0: off
1: on
Mask
0x00000004h
Name
Type
TMC4671_OUTPUTS_RAW[2]
Bool
Min
Max
Default
0
1
0
PWM_VX2_L
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126 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0: off
1: on
Mask
0x00000008h
Name
Type
TMC4671_OUTPUTS_RAW[3]
Bool
Min
Max
Default
0
1
0
Unit
PWM_VX2_H
0: off
1: on
Mask
0x00000010h
Name
Type
TMC4671_OUTPUTS_RAW[4]
Bool
Min
Max
Default
0
1
0
Unit
PWM_WY1_L
0: off
1: on
Mask
0x00000020h
Name
Type
TMC4671_OUTPUTS_RAW[5]
Bool
Min
Max
Default
0
1
0
Unit
PWM_WY1_H
0: off
1: on
Mask
0x00000040h
Name
Type
TMC4671_OUTPUTS_RAW[6]
Bool
Min
Max
Default
0
1
0
Unit
PWM_Y2_L
0: off
1: on
Mask
0x00000080h
Name
Type
TMC4671_OUTPUTS_RAW[7]
Bool
Min
Max
Default
0
1
0
PWM_Y2_H
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127 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
STEP_WIDTH
RW
0: off
1: on
0x78h
Mask
Name
0xFFFFFFFFh
Type
STEP_WIDTH
Signed
Min
Max
Default
-2147483648
2147483647
0
Unit
STEP WIDTH = 0 => STP pulses ignored, resulting direction =
DIR XOR sign(STEP_WIDTH), effects PID_POSITION_TARGET
0x79h
UART_BPS
Mask
RW
Name
0x00FFFFFFh
Type
UART_BPS
Unsigned
Min
Max
Default
0
16777215
9600
Unit
9600, 115200, 921600, 3000000 (default=9600)
0x7Ah
UART_ADDRS
Mask
Name
0x000000FFh
Type
ADDR_A
Unsigned
Min
Max
Default
0
255
0
Mask
Name
0x0000FF00h
Unsigned
Min
Max
Default
0
255
0
Name
0x00FF0000h
Unsigned
Min
Max
Default
0
255
0
Name
0xFF000000h
Unit
Type
ADDR_C
Mask
Unit
Type
ADDR_B
Mask
0x7Bh
RW
Unit
Type
ADDR_D
Unsigned
Min
Max
Default
0
255
0
Unit
GPIO_dsADCI_CONFIG
Mask
0x00000001h
RW
Name
Type
GPIO_dsADCI_CONFIG[0]
Bool
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128 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
1
0
Unit
SEL_nDBGSPIM_GPIO
0: off
1: on
Mask
0x00000002h
Name
Type
GPIO_dsADCI_CONFIG[1]
Bool
Min
Max
Default
0
1
0
Unit
SEL_nGPIO_dsADCS_A
0: off
1: on
Mask
0x00000004h
Name
Type
GPIO_dsADCI_CONFIG[2]
Bool
Min
Max
Default
0
1
0
Unit
SEL_nGPIO_dsADCS_B
0: off
1: on
Mask
0x00000008h
Name
Type
GPIO_dsADCI_CONFIG[3]
Bool
Min
Max
Default
0
1
0
Unit
SEL_GPIO_GROUP_A_nIN_OUT
0: off
1: on
Mask
0x00000010h
Name
Type
GPIO_dsADCI_CONFIG[4]
Bool
Min
Max
Default
0
1
0
Unit
SEL_GPIO_GROUP_B_nIN_OUT
0: off
1: on
Mask
0x00000020h
Name
Type
GPIO_dsADCI_CONFIG[5]
Bool
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
Min
Max
Default
0
1
0
Unit
SEL_GROUP_A_DSADCS_nCLKIN_CLKOUT
0: off
1: on
Mask
0x00000040h
Name
Type
GPIO_dsADCI_CONFIG[6]
Bool
Min
Max
Default
0
1
0
Unit
SEL_GROUP_B_DSADCS_nCLKIN_CLKOUT
0: off
1: on
Mask
Name
Type
0x00FF0000h
GPO
Unsigned
Min
Max
Default
0
255
0
Mask
Name
0xFF000000h
Type
GPI
Unsigned
Min
Max
Default
0
255
0
0x7Ch
Unit
Unit
STATUS_FLAGS
Mask
0x00000001h
RW
Name
Type
STATUS_FLAGS[0]
Bool
Min
Max
Default
0
1
0
Unit
pid_x_target_limit
0: off
1: on
Mask
0x00000002h
Name
Type
STATUS_FLAGS[1]
Bool
Min
Max
Default
0
1
0
pid_x_target_ddt_limit
0: off
1: on
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130 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x00000004h
Access
Name
Type
STATUS_FLAGS[2]
Bool
Min
Max
Default
0
1
0
Unit
pid_x_errsum_limit
0: off
1: on
Mask
0x00000008h
Name
Type
STATUS_FLAGS[3]
Bool
Min
Max
Default
0
1
0
Unit
pid_x_output_limit
0: off
1: on
Mask
0x00000010h
Name
Type
STATUS_FLAGS[4]
Bool
Min
Max
Default
0
1
0
Unit
pid_v_target_limit
0: off
1: on
Mask
0x00000020h
Name
Type
STATUS_FLAGS[5]
Bool
Min
Max
Default
0
1
0
Unit
pid_v_target_ddt_limit
0: off
1: on
Mask
0x00000040h
Name
Type
STATUS_FLAGS[6]
Bool
Min
Max
Default
0
1
0
pid_v_errsum_limit
0: off
1: on
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Unit
131 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x00000080h
Access
Name
Type
STATUS_FLAGS[7]
Bool
Min
Max
Default
0
1
0
Unit
pid_v_output_limit
0: off
1: on
Mask
0x00000100h
Name
Type
STATUS_FLAGS[8]
Bool
Min
Max
Default
0
1
0
Unit
pid_id_target_limit
0: off
1: on
Mask
0x00000200h
Name
Type
STATUS_FLAGS[9]
Bool
Min
Max
Default
0
1
0
Unit
pid_id_target_ddt_limit
0: off
1: on
Mask
0x00000400h
Name
Type
STATUS_FLAGS[10]
Bool
Min
Max
Default
0
1
0
Unit
pid_id_errsum_limit
0: off
1: on
Mask
0x00000800h
Name
Type
STATUS_FLAGS[11]
Bool
Min
Max
Default
0
1
0
pid_id_output_limit
0: off
1: on
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132 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x00001000h
Access
Name
Type
STATUS_FLAGS[12]
Bool
Min
Max
Default
0
1
0
Unit
pid_iq_target_limit
0: off
1: on
Mask
0x00002000h
Name
Type
STATUS_FLAGS[13]
Bool
Min
Max
Default
0
1
0
Unit
pid_iq_target_ddt_limit
0: off
1: on
Mask
0x00004000h
Name
Type
STATUS_FLAGS[14]
Bool
Min
Max
Default
0
1
0
Unit
pid_iq_errsum_limit
0: off
1: on
Mask
0x00008000h
Name
Type
STATUS_FLAGS[15]
Bool
Min
Max
Default
0
1
0
Unit
pid_iq_output_limit
0: off
1: on
Mask
0x00010000h
Name
Type
STATUS_FLAGS[16]
Bool
Min
Max
Default
0
1
0
ipark_cirlim_limit_u_d
0: off
1: on
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133 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x00020000h
Access
Name
Type
STATUS_FLAGS[17]
Bool
Min
Max
Default
0
1
0
Unit
ipark_cirlim_limit_u_q
0: off
1: on
Mask
0x00040000h
Name
Type
STATUS_FLAGS[18]
Bool
Min
Max
Default
0
1
0
Unit
ipark_cirlim_limit_u_r
0: off
1: on
Mask
0x00080000h
Name
Type
STATUS_FLAGS[19]
Bool
Min
Max
Default
0
1
0
Unit
not_PLL_locked
0: off
1: on
Mask
0x00100000h
Name
Type
STATUS_FLAGS[20]
Bool
Min
Max
Default
0
1
0
Unit
ref_sw_r
0: off
1: on
Mask
0x00200000h
Name
Type
STATUS_FLAGS[21]
Bool
Min
Max
Default
0
1
0
ref_sw_h
0: off
1: on
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134 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x00400000h
Access
Name
Type
STATUS_FLAGS[22]
Bool
Min
Max
Default
0
1
0
Unit
ref_sw_l
0: off
1: on
Mask
0x00800000h
Name
Type
STATUS_FLAGS[23]
Bool
Min
Max
Default
0
1
0
Unit
—
0: off
1: on
Mask
0x01000000h
Name
Type
STATUS_FLAGS[24]
Bool
Min
Max
Default
0
1
0
Unit
pwm_min
0: off
1: on
Mask
0x02000000h
Name
Type
STATUS_FLAGS[25]
Bool
Min
Max
Default
0
1
0
Unit
pwm_max
0: off
1: on
Mask
0x04000000h
Name
Type
STATUS_FLAGS[26]
Bool
Min
Max
Default
0
1
0
adc_i_clipped
0: off
1: on
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135 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Mask
0x08000000h
Access
Name
Type
STATUS_FLAGS[27]
Bool
Min
Max
Default
0
1
0
Unit
aenc_clipped
0: off
1: on
Mask
0x10000000h
Name
Type
STATUS_FLAGS[28]
Bool
Min
Max
Default
0
1
0
Unit
enc_n
0: off
1: on
Mask
0x20000000h
Name
Type
STATUS_FLAGS[29]
Bool
Min
Max
Default
0
1
0
Unit
enc_2_n
0: off
1: on
Mask
0x40000000h
Name
Type
STATUS_FLAGS[30]
Bool
Min
Max
Default
0
1
0
Unit
aenc_n
0: off
1: on
Mask
0x80000000h
Name
Type
STATUS_FLAGS[31]
Bool
Min
Max
Default
0
1
0
wd_error
0: off
1: on
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136 / 158
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Address
Registername
Access
0x7Dh
STATUS_MASK
RW
Mask
Name
0xFFFFFFFFh
Type
WARNING_MASK
Unsigned
Min
Max
Default
0
4294967295
0
Table 19: Register Map for TMC4671
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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Unit
TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
7
Pinning
Figure 31: TMC4671 Pinout with 3 phase Power stage and BLDC Motor
Figure 32: TMC4671 Pinout with Stepper Motor
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
138 / 158
Figure 33: TMC4671 Pinout with DC Motor or Voice Coil
All power supply pins (VCC, VCC_CORE) must be connected.
Info
All ground pins (GND, GNDA, . . . ) must be connected.
Analog inputs (AI) are 5V single ended or differential inputs (Input range: GNDA
to V5). Use voltage dividers or operational amplifiers to scale down higher input
voltages.
Digital inputs (I) resp. (IO) are 3.3V single ended inputs.
IO
Description
AI
analog input, 3.3V
I
digital input, 3.3V
IO
digital input or digital output, direction programmable, 3.3V
O
digital output, 3.3V
Table 20: Pin Type Definition
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
8
139 / 158
TMC4671 Pin Table
Name
Pin
IO
Description
nRST
50
I
active low reset input
CLK
51
I
clock input; needs to be 25 MHz for correct timing
TEST
54
I
TEST input, must be connected to GND
ENI
55
I
enable input
ENO
32
O
enable output
STATUS
12
O
output for interrupt of CPU (Warning & Status
Change)
SPI_nSCS
6
I
SPI active low chip select input
SPI_SCK
7
I
SPI clock input
SPI_MOSI
8
I
SPI master out slave input
SPI_MISO
9
O
SPI master in slave output, high impedance, when
SPI_nSCS = ’1’
UART_RXD
10
I
UART receive data RxD for in-system-user communication channel
UART_TXD
11
O
UART transmit data TXD for in-system-user secondary communication channel
PWM_I
58
I
PWM input
DIR
56
I
direction input of step-direction interface
STP
57
I
step pulse input for step-direction interface
HALL_UX
38
I
digital hall input H1 for 3-phase (U) or 2-phase (X)
HALL_V
37
I
digital hall input H2 for 3-phase (V)
HALL_WY
36
I
digital hall input H3 for 3-phase (W) or 2-phase (Y)
ENC_A
35
I
A input of incremental encoder
ENC_B
34
I
B input of incremental encoder
ENC_N
33
I
N input of incremental encoder
ENC2_A
64
I
A input of incremental encoder
ENC2_B
65
I
B input of incremental encoder
ENC2_N
66
I
N input of incremental encoder
REF_L
67
I
Left (L) reference switch
REF_H
68
I
Home (H) reference switch
REF_R
69
I
Right (R) reference switch
ADC_I0_POS
16
AI
pos. input for phase current signal measurement
I0 (I_U, I_X)
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140 / 158
Name
Pin
IO
Description
ADC_I0_NEG
17
AI
neg. input for phase current signal measurement
I0 (I_U, I_X)
ADC_I1_POS
18
AI
pos. input for phase current signal measurement
I1 (I_V, I_W, I_Y)
ADC_I1_NEG
19
AI
neg. input for phase current signal measurement
I1 (I_V, I_W, I_Y)
ADC_VM
20
AI
analog input for motor supply voltage divider (VM)
measurement
AGPI_A
21
AI
analog general purpose input A (analog GPI)
AGPI_B
22
AI
analog general purpose input B (analog GPI)
AENC_UX_POS
25
AI
pos. analog input for Hall or analog encoder signal,
3-phase (U) or 2-phase (X (cos))
AENC_UX_NEG
26
AI
neg. analog input for Hall or analog encoder signal,
3-phase (U) or 2-phase (X (cos))
AENC_VN_POS
27
AI
pos. analog input for Hall or analog encoder signal,
3-phase (V) or 2-phase (N)
AENC_VN_NEG
28
AI
neg. analog input for Hall or analog encoder signal,
3-phase (V) or 2-phase (N)
AENC_WY_POS
29
AI
pos. analog input for Hall or analog encoder signal,
3-phase (W) or 2-phase (Y (sin))
AENC_WY_NEG
30
AI
neg. analog input for Hall or analog encoder signal,
3-phase (W) or 2-phase (Y (sin))
GPIO0 / ADC_I0_MCD
70
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
ADC_I_0
GPIO1 / ADC_I1_MCD
71
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
ADC_I_1
GPIO2 / ADC_VM_MCD
74
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
ADC_VM_MCD
GPIO3 / AGPI_A_MCD / DBGSPI_nSCS
75
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
AENC_UX_MCD, SPI debug port pin DBGSPI_nSCS
GPIO4 / AGPI_B_MCD / DBGSPI_SCK
76
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
AENC_VN_MCD, SPI debug port pin DBGSPI_SCK
GPIO5 / AENC_UX_MCD / DBGSPI_MOSI
1
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
AENC_WY_MCD, SPI debug port pin DBGSPI_MOSI
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Name
141 / 158
Pin
IO
Description
GPIO6 / AENC_VN_MCD / DBGSPI_MISO
4
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
AGPI_A_MCD, SPI debug port pin DBGSPI_MISO
GPIO7 / AENC_WY_MCD / DBGSPI_TRG
5
IO
GPIO or ∆Σ-Demodulator clock input MCLKI, clock
output MCLKO, or single bit DAC output MDAC for
AGPI_B_MCD, SPI debug port pin DBGSPI_TRG
PWM_IDLE_H
59
I
idle level of high side gate control signals
PWM_IDLE_L
60
I
idle level of low side gate control signals
PWM_UX1_H
39
O
high side gate control output U (3-phase) resp. X1
(2-phase)
PWM_UX1_L
40
O
low side gate control output U (3-phase) resp. X1
(2-phase)
PWM_VX2_H
41
O
high side gate control output V (3-phase) resp. X2
(2-phase)
PWM_VX2_L
42
O
low side gate control output V (3-phase) resp. X2
(2-phase)
PWM_WY1_H
46
O
high side gate control output W (3-phase) resp. Y1
(2-phase)
PWM_WY1_L
47
O
low side gate control output W (3-phase) resp. Y1
(2-phase)
PWM_Y2_H
48
O
high side gate control output Y2 (2-phase only)
PWM_Y2_L
49
O
low side gate control output Y2 (2-phase only)
BRAKE
31
O
brake chopper control output signal
Table 21: Functional Pin Description
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
Name
Pin
IO
VCCIO1
2
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
VCCIO2
13
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
VCCIO3
43
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
VCCIO4
52
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
VCCIO5
61
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
VCCIO6
72
3.3V
digital IO supply voltage; use 100 nF decoupling capacitor
GNDIO1
3
0V
digital IO ground
GNDIO2
14
0V
digital IO ground
GNDIO3
44
0V
digital IO ground
GNDIO4
53
0V
digital IO ground
GNDIO5
62
0V
digital IO ground
GNDIO6
73
0V
digital IO ground
VCCCORE1
15
1.8V
digital core supply voltage output; use 100 nF decoupling capacitor
VCCCORE2
45
1.8V
digital core supply voltage output; use 100 nF decoupling capacitor
VCCCORE3
63
1.8V
digital core supply voltage output; use 100 nF decoupling capacitor
V5
23
5V
analog reference voltage
GNDA
24
0V
analog reference ground
–
0V
bottom ground pad
GNDPAD
Description
Table 22: Supply Voltage Pins and Ground Pins
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9
Electrical Characteristics
9.1
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
Symbol
Digital I/O supply voltage
Min
Max
Unit
VCCIO
3.6
V
Logic input voltage
VI
3.6
V
Maximum current drawn on VCCIO with no load on pins
I_IO
70
mA
Maximum current drawn on VCCIO with no load on pins and
clock off
I_IO_0Hz
3
mA
Maximum current drawn on V5 at fCLK = 25MHz
I_V5
25
mA
Maximum current to / from digital pins and analog low voltage
I/Os
IIO
10
mA
Junction temperature
TJ
-40
125
°C
Storage temperature
TSTG
-55
150
°C
ESD-Protection for interface pins (Human body model, HBM)
VESDAP
2
kV
ESD-Protection for handling (Human body model, HBM)
VESD1
2
kV
ADC input voltage
VAI
5
V
0
Table 23: Absolute Maximum Ratings
VCCCORE is generated internally from VCCIO and shall not be overpowered by external supply.
9.2
Electrical Characteristics
9.2.1
Operational Range
Parameter
Symbol
Min
Max
Unit
Junction temperature
TJ
-40
125
°C
Digital I/O 3.3V supply voltage
VIO3V
3.15
3.45
V
Core supply voltage
VCC_CORE
1.65
1.95
V
Table 24: Operational Range
The ∆Σ ADCs can operate in differential or single ended mode. In differential mode the differential input
voltage range must be in between -2.5V and +2.5V. However, it is recommended to use the input voltage
range from -1.25V to 1.25V, due to non-linearity of ∆Σ ADCs. In Single ended mode the operational input
range of the positive input channel should be between 0V and 2.5V. Recommended maximum input
voltage is 1.25V. ADCs have
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9.2.2
DC Characteristics
DC characteristics contain the spread of values guaranteed within the specified supply voltage range
unless otherwise specified. Typical values represent the average value of all parts measured at +25 °C.
Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max
range within the full temperature range.
Parameter
Symbol
Condition
Min
Input voltage low level
VINL
VCCIO = 3.3V
Input voltage high level
VINH
VCCIO = 3.3V
Input with pull-down
VIN = 3.3V
Input with pull-up
Typ
Max
Unit
-0.3
0.8
V
2.3
3.6
V
5
30
110
µA
VIN = 0V
-110
-30
-5
µA
Input low current
VIN = 0V
-10
10
µA
Input high current
VIN = VCCIO
-10
10
µA
Output voltage low level
VOUTL
VCCIO = 3.3V
0.4
V
Output voltage high level
VOUTH
VCCIO = 3.3V
2.64
V
Output driver strength standard
IOUT_DRV
4
mA
Input impedance of Analog Input
R_ADC
TJ = 25°C
Table 25: DC Characteristics
All I/O lines include Schmitt-Trigger inputs to enhance noise margin.
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85
100
115
kΩ
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10
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Sample Circuits
Please consider electrical characteristics while designing electrical circuitry. Most Sample Circuits in this
chapter were taken from the Evalutation board for the TMC4671 (TMC4671-EVAL).
10.1
Supply Pins
Please provide VCCIO and V5 to the TMC4671. VCC_CORE is internally generated and needs just an external
decoupling capacitor. Place one 100nF decoupling capacitor at every supply pin. Table 26 lists additional
needed decoupling capacitors.
Pin Name
Supply Voltage
Additional Cap.
5V
4.7uF
VCCIO
3.3V
4.7uF & 470nF
VCCCORE
1.8V
none
V5
Table 26: Additional decoupling capacitors for supply voltages
10.2
Clock and Reset Circuitry
The TMC4671 needs an external oscillator for correct operation at 25 MHz. Lower frequency results in
respective scaling of timings. Higher frequency is not supported. The internally generated active low
reset can be externally overwritten. If users want to toggle the reset, a pulse length of at least 500 ns is
recommended. When not used, please apply a 10k Pull up resistor and make sure all supply voltages are
stable.
10.3
Digital Encoder, Hall Sensor Interface and Reference Switches
Digital encoders, Hall sensors and reference switches usually operate on a supply voltage of 5V. As the
TMC4671 is usually operated at a VCCIO Voltage of 3.3V, a protection circuit for the TMC4671 input pin is
needed. In fig. 34 a sample circuit for the ENC_A signal is shown, which can be reused for all encoder and
Hall signals as well as for reference switch signals. Parametrization of the components is given in table 27
for different operations.
Figure 34: Sample Circuit for Interfacing of an Encoder Signal
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Application
RP U
RP D
RLN
CP
5 V Encoder signal
4K7
n.c.
100R
100pF
Table 27: Reference Values for circuitry components
The raw signal (ENC_A_RAW) is divided by a voltage divider and filtered by a lowpass filter. A pull up resistor
is applied for open collector encoder output signals. Diodes protect the input pin (ENC_A) against overand undervoltage. The cutoff-frequency of the lowpass is:
fc =
10.4
1
2 π RP D CP
(39)
Analog Frontend
Analog Encoders are encoding the motor position into sinusoidal signals. These signals need to be
digitalized by the TMC4671 in order to determine the rotor position. The input voltage range depends on
V5 input, which is usually 5V and GNDA (usually 0V). Due to nonlinearity issues of the ADC near input limits,
an ADC input value from 1V to 4V is recommended. For a single ended application, the sample circuit from
fig. 35 can be used. All single ended analog input pins (AGPI_A, AGPI_B and ADC_VM) have their negative
input value tied to GNDA internally, so this sample circuit can also be used for them.
Figure 35: Sample Circuit for Interfacing of a single ended analog signal
If the power stage and the TMC4671 share a common ground, the ADC_VM input signal can be generated
by a voltage divider to scale the voltage down to the needed range.
If the analog encoder has differential output signals, these can be used without signal conditioning (no OP
AMPs), when voltage range matches. Differential analog inputs can be used to digitize differential analog
input signals with high common mode voltage error suppression.
10.5
Phase Current Measurement
The TMC4671 requires two phase currents of a 2 or 3 phase motor to be measured. For a DC Motor only
one current in the phase needs to be measured (see Fig. 37). In the ADC engine mapping of current signals
to motor phases can be changed. Default setting is I0 to be the current running into the motor in phase U
for a 3 phase motor. Respectively the current running into the motor from half-bridge X1 of a 2 phase
motor. Figs. 36 and 37 illustrates the currents to be measured and their positive direction.
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Figure 36: Phase current measurement: Current directions for 2 and 3 phase motors
Figure 37: Phase current measurement: Current direction for DC or Voice Coil Motor
There are two main options for measuring the phase currents as described above. First option is to use
a shunt resistor and a shunt amplifier like the LT1999 or the AD8418A. The other option is to use a real
current sensor, which uses the Hall effect or other magnetic effects to implement an isolated current
measurement. Shunt measurement might be the more cost-effective solution for low voltage applications
up to 100V, while current sensors are more useful at higher voltage levels.
In general the sample circuit in fig. 38 can be used for shunt measurement circuitry. Please consider
design guidelines of shunt amplifier supplier additionally. TRINAMIC also supplies power stage boards
with current shunt measurement circuitry (TMC-UPS10A/70V-EVAL).
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Figure 38: Current Shunt Amplifier Sample Circuit
10.6
Power Stage Interface
The TMC4671 is equipped with a configurable PWM engine for control of various gate drivers. Gate driver
switch signals can be matched to power stage needs. This includes signal polarities, frequency, BBM-times
for low and high side switches, and an enable signal. Please consider gate driver circuitry, when connecting
to the TMC4671.
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Setup Guidelines
For easy setup of the TMC4671 on a given hardware platform like the TMC4671 Evaluation-Kit, the user
should follow these general guidelines in order to safely set up the system for various modes of operation.
Info
These guidelines fit to hardware platforms which are comparable to the TMC4671Evaluation Kit. If system structure differs, configuration has to be adjusted.
Please also make use of the RTMI Adapter and the TMCL IDE to setup the system
as it reduces commissioning time significantly.
Step 0: Setup of SPI communication
As a first step of the configuration of the TMC4671 the SPI communication should be tested by reading
and writing for example to the first registers for identification of the silicon. If communication fails, please
check CLK and nRST signals. For easy software setup the TMC API provided on the TRINAMIC website can
be used.
Step 1: Check connections
Register TMC_INPUTS_RAW can be accessed to see if all connected digital inputs are working correctly e.g.
sensor signals can be checked by turning the motor manually.
Step 2: Setup of PWM and Gatedriver configuration
The user should choose the connected motor and the number of polepairs by setting register MOTOR_TYPE_N_POLE_PAIRS. For a DC motor the number of pole pairs should be set to one. The PWM can
be configured with the corresponding registers PWM_POLARITIES (Gate Driver Polarities), PWM_MAXCNT
(PWM Frequency), PWM_BBM_H_BBM_L (BBM times), and PWM_SV_CHOP (PWM mode). After setting the
register PWM_SV_CHOP to 7 the PWM is on and ready to use.
Please check PWM outputs after turning on the PWM, if you are using a new hardware design.
Step 3: Open Loop Mode
In the Open Loop Mode the motor is turned by applying voltage to the motor. This mode is useful for
test and setup of ADCs and position sensors. It is activated by setting the corresponding registers for
PHI_E_SELECTION, and MODE_MOTION. With UD_EXT the applied voltage can be regulated upwards until
the motor starts to turn. Acceleration and target velocity can be changed by their respective registers.
Step 4: Setup of ADC for current measurement
Please setup the current measurement by choosing your applications ADC configuration. Make sure to
match decimation rate of the Delta Sigma ADCs to your choosen PWM frequency.
When the motor turns in Open Loop Mode the current measurement can be easily calibrated. Please
match offset and gain of phase current signals by setting the corresponding registers. Please also make
sure for a new hardware setup, that current measurements and PWM channels are matched. This can
be done by matching phase voltages and phase currents. Register ADC_I_SELECT can be used to switch
relations.
Step 5: Setup of Feedback Systems
In Open Loop Mode also the feedback systems can be checked for correct operation. Please configure registers related to used position sensor(s) and compare against Open Loop angles. Use encoder initialization
routines to set angle offsets for relative position encoders according to application needs.
Step 6: Setup of FOC Controllers
Please configure your application’s feedback system and configure position and velocity signal switches
accordingly inside the FOC. Configure controller output limits according to you needs.
Setup PI controller parameters for used FOC controllers. Start with the current controller, followed by the
velocity controller, followed by the position controller. Stop configuration at your desired cascade level.
TRINAMIC recommends to set the PI controller parameters by support of the RTMI, as it supports realtime
access to registers and the TMCL IDE offers tools for automated controller tuning. Controller tuning
without realtime access might lead to poor performance.
Please choose afterwards your desired Motion Mode and feed in reference values.
Step 7: Advanced Functions
For performance improvements Biquad filters and feed forward control can be applied.
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12
Package Dimensions
Package: QFN76, 0.4 mm pitch, size 11.5 mm x 6.5 mm,
industrial temperature range 0°C . . . 85°C, RoHS compliant.
Figure 39: QFN76 Package Outline
QFN76 Package Dimensions in mm
Description
Dimension[mm]
min.
typ.
max.
Total Thickness
A
0.80
0.85
0.90
Stand Off
A1
0.00
0.035
0.05
Mold Thickness
A2
—
0.65
—
L/F Thickness
A3
Lead Width
b
Body Width
D
10.5 BSC
Body Length
E
6.5 BSC
Lead Pitch
e
0.4 BSC
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0.203 REF
0.15
0.2
0.25
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
QFN76 Package Dimensions in mm
EP Size
J
8.9
9
9.1
EP Size
K
4.9
5
5.1
Lead Length
L
0.35
0.40
0.45
Lead Length
L1
0.30
0.35
0.40
Package Edge Tolerance
aaa
0.1
Mold Flatness
bbb
0.1
Coplanarity
ccc
0.08
Lead Offset
ddd
0.1
Exposed Pad Offset
eee
0.1
Table 28: Package Outline Dimensions
Figure 40 shows the package from top view. decals for some CAD programs are available on the product’s
website.
Figure 40: Pinout of TMC4671 (Top View)
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Supplemental Directives
13.1
Producer Information
13.2
Copyright
TRINAMIC owns the content of this user manual in its entirety, including but not limited to pictures, logos,
trademarks, and resources. © Copyright 2018 TRINAMIC. All rights reserved. Electronically published by
TRINAMIC, Germany.
Redistributions of source or derived format (for example, Portable Document Format or Hypertext Markup
Language) must retain the above copyright notice, and the complete Datasheet User Manual documentation of this product including associated Application Notes; and a reference to other available
product-related documentation.
13.3
Trademark Designations and Symbols
Trademark designations and symbols used in this documentation indicate that a product or feature is
owned and registered as trademark and/or patent either by TRINAMIC or by other manufacturers, whose
products are used or referred to in combination with TRINAMIC’s products and TRINAMIC’s product documentation.
This Datasheet is a non-commercial publication that seeks to provide concise scientific and technical user
information to the target user. Thus, trademark designations and symbols are only entered in the Short
Spec of this document that introduces the product at a quick glance. The trademark designation /symbol is
also entered when the product or feature name occurs for the first time in the document. All trademarks
and brand names used are property of their respective owners.
13.4
Target User
The documentation provided here, is for programmers and engineers only, who are equipped with the
necessary skills and have been trained to work with this type of product.
The Target User knows how to responsibly make use of this product without causing harm to himself or
others, and without causing damage to systems or devices, in which the user incorporates the product.
13.5
Disclaimer: Life Support Systems
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 document 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.
13.6
Disclaimer: Intended Use
The data specified in this user manual is intended solely for the purpose of product description. No representations or warranties, either express or implied, of merchantability, fitness for a particular purpose
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or of any other nature are made hereunder with respect to information/specification or the products to
which information refers and no guarantee with respect to compliance to the intended use is given.
In particular, this also applies to the stated possible applications or areas of applications of the product.
TRINAMIC products are not designed for and must not be used in connection with any applications where
the failure of such products would reasonably be expected to result in significant personal injury or death
(safety-Critical Applications) without TRINAMIC’s specific written consent.
TRINAMIC products are not designed nor intended for use in military or aerospace applications or environments or in automotive applications unless specifically designated for such use by TRINAMIC. TRINAMIC
conveys no patent, copyright, mask work right or other trade mark right to this product. TRINAMIC assumes
no liability for any patent and/or other trade mark rights of a third party resulting from processing or
handling of the product and/or any other use of the product.
13.7
Collateral Documents & Tools
This product documentation is related and/or associated with additional tool kits, firmware and other
items, as provided on the product page at: www.trinamic.com.
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Errata
The Errata of the TMC4671-ES are listed here and in the particular descriptions they apply to.
1. SPI Slave Interface
The SPI Slave Interface in the TMC4671-ES shows following error. During transaction of MSB of read
data might get corrupted. This shows in two different ways. First one is a 40 ns pulse (positive or
negative) on MISO at the beginning of transfer of that particular bit. This pulse can corrupt the MSB
of read data and this error can be avoided when SPI clock frequency is set to 1 MHz. Second error
also corrupts MSB of read data when MSB of regsiter is unstable. For example current measurement
noise around zero. In this case MSB should be ignored when possible. Please also make sure that e.g.
actual torque value can be read from register PID_TORQUE_FLUX_ACTUAL or from INTERIM_DATA
register, where it is showing up in the lower 16 bits. These errors will be fixed in next IC version. SPI
write access is not affected and can be performed at 8 MHz clock frequency.
2. Realtime Monitoring Interface
The TRINAMIC Realtime Monitoring Interface can not be used with galvanic isolation as timing of SPI
communication is too strict. This will be fixed in future version so galvanic isolation of SPI signals will
be possible with defined latency of isolators.
3. PI Controllers
The P Factor in the advanced position controller is not properly scaled. Due to the high gain in Velocity
control loop, the position controller gain should be respectively low. The P Factor normalization of
Q8.8 does not match these needs. This will be changed in a future version of the chip to a different Q
Format. This change will cause changes in user’s application controller software. We recommend to
use the classical PI control structure if performance is not sufficient.
The integrator in the advanced PI controller is not reset when P or I parameters are set to zero. As a
workaround controller can be disabled by switching to stopped mode or to a lower cascade level and
thereby the integrator is reset. This behaviour will be changed in the next IC version.
4. Inbuilt ADCs
The inbuilt Delta Sigma ADCs show an error, where both groups are disturbing each other. When
one group is deactivated, everything is fine, but with both groups being active ADC Data might
be corrupted. This error occurs if clock signals of both groups are not in phase. Clock phase can
be changed by toggling the dsADC_MCLK_B to a non-round figure like 0x30000001 and back to
0x20000000. This toggling has to be repeated until measurement is clean.
If the second ADC Group is not needed, it can be shut down by setting dsADC_MCLK_B to 0.
The distortion can be detected by monitoring measurement at reference voltage. Use register
DS_ANALOG_INPUT_STAGE_CFG to switch on the reference voltage for monitoring.
5. Pins PWM_IDLE_H and PWM_IDLE_L without function
Pins PWM_IDLE_H and PWM_IDLE_L are intended to determine Power on Reset Gate Driver Polarity.
This feature is not working properly as the gate driver polarity always powers up to Low Side Polarity
to be Active Low and High Side Polarity to be active high. This will be corrected in the next version of
the chip.
6. Space Vector PWM does not allow higher voltage utilization
The Space vector PWM does not allow higher voltage utilization. This will be fixed in next version of
the chip.
7. Step Direction Counter not used as Target Position
The step direction interface correctly counts up and down the target position, but the step direction
counter position is not used as the target position for positioning as intended. The TMC4671-ES
always uses the target position written via SPI, RTMI, or UART into the register bank as the target
position for positioning. As a work around for evaluation of step direction target position control,
the user can read out the target position periodically and write it back to the register bank as the
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target position. But step loss can occur in this configuration as the step direction counter is also
overwritten. This will be fixed in next version of the chip.
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1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
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Figures Index
FOC Basic Principle . . . . . . . . . . .
PID Architectures and Motion Modes
Compass Motor w/ 3 Phases . . . . .
Compass Motor w/ 3 Phases . . . . .
Hardware FOC Application Diagram .
Hardware FOC Block Diagram . . . . .
SPIdatagramStructure . . . . . . . . .
SPI Timing . . . . . . . . . . . . . . . .
Connector for Real-Time Monitoring
Interface (Connector Type: Hirose
DF20F-10DP-1V) . . . . . . . . . . . . .
UartDatagramSingleRead . . . . . . .
UartDatagramSingleWrite . . . . . . .
nPolePairsNumberOfPolePairs . . . .
Integer Representation of Angles as 16
bit signed (s16) resp. 16 bit unsigned
(u16) . . . . . . . . . . . . . . . . . . . .
Delta Sigma ADC Configurations
dsADC_CONFIG (ANALOG (internal),
MCLKO, MCLKI, MDAC) . . . . . . . . .
∆Σ ADC Configurations - MDAC
(Comparator-R-C-R as ∆Σ-Modulator)
ADC Selector and Scaler with Offset
Correction . . . . . . . . . . . . . . . .
ABN Incremental Encoder N Pulse anywhere between 0° and 360° . . . . . .
Encoder ABN Timing . . . . . . . . . .
Hall Sensor Angles . . . . . . . . . . .
8
9
13
13
14
14
15
16
17
18
18
22
20
21
22
23
24
25
26
27
28
29
30
31
32
33
22
34
25
35
29
36
34
37
36
37
38
38
39
40
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nPolePairsNumberOfPolePairs . . . .
Encoder Initialization by minimal
Movement . . . . . . . . . . . . . . . .
Flux Ramping . . . . . . . . . . . . . .
Advanced PI Controller Structure . . .
PI Architectures and Motion Modes .
Inner FOC Control Loop . . . . . . . .
FOC Transformations . . . . . . . . . .
Motion Modes . . . . . . . . . . . . . .
Biquad Filters in Control Structure . .
DT1 Element Structure . . . . . . . . .
BBM Timing . . . . . . . . . . . . . . .
TMC4671 Pinout with 3 phase Power
stage and BLDC Motor . . . . . . . . .
TMC4671 Pinout with Stepper Motor
TMC4671 Pinout with DC Motor or
Voice Coil . . . . . . . . . . . . . . . . .
Sample Circuit for Interfacing of an Encoder Signal . . . . . . . . . . . . . . .
Sample Circuit for Interfacing of a single ended analog signal . . . . . . . .
Phase current measurement: Current
directions for 2 and 3 phase motors .
Phase current measurement: Current
direction for DC or Voice Coil Motor .
Current Shunt Amplifier Sample Circuit
QFN76 Package Outline . . . . . . . .
Pinout of TMC4671 (Top View) . . . .
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41
41
43
45
46
47
47
50
51
53
137
137
138
145
146
147
147
148
150
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
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2
3
4
5
6
7
8
9
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11
12
13
14
15
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Tables Index
Order codes . . . . . . . . . . . . . . .
TABspiTimingParameter . . . . . . . .
Single Pin Interface Motion Modes . .
Numerical Representations . . . . . .
Examples of u16, s16, q8.8, q4.12 . .
Examples of u16, s16, q8.8 . . . . . .
∆Σ ADC Configurations . . . . . . . .
∆Σ ADC Configurations . . . . . . . .
Delta Sigma MCLK Configurations . .
Recommended Decimation Parameter MDEC . . . . . . . . . . . . . . . . .
∆Σ ADC Configurations . . . . . . . .
Delta Sigma input voltage mapping of
external comparator (CMP) . . . . . .
Delta Sigma R-C-R-CMP Configurations
Delta Sigma input voltage mapping of
external comparator (CMP) . . . . . .
Example Parameters for ADC_GAIN .
5
16
19
20
21
23
25
26
26
27
28
28
30
31
32
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
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17
18
19
20
21
22
23
24
25
26
27
28
29
30
Motion Modes . . . . . . . . . . . . . .
TABSTatusFlags . . . . . . . . . . . . .
TMC4671 Registers . . . . . . . . . . .
Register Map for TMC4671 . . . . . .
Pin Type Definition . . . . . . . . . . .
Functional Pin Description . . . . . . .
Supply Voltage Pins and Ground Pins
Absolute Maximum Ratings . . . . . .
Operational Range . . . . . . . . . . .
DC Characteristics . . . . . . . . . . . .
Additional decoupling capacitors for
supply voltages . . . . . . . . . . . . .
Reference Values for circuitry components . . . . . . . . . . . . . . . . . . .
Package Outline Dimensions . . . . .
IC Revision . . . . . . . . . . . . . . . .
Document Revision . . . . . . . . . . .
48
55
59
136
138
141
142
143
143
144
145
146
151
158
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.03 • 2018-Sept-06
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Revision History
17.1
IC Revision
Version
Date
Author
Description
V1.00
2017-JUL-03
LL, OM
Engineering samples TMC4671-ES (1v00 2017-07-03-19:43)
Table 29: IC Revision
17.2
Document Revision
Version
Date
Author
Description
V0.9
2017-SEP-29
LL, OM
Pre-liminary TMC4671-ES datasheet.
V0.91
2018-JAN-30
OM
Changed some typos and added some notes.
V0.92
2018-FEB-28
OM
Changed register descriptions.
V0.93
2018-MAR-07
OM
Changed some typos and bugs in graphics.
V0.94
2018-MAR-14
OM
Added Errata Section.
V0.95
2018-MAY-08
OM
Preparations for launch.
V1.00
2018-JUN-28
LL
Errata Section updated concerning Step/Dir.
V1.01
2018-JUL-19
OM
Added Description for Status Flags
V1.02
2018-JUL-31
OM
Added Description for Feed Forward Control Structure
V1.03
2018-SEP-06
OM
Description of single pin interface and motion modes added
Table 30: Document Revision
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
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