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power driver for stepper motors integrated circuits trinamic motion control gmbh & co. kg hamburg, germany tmc26 0 & tmc261 data sheet b lock d iagram f eatures and b enefits drive capability u p to 2 a motor current highest voltage up to 60v dc (tmc261) or 40v dc ( TMC260 ) highest resolution up to 256 microsteps per full step compact size 10x10mm qfp - 44 package low power dissipation , low rdson & synchronous rectification emi - optimized programmable slope protection & diagnostics overcurrent, short to gnd, overtemperature & undervoltage stallguard2? high precision sensorless motor load detection coolstep? load dependent current control for energy savings up to 75% microplyer? microstep interpolation for increased smoothness with coarse step inputs. spreadcycle? high - precision chopper for best current sine wave form and zero crossing a pplications textile, sewing machines factory automation lab automation liquid handling medical office automation printer and scanner cctv, security atm, cash recycler pos pumps and valves heliostat controller cnc machines d escription the tmc 260 and tmc261 drivers for two - phase stepper motors offer an industry - leading feature set, including high - resolution microstepping, sensorless mechanical load measurement, load - adaptive power optimization, and low - resonance chopper operation. standard spi ? and step/dir interfaces simplify communication . integrated power mosfets handle motor currents up to 2 a per coil. integrated protection and diagnostic features support robust and reliable ope ration. high integration, high energy efficiency and small form factor enable miniaturized designs with low external component count for cost - effective and highly competitive solutions. universal, cost - effective stepper driver s for two - phase bipolar motors with state - of - the - art feature s . integrated mosfets for up to 2 a motor currents per coil . with step/dir interface and spi. h a l f b r i d g e 2 h a l f b r i d g e 1 h a l f b r i d g e 1 h a l f b r i d g e 2 + v m v s a / b 2 x c u r r e n t c o m p a r a t o r n s t m c 2 6 0 / t m c 2 6 1 r s a / b p r o t e c t i o n & d i a g n o s t i c s s i n e t a b l e 4 * 2 5 6 e n t r y s t e p d i r 2 x d a c s p i c o n t r o l , c o n f i g & d i a g s c s n s c k s d o s d i s t a l l g u a r d 2 ? c o o l s t e p ? x s t e p m u l t i p l i e r s g _ t s t o a 1 o a 2 b r a / b r s e n s e r s e n s e o b 1 o b 2 c h o p p e r v c c _ i o 2 p h a s e s t e p p e r
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 2 www.trinamic.com layout for evaluation application examples: small size C best performance the TMC260 and the tmc261 score with power density , integrated power mosfets, and a versatility that covers a wide spectrum of applications and motor sizes, all while keeping costs down. extensive support at the chip s , board, and software levels enables rapid design cycles and fast time - to - market with competitive products. high ene rgy efficiency from trinamics coolstep technology delivers further cost savings in related systems such as power supplies and cooling. layout for up to six stepper motors o rder c odes order code description size TMC260 - p a coolstep? driver with internal mosfets, up to 40v dc, qfp - 44 with 12x12 pins 10 x 10 mm 2 tmc261 - pa coolstep? driver with internal mosfets, up to 60v dc, qfp - 44 with 12x12 pins 10 x 10 mm 2 tmc429+26x - eval chipset evaluation board for tmc429, TMC260, tmc261, tmc262, and tmc424. 1 6 x 10 cm 2 tmcm - 6110 for up to 6 stepper m otors the tmcm - 6110 is a compact stepper motor controller / driver standalone board. it supports up to 6 bipolar stepper motors with up to 1.1a rms coil current. the TMC260 has been tested successfully for 2a peak (1,4a rms) on this module. the tmcm - 6110 features an embedded microcontroller with usb , can and rs 485 interfaces for communica tion. a ll cooling requirements are satisfied by passive convection cooling. tmc429+tmc26 x eval e valuation & development platform this evaluation board is a development platform for applications based on the TMC260 , tmc261, and tmc262 . s upply voltages are 8 40v dc (TMC260) and 8 60v dc (tmc 261 and tmc262) . the board features an embedded microcontroller with usb and rs232 interfaces for communication. the control software provides a user - friendly gui for setting control parameters and visualizing the dynamic response s of the motor s . motor movement s can be controlled through the step/ direction interface using inputs from an external source or signals gener ated by the tmc429 motion controller acting as a step generator.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 3 www.trinamic.com t able of c ontents 1 principles of operat ion ............... 4 1.1 k ey c oncepts ................................ ............... 4 1.2 c ontrol i nte rfaces ................................ .... 5 1.3 m echanical l oad s ensing ......................... 5 1.4 c urrent c ontrol ................................ ........ 5 2 pin assignments ................................ . 6 2.1 p ackage o utline ................................ ......... 6 2.2 s ignal d escriptions ................................ .. 6 3 internal architecture .................... 8 4 stallguard2 load mea surement 9 4.1 t uning the stall g uard 2 t hreshold ...... 10 4.2 stall g uard 2 m easurement f requency and f iltering ................................ ............ 11 4.3 d etecting a m otor s tall ........................ 11 4.4 l imits of stall g uard 2 o peration ......... 11 5 coolstep load - adaptive current control 12 5.1 t uning cool s tep ................................ ....... 14 6 spi interf ace ................................ ...... 15 6.1 b us s ignals ................................ ............... 15 6.2 b us t iming ................................ ................ 15 6.3 b us a rchitectu re ................................ ..... 16 6.4 r egister w rite c ommands ...................... 17 6.5 d river c ontrol r egister (drvctrl) .... 18 6.6 c hopper c ontrol r egister (chopconf) 20 6.7 cool s tep c ontrol r egister (smarten) 21 6.8 stall g uard 2 c ontrol r egister (sgcsconf) ................................ ............. 22 6.9 d river c ontrol r egister (drvconf) ... 23 6.10 r ead r esponse ................................ .......... 24 6.11 d evice i nitialization ............................... 25 7 step/dir interface ........................... 26 7.1 t iming ................................ ........................ 26 7.2 m icrostep t able ................................ ....... 27 7.3 c hanging r esolution .............................. 28 7.4 micro p lyer s tep i nterpolator ............... 28 7.5 s tandstill current re duction ................ 29 8 current setting ................................ 30 8.1 s ense r esistors ................................ ........ 31 9 chopper operation ......................... 32 9.1 spread c ycle m ode ................................ .... 33 9.2 c onstant o ff - t ime m ode ........................ 35 10 power mosfet stage ...................... 37 10.1 b reak - b efore - m ake l ogic ........................ 37 10.2 enn i nput ................................ ................. 37 11 diagnostics and prot ection ... 38 11.1 s hort to gnd d etection ........................ 38 11.2 o pen - l oad d etection .............................. 39 11.3 o vertemperature d etection ................... 39 11.4 u ndervoltage d etection ......................... 40 12 power supply sequenc ing .......... 41 13 system clock ................................ ...... 42 13.1 f requency s election ................................ 42 15 layout consideration s ............... 43 15.1 s ense r esistors ................................ ........ 43 15.2 p ower mosfet o utputs ......................... 43 15.3 p ower f iltering ................................ ....... 43 15.4 l ayout e xample ................................ ........ 44 16 absolute maximum rat ings ....... 45 17 electrical character istics ....... 46 17 .1 o perational r ange ................................ .. 46 17.2 dc and ac s pecifications ...................... 46 17.3 t hermal c haracteristics ........................ 49 18 package mechanical d ata .......... 50 18.1 d imensional d rawings ........................... 50 18.2 p ackage c ode ................................ ........... 50 19 disclaimer ................................ ........... 51 20 esd sensitive device ...................... 51 21 table of figures ............................... 52 22 revision history ............................. 53 23 references ................................ ............ 53
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 4 www.trinamic.com 1 principles of operation figure 1 . 1 applications block diagram the TMC260 and the tmc261 motor driver chips with included mosfets are intelligence and power between a motion controller and the two phase stepper motor as shown in figure 1 . 1 . following power - up, an embedded microcontroller initializes the driver by sending commands over an spi bus to write control parameters and mode bits in the t mc260/tmc261 . the microcontro ller may implement the motion - control function as shown in the upper part of the figure, or it may send commands to a dedicated motion controller chip such as trinamics tmc429 as shown in the lower part. the motion controller can control the motor positi on by sending pulses on the step signal while indicating the directi on on the dir signal. the TMC260/tmc261 has a microstep counter and sine table to convert these signals into the coil currents which control the position of the motor. if the microcontroll er implements the motion - control function, it can write values for the coil currents directly to the TMC260/261 over the spi interface, in which case the step/dir interface may be disabled. this mode of operation requires software to track the motor positi on and reference a sine table to calculate the coil currents. to optimize power consumption and heat dissipation, software may also adjust coolstep and stallguard2 parameters in real - time, for example to implement different tradeoffs between speed and pow er consumption in different modes of operation. the motion control function is a hard real - time task which may be a burden to implement reliably alongside other tasks on the embedded microcontroller. by offloading the motion - control function to the tmc429, up to three motors can be operated reliably with very little demand for service from the microcontroller. software only needs to send target positions, and the tmc429 generates precisely timed step pulses. software retains full control over bo th th e TMC260/tmc261 and tmc429 through the spi bus. 1.1 key concepts the TMC260 and tmc261 motor drivers implement several advanced features which are exclusive to trinamic products. these features contribute toward greater precision, greater energy efficiency, h igher reliability, smoother motion, and cooler operation in many stepper motor applications. stallguard2 ? h igh - precision load measurement using the back emf on the coils coolstep ? l oad - adaptive current control which reduces energy consumption by as much as 75% spreadcycle ? h igh - precision chopper algorithm available as an alternative to the traditional constant off - time algorit hm microplyer ? m icrostep interpolator for obtaining increased smoothness of microstepping over a step/dir interface c s p i s / d h i g h - l e v e l i n t e r f a c e n s 0 a + 0 a - 0 b + t m c 2 6 0 t m c 2 6 1 0 b - c s p i s p i s / d t m c 4 2 9 m o t i o n c o n t r o l l e r f o r u p t o 3 m o t o r s h i g h - l e v e l i n t e r f a c e n s 0 a + 0 a - 0 b + t m c 2 6 0 t m c 2 6 1 0 b -
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 5 www.trinamic.com in addition to these performance enhancements, trinamic motor drivers also offer safeguards to detect and protect against shorted outputs, open - circuit output, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment ma lfunctions. 1.2 control interfaces there are two control interfaces from the motion controller to the motor driver: the spi serial interface and the step/dir interface. the spi interface is used to write control information to the chip and read back status in formation. this interface must be used to initialize parameters and modes necessary to enable driving the motor. this interface may also be used for directly setting the currents flowing through the motor coils, as an alternative to stepping the motor usin g the step and dir signals, so the motor can be controlled through the spi interface alone. the step/dir interface is a traditional motor control interface available for adapting existing designs to use trinamic motor drivers. using only the spi interface requires slightly more cpu overhead to look up the sine tables and send out new current values for the coils. 1.2.1 spi interface the spi interface is a bit - serial interface synchronous to a bus clock. for every bit sent from the bus master to the bus slave, a nother bit is sent simultaneously from the slave to the master. communication betw een an spi master and the TMC260 or tmc261 slave always consists of sending one 20 - bit command word and receiving one 20 - bit status word. the spi command rate typically corr esponds to the microstep rate at low velocities. at high velocities, the rate may be limited by cpu bandwidth to 10 - 100 thousand commands per second, so the application may need to change to fullstep resolution. 1.2.2 step/dir interface the step/dir interface i s enabled by default. active edges on the step input can be rising edges or both rising and falling edges, as controlled by another mode bit (dedge). using both edges cuts the toggle rate of the step signal in half, which is useful for communication over s low interfaces such as optically isolated interfaces. on each active edge, the state sampled from the dir input determines whether to step forward or back. each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. during microstepping, a step impu lse with a low state on dir increases the microstep counter and a high decreases the counter by an amount controlled by the microstep resolution. an internal table translates the counter value into the sine and cosine values which control the motor current for microstepping. 1.3 mechanical load sensing the TMC260 and tmc261 provide stallguard2 high - resolution load measurement for determining the mechanical load on the motor by measuring the back emf. in addition to detecting when a motor stalls, this feature c an be used for homing to a mechanical stop without a limit switch or proximity detector. the coolstep power - saving mechanism uses stallguard2 to reduce the motor current to the minimum motor current required to meet the actual load placed on the motor. 1.4 c urrent control current into the motor coils is controlled using a cycle - by - cycle chopper mode. two chopper modes are available: a traditional constant off - time mode and the new spreadcycle mode. spreadcycle mode offers smoother operation and greater power efficiency over a wide range of speed and load.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 6 www.trinamic.com 2 pin assignments 2.1 package outline figure 2 . 1 TMC260/261 pin assignments. 2.2 signal descriptions pin number type function oa1 2, 3 7, 8 o (vs) bridge a1 output. interconnect all of these pins using thick traces capable to carry the motor current and distribute heat into the pcb. oa2 5, 6 10, 11 o (vs) bridge a2 output. interconnect all of these pins using thick traces capable to carry the motor current and distribute heat into the pcb. ob1 26, 27 31, 32 o (vs) bridge b1 output. interconnect all of these pins using thick traces capable to carry the motor current and distribute heat into the pcb. ob2 23, 24 28, 29 o (vs) bridge b2 output. interconnect all of these pins using thick traces capable to carry the motor current and distribute heat into the pcb. vsa vsb 4 30 bridge a/b positive power supply. connect to vs and provide sufficient filtering capacity for chopper current ripple. bra brb 9 25 ai bridge a/b negative power supply via sense resistor in bridge foot point. sra srb 12 22 ai sense resistor inputs for chopper current regulation. 5vout 13 output of the on - chip 5v linear regulator. this voltage is used to supply the low - side mosfets and internal analog circuitry. an external capacitor to gnd close to the pin is required. place the capacitor near pins 13 and 17. a 470nf ceramic capacitor is sufficient. sdo 14 do vio spi serial data output. 1 9 4 1 2 1 7 1 4 1 5 1 6 2 2 1 8 2 1 1 3 1 9 2 0 3 3 2 5 3 0 4 1 4 4 4 3 4 2 3 9 3 6 3 5 4 0 3 8 3 7 3 4 t m c 2 6 0 - p a / t m c 2 6 1 - p a q f p 4 4 - o b 1 o b 1 o b 2 o b 2 b r b v s b d i r g n d t s t _ m o d e s t e p g n d v s v h s v c c _ i o s g _ t s t t s t _ a n a - - o a 1 o a 2 o a 2 o a 1 b r a v s a s r a g n d s d o s d i s c k s r b c s n c l k 5 v o u t e n n - 2 3 5 6 7 8 1 0 1 1 2 4 2 3 2 7 2 6 2 9 2 8 3 2 3 1
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 7 www.trinamic.com pin number type function sdi 15 di vio spi serial data input. (scan test input in test mode.) sck 16 di vio serial clock input of spi interface. (scan test shift enable input in test mode.) gnd 17, 39, 44 digital and analog low power gnd. csn 18 di vio chip select input for the spi interface. (active low.) enn 19 di vio power mosfet enable input. all mosfets are switched off when disabled. (active low.) clk 21 di vio system clock input for all internal operations. tie low to use the on - chip oscillator. a high signal disables the on - chip oscil lator until power down. vhs 35 high - side supply voltage (motor supply voltage - 10v) vs 36 motor supply voltage tst_ana 37 ao vio reserved. do not connect. sg_tst 38 do vio stallguard2 output. signals a motor stall. (active high.) vcc_io 40 input/output supply voltage vio for all digital pins. tie to digital logic supply voltage. operation is allowed in 3.3v and 5v systems. dir 41 di vio direction input. sampled on an active edge of the step input to determine stepping direction. sampling a low increases the microstep counter, while sampling a high decreases the counter. a 60 - ns internal glitch filter rejects short pulses on this input. step 42 di vio step input. active edges can be rising or both rising and falling, as controlled by the ded ge mode bit. a 60 - ns internal glitch filter rejects short pulses on this input. tst_mode 43 di vio test mode input. puts ic into test mode. tie to gnd for normal operation.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 8 www.trinamic.com 3 internal architecture figure 3 . 1 shows the internal architecture of tmc26o and tmc261. figure 3 . 1 TMC260 and tmc261 block diagram p rominent features include : oscillator and clock selector provide the system clock from the on - chip oscillator or an external source . step and direction interface uses a microstep counter and sine table to generate target currents for the coils . spi interface rec eives commands that directly set the coil current values . multiplexer selects either the output of the sine table or the spi interface for controlling the current into the motor coils . multipliers scale down the currents to both coils when the currents a re greater than those required by the load on the motor or as set by the cs current scale parameter . dacs and comparators convert the digital current values to analog signals that are compared with the voltages on the sense resistors. comparator outputs terminate chopper drive phases when target currents are reached . break - before - make and gate drivers ensure non - overlapping pulses, boost pulse voltage, and control pulse slope to the gates of the power mosfets . on - chip voltage regulators provide high - side voltage for p - channel mosfet gate drivers and supply voltage for on - chip analog and digital circuits . + v m + v m v h s 5 v l i n e a r r e g u l a t o r 5 v o u t 4 7 0 n f v s g n d s l o p e h s s l o p e l s s r a d e n a b l e 5 v s u p p l y t m c 2 6 0 / t m c 2 6 1 o s c 1 5 m h z c s n d s c k s d i d d s d o d r s e n s e s p i i n t e r f a c e c h o p p e r l o g i c 1 5 0 m ? f o r 1 . 8 a p e a k ( r e s p . 1 a p e a k ) p r o v i d e s u f f i c i e n t f i l t e r i n g c a p a c i t y n e a r b r i d g e s u p p l y ( e l e c t r o l y t c a p a c i t o r s a n d c e r a m i c c a p a c i t o r s ) s d g s d g m o t o r c o i l a s d g s d g p - g a t e d r i v e r s s h o r t t o g n d d e t e c t o r s n - g a t e d r i v e r s b r e a k b e f o r e m a k e v h s + 5 v 9 d a c v m - 1 0 v l i n e a r r e g u l a t o r 1 0 0 n 1 6 v 1 0 0 n p r o t e c t i o n & d i a g n o s t i c s + v m s l o p e h s s l o p e l s r s e n s e c h o p p e r l o g i c 1 5 0 m ? f o r 1 . 8 a p e a k ( r e s p . 1 a p e a k ) s d g s d g m o t o r c o i l b s d g s d g p - g a t e d r i v e r s s h o r t t o g n d d e t e c t o r s n - g a t e d r i v e r s b r e a k b e f o r e m a k e v h s + 5 v 9 d a c e n a b l e e n a b l e s t e p & d i r e c t i o n i n t e r f a c e s t e p m u l t i p l y 1 6 2 5 6 s i n e w a v e 1 0 2 4 e n t r y m u x s t e p d d i r d t e m p e r a t u r e s e n s o r 1 0 0 c , 1 5 0 c c o o l s t e p e n e r g y e f f i c i e n c y s t a l l g u a r d 2 c l o c k s e l e c t o r c l k d s g _ t s t d i g i t a l c o n t r o l d s h o r t t o g n d b a c k e m f c l k 8 - 2 0 m h z s i n & c o s p h a s e p o l a r i t y p h a s e p o l a r i t y v c c _ i o d d t e s t _ s e 3 . 3 v o r 5 v + v c c 1 0 0 n 9 - 3 9 v / 9 - 5 9 v s t e p & d i r ( o p t i o n a l ) s p i s t a l l g u a r d o u t p u t t e s t _ a n a 1 0 r 1 0 r o p t i o n a l i n p u t p r o t e c t i o n r e s i s t o r s a g a i n s t i n d u c t i v e s p a r k s u p o n m o t o r c a b l e b r e a k v s e n s e 0 . 3 0 v 0 . 1 6 v v r e f o a 1 o a 2 v s a b r a s r b b r b o b 2 o b 1 v s b
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 9 www.trinamic.com 4 stallguard2 load measureme nt stallguard2 provides an accurate measurement of the load on the motor. it can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolstep load - adaptive current reduction. (stallguard2 is a more precise evolution of the earlier stallguard technology.) the stallguard2 measurement value changes linearly over a wide range of load, velocity, and current settings, as shown in figure 4 . 1 . at maximum motor load, the value goes to zero or near to zero. this corresponds to a load angle of 90 between the magnetic field of the coils and magnets in the rotor. this also is the most energy - efficient point of ope ration for the motor. figure 4 . 1 stallguard2 load measurement sg as a function of load two parameters control stallguard2 and one status value is returned . parameter description setting comment sgt 7 - bit signed integer that sets the stallguard2 threshold level for asserting the sg_tst output and sets the optimum measurement range for readout. negative values increase sensitivity, and positive values reduce sensitivity so more torque is required to in dicate a stall. zero is a good starting value. operating at values below - 1 0 is not recommended. 0 indifferent value +1 +63 1 m o t o r l o a d ( % m a x . t o r q u e ) s t a l l g u a r d 2 r e a d i n g 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 1 0 0 s t a r t v a l u e d e p e n d s o n m o t o r a n d o p e r a t i n g c o n d i t i o n s m o t o r s t a l l s a b o v e t h i s p o i n t . l o a d a n g l e e x c e e d s 9 0 a n d a v a i l a b l e t o r q u e s i n k s . s t a l l g u a r d v a l u e r e a c h e s z e r o a n d i n d i c a t e s d a n g e r o f s t a l l . t h i s p o i n t i s s e t b y s t a l l g u a r d t h r e s h o l d v a l u e s g t .
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 10 www.trinamic.com status word description range comment sg 10 - bit unsigned integer stallguard2 measurement value. a higher value indicates lower mechanical load. a lower value indicates a higher load and therefore a higher load angle. for stall detection, adjust sgt to return an sg value of 0 or slightly higher up on maximum motor load before stall . 0 1023 4.1 tuning the stallguard2 threshold due to the dependency of the stallguard2 value sg from motor - specific characteristics and application - specif ic demands on load and velocity t he easiest way to tune the stallguard2 threshold sgt for a specific motor type and operating conditions is interactive tuning in the actual application. the procedure is: 1. operate the motor at a reasonable velocity for your application and monitor sg. 2. apply slowly increasing mechanical load to the motor. if the motor stalls before sg reaches zero, decrease sgt. if sg reaches zero before the motor stalls, increase sgt. a good sgt starting value is zero. sgt is signed, so it ca n have negative or positive values. 3. the optimum setting is reached when sg is between 0 and 400 at increasing load shortly before the motor stalls, and sg increases by 100 or more without load. sgt in most cases can be tuned to gether with the motion veloci ty in a way that sg goes to zero when the motor stalls and the stall output sg_tst is asserted. this indicates that a step has been lost. the system clock frequency affects sg. an external crystal - stabilized clock should be used for applications that dema nd the highest precision . the power supply voltage also affects sg, so tighter regulation results in more accurate values. sg measurement has a high resolution, and there are a few ways to enhance its accuracy, as described in the following sections. 4.1.1 variable velocity operation across a range of velocities, on - the - fly adjustment of the stallguard2 threshold sgt improves the accuracy of the load measurement sg. this also improves the power reduction provided by coolstep, which is driven by sg. linear in terpolation between two sgt values optimized at different velocities is a simple algorithm for obtaining most of the benefits of on - the - fly sgt adjustment, as shown in figure 4 . 2 . a n optimal sgt curve in black and a two - point interpolated sgt curve in red are shown . figure 4 . 2 linear interpolation for optimizing sgt with changes in velocity. b a c k e m f r e a c h e s s u p p l y v o l t a g e o p t i m u m s g t s e t t i n g m o t o r r p m ( 2 0 0 f s m o t o r ) s t a l l g u a r d 2 r e a d i n g a t n o l o a d 2 4 6 8 1 0 1 2 1 4 1 6 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 1 8 2 0 0 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 4 0 0 4 5 0 5 0 0 5 5 0 6 0 0 l o w e r l i m i t f o r s t a l l d e t e c t i o n 4 r p m s i m p l i f i e d s g t s e t t i n g
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 11 www.trinamic.com 4.1.2 small motors with high torque ripple and resonance motors with a high detent torque show an increased variation of the stallguard2 measurement value sg with varying motor currents, especially at low currents. for these motors, the current dependency might need correction in a similar manner to velocity correction for obtaining the highest accuracy. 4.1.3 temperature dependence of motor coil resistance motors working over a wide temperature range may require temperature correction, because motor coil resistance i ncreases with rising temperature. this can be corrected as a linear reduction of sg at increasing temperature, as motor efficiency is reduced. 4.1.4 accuracy and reproducibility of stallguard2 measurement in a production environment, it may be desirable to use a fixed sgt value within an application for one motor type. most of the unit - to - unit variation in stallguard2 measurements results from manufacturing tolerances in motor construction. the measurement error of stallguard2 C provided that all other parameter s remain stable C can be as low as: 4.2 stallguard2 measurement frequency and filtering the stallguard2 measurement value sg is updated with each full step of the motor. this is enoug h to safely detect a stall, because a stall always means the loss of four full steps. in a practical application, especially when using coolstep, a more precise measurement might be more important than an update for each fullstep because the mechanical loa d never changes instantaneously from one step to the next. for these applications, the sfilt bit enables a filtering function over four load measurements. the filter should always be enabled when high - precision measurement is required. it compensates for v ariations in motor construction, for example due to misalignment of the phase a to phase b magnets. the filter should only be disabled when rapid response to increasing load is required, such as for stall detection at high velocity. 4.3 detecting a motor stal l to safely detect a motor stall, a stall threshold must be determined using a specific sgt setting. therefore, you need to determine the maximum load the motor can drive without stalling and to monitor the sg value at this load, for example some value wit hin the range 0 to 400. the stall threshold should be a value safely within the operating limits, to allow for parameter stray. so, your microcontroller software should set a stall threshold which is slightly higher than the minimum value seen before an ac tual motor stall occurs. the response at an sgt setting at or near 0 gives some idea on the quality of the signal: check the sg value without load and with maximum load. these values should show a difference of at least 100 or a few 100, which shall be lar ge compared to the offset. if you set the sgt value so that a reading of 0 occurs at maximum motor load, an active high stall output signal will be available at sg_tst output. 4.4 limits of stallguard2 operation stallguard2 does not operate reliably at extrem e motor velocities: very low motor velocities (for many motors, less than one revolution per second) generate a low back emf and make the measurement unstable and dependent on environment conditions (temperature, etc.). other conditions will also lead to e xtreme settings of sgt and poor response of the measurement value sg to the motor load. very high motor velocities, in which the full sinusoidal current is not driven into the motor coils also lead to poor response. these velocities are typically characterized by the motor back emf reaching the supply voltage.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 12 www.trinamic.com 5 coolstep load - adaptive current control coolstep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant - load application allows significant en ergy savings because coolstep automatically enables torque reserve when required. reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost in the power supply and cooling components. reducing motor current by hal f results in reducing power by a factor of four. energy efficiency - powe r consumption decreased up to 75 %. motor generates less heat - improved mechanical precision. less cooling infrastructure - for motor and driver. cheaper motor - does the job. figure 5 . 1 energy efficiency example with coolstep figure 5 . 1 shows the efficiency gain of a 42mm stepper motor when using coolstep compared to standard operation with 50% of torque reserve. coolstep is enabled above 60rpm in the example. coolstep is controlled by several parameters, but two are critical for understanding how it works: parameter description range comment semin 4 - bit unsigned integer that sets a lower threshold. if sg goes below this threshold, coolstep increases the current to both coils. the 4 - bit semin value is scaled by 32 to cover the lower half of the range of the 10 - bit sg value. (the name of this parameter is derived from smartenergy, which is an earlier name for coolstep.) 0 15 0 15 0 0 , 1 0 , 2 0 , 3 0 , 4 0 , 5 0 , 6 0 , 7 0 , 8 0 , 9 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 e f f i c i e n c y v e l o c i t y [ r p m ] e f f i c i e n c y w i t h c o o l s t e p e f f i c i e n c y w i t h 5 0 % t o r q u e r e s e r v e
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 13 www.trinamic.com increases the current. when the load decreases and sg rises above (semin + semax + 1) x 32 the current becomes reduced. figure 5 . 2 coolstep adapts motor current to the load. four more parameters control coolstep and one status value is returned: parameter description range comment cs current scale. scales both coil current values as taken from the internal sine wave table or from the spi interface. for high precision motor operation, work with a current scaling factor in the range 16 to 31, because scaling down the current values reduces the effective microstep resolution by making microsteps coarser. this setting also controls the maximum current value set by coolstep?. 0 31 1/32, 2/32, 32/32 0 3 0 3 status word description range comment se 5 - bit unsigned integer reporting the actual current scaling value determined by coolstep. this value is biased by 1 and divided by 32, so the range is 1/32 to 32/32. the value will not be greater than the value of cs or lower than either ? cs or ? cs depending on the setting of seimin. 0 31 1/32, 2/32, 32/32 s t a l l g u a r d 2 r e a d i n g 0 = m a x i m u m l o a d m o t o r c u r r e n t i n c r e m e n t a r e a m o t o r c u r r e n t r e d u c t i o n a r e a s t a l l p o s s i b l e s e m i n s e m a x + s e m i n + 1 t i m e m o t o r c u r r e n t c u r r e n t s e t t i n g c s ( u p p e r l i m i t ) ? o r ? c s ( l o w e r l i m i t ) m e c h a n i c a l l o a d c u r r e n t i n c r e m e n t d u e t o i n c r e a s e d l o a d s l o w c u r r e n t r e d u c t i o n d u e t o r e d u c e d m o t o r l o a d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 14 www.trinamic.com 5.1 tuning coolstep before tuning coolstep, first tune the stallguard2 threshold level sgt, which affects the range of the load measurement value sg. coolstep uses sg to operate the motor near the optimum load angle of +90. the current increment speed is specified in seup, and the current decrement speed is specified in sedn. they can be tuned separately because they are triggered by different events that may need different responses. the encodings for these parameters allow the coil currents to be increased much more quickly than decreased, because crossing the lower threshold is a more serious event that may require a faster response. if the response is too slow, the motor may stall. in contrast, a slow response to crossing the upper threshold does not risk anything more serious than missing an opportunity to save power. coolstep operates between limits controlled by the current scale parameter cs and the se imin bit. 5.1.1 response time for fast response to increasing motor load, use a high current increment step seup. if the motor load changes slowly, a lower current increment step can be used to avoid motor current oscillations. if the filter controlled by sfilt is enabled, the measurement rate and regulation speed are cut by a factor of four. 5.1.2 low velocity and standby operation because stallguard2 is not able to measure the motor load in standstill and at very low rpm, the current at low velocities should be set to an application - specific default value and combined with standstill current reduction settings programmed through the spi interface.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 15 www.trinamic.com 6 spi interface TMC260 and tmc261 require setting configuration parameters and mode bits through the spi interface befor e the motor can be driven. the spi interface also allows reading back status values and bits. 6.1 bus signals the spi bus on the TMC260 and the tmc261 has four signals: sck bus clock input sdi serial data input sdo serial data output csn chip select in put (active low) the slave is enabled for an spi transaction by a low on the chip select input csn. bit transfer is synchronous to the bus clock sck, with the slave latching the data from sdi on the rising edge of sck and driving data to sdo following the falling edge. the most significant bit is sent first. a minimum of 20 sck clock cycles is required for a bus transaction with the tmc26 0 and the tmc261 . if more than 20 clocks are driven, the additional bits shifted into sdi are shifted out on sdo after a 20 - clock delay through an internal shift register. this can be used for daisy chaining multiple chips. csn must be low during the whole bus transaction. when csn goes high, the contents of the internal shift register are latched into the internal contro l register and recognized as a command from the master to the slave. if more than 20 bits are sent, only the last 20 bits received before the rising edge of csn are recognized as the command. 6.2 bus timing spi interface is synchronized to the internal system clock, which limits the spi bus clock sck to half of the system clock frequency. if the system clock is based on the on - chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. all spi inputs as well as the enn i nput are internally filtered to avoid trig gering on pulses shorter than 20 ns. figure 6 . 1 shows the timing parameters of an spi bus transaction, and the table below sp ecifies their values. figure 6 . 1 spi timing c s n s c k s d i s d o t c c t c c t c l t c h b i t 1 9 b i t 1 8 b i t 0 b i t 1 9 b i t 1 8 b i t 0 t d o t z c t d u t d h t c h
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 16 www.trinamic.com spi interface timing ac - characteristics clock period is t clk parameter symbol conditions min typ max unit sck valid before or after change of csn t cc 10 ns csn high time t csh *) min time is for synchronous clk with sck high one t ch before csn high only t clk >2t clk +10 ns sck low time t cl *) min time is for synchronous clk only t clk >t clk +10 ns sck high time t ch *) min time is for synchronous clk only t clk >t clk +10 ns sck frequency using internal clock f sck assumes minimum osc frequency 4 mhz sck frequency using external 16mhz clock f sck assumes synchronous clk 8 mhz sdi setup time before rising edge of sck t du 10 ns sdi hold time after rising edge of sck t dh 10 ns data out valid time after falling sck clock edge t do no capacitive load on sdo t filt +5 ns sdi, sck, and csn filter delay time t filt rising and falling edge 12 20 30 ns 6.3 bus architecture spi slaves can be chained and used with a single chip select line. if slaves are chained, they behave like a long shift register. for example, a chain of two motor drivers requires 40 bits to be sent. the last bits shifted to each register in the chain are loaded into an internal register on the rising edge of the csn input. for example, 24 or 32 bits can be sent to a single motor driver, but it latches just the last 20 bits received before csn goes high. figure 6 . 2 i nterfaces to a tmc429 motion controller chip and a TMC260 or tmc261 motor driver figure 6 . 2 shows the interfaces in a typical application. the spi bus is used by an embedded mcu to initialize the control registers of both a motion controller and one or more motor drivers. step/dir interfaces are used between the motion controller and the motor d rivers. d r i v e r 3 h a l f b r i d g e 2 h a l f b r i d g e 1 h a l f b r i d g e 1 h a l f b r i d g e 2 + v m v s a / b 2 x c u r r e n t c o m p a r a t o r 2 p h a s e s t e p p e r m o t o r n s t m c 2 6 0 / t m c 2 6 1 s t e p p e r d r i v e r i c r s a / b p r o t e c t i o n & d i a g n o s t i c s s i n e t a b l e 4 * 2 5 6 e n t r y s t e p d i r 2 x d a c s p i c o n t r o l , c o n f i g & d i a g s c s n s c k s d o s d i s t a l l g u a r d 2 ? c o o l s t e p ? x s t e p m u l t i p l i e r s g _ t s t o a 1 o a 2 b r a / b r s e n s e r s e n s e o b 1 o b 2 c h o p p e r v c c _ i o t m c 4 2 9 t r i p l e s t e p p e r m o t o r c o n t r o l l e r s p i t o m a s t e r n s c s _ c s c k _ c s d o z _ c s d i _ c c l k 3 x l i n e a r r a m p g e n e r a t o r p o s i t i o n c o m p a r a t o r i n t e r r u p t c o n t r o l l e r n i n t r e f e r e n c e s w i t c h p r o c e s s i n g s t e p & d i r e c t i o n p u l s e g e n e r a t i o n o u t p u t s e l e c t s p i o r s t e p & d i r m i c r o s t e p t a b l e s e r i a l d r i v e r i n t e r f a c e p o s c o m p 3 x r e f _ l , r e f _ r s 1 ( s d o _ s ) d 1 ( s c k _ s ) s 2 ( n s c s _ s ) d 2 ( s d i _ s ) s 3 ( n s c s _ 2 ) d 3 ( n s c s _ 3 ) d r i v e r 2 r e a l t i m e s t e p & d i r i n t e r f a c e u s e r c p u m o t i o n c o m m a n d s p i ( t m ) c o n f i g u r a t i o n a n d d i a g n o s t i c s s p i ( t m ) m e c h a n i c a l f e e d b a c k o r v i r t u a l s t o p s w i t c h r e a l t i m e e v e n t t r i g g e r v i r t u a l s t o p s w i t c h s t e p p e r # 1 t h i r d d r i v e r a n d m o t o r s e c o n d d r i v e r a n d m o t o r s y s t e m i n t e r f a c i n g s y s t e m c o n t r o l m o t i o n c o n t r o l m o t o r d r i v e r
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 17 www.trinamic.com 6.4 register write commands an spi bus transaction to the t mc260 or tmc261 is a write command to one of the five write - only registers that hold configuration parameters and mode bits: register description driver control register (drvctrl) the drvctrl register has different formats for controlling the interface to the motion controller depending on whether or not the step/dir interface is enabled. chopper configuration register (chopconf) the chopconf register holds chopper parameters and mode bits. coolstep configuration register (smarten) the smarten register holds coolstep parameters and a mode bit. (smartenergy is an earlier name for coolstep.) stallguard2 configuration register (sgcsconf) the sgcsconf register holds stallguard2 parameters and a mode bit. driver configuration register (drvconf) the drvconf register holds parameters and mode bits used to control the power mosfets and the protection circuitry. it also holds the sdoff bit which controls the step/dir interface and the rdsel parameter which controls the contents of the response returned in an sp i transaction in the following sections, multibit binary values are prefixed with a % sign, for example %0111. 6.4.1 write command overview the table below shows the formats for the five register write commands. bits 19, 18, and sometimes 17 select the regist er being written, as shown in bold. the drvctrl register has two formats, as selected by the sdoff bit. bits shown as 0 must always be written as 0, and bits shown as 1 must always be written with 1. detailed descriptions of each parameter and mode bit are given in the following sections. register/ bit drvctrl ( sdoff =1) drvctrl ( sdoff =0) chopconf smarten sgcsconf drvconf 19 0 0 1 1 1 1 18 0 0 0 0 1 1 17 pha 0 0 1 0 1 16 ca7 0 tbl1 0 sfilt tst 15 ca6 0 tbl0 seimin 0 slph1 14 ca5 0 chm sedn1 sgt6 slph0 13 ca4 0 rndtf sedn0 sgt5 slpl1 12 ca3 0 hdec1 0 sgt4 slpl0 11 ca2 0 hdec0 semax3 sgt3 0 10 ca1 0 hend3 semax2 sgt2 diss2g 9 ca0 intpol hend2 semax1 sgt1 ts2g1 8 phb dedge hend1 semax0 sgt0 ts2g0 7 cb7 0 hend0 0 0 sdoff 6 cb6 0 hstrt2 seup1 0 vsense 5 cb5 0 hstrt1 seup0 0 rdsel1 4 cb4 0 hstrt0 0 cs4 rdsel0 3 cb3 mres3 toff3 semin3 cs3 0 2 cb2 mres2 toff2 semin2 cs2 0 1 cb1 mres1 toff1 semin1 cs1 0 0 cb0 mres0 toff0 semin0 cs0 0
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 18 www.trinamic.com 6.4.2 read response overview the table below shows the formats for the read response. the rdsel parameter in the drvconf register selects the format of the read response. bit rdsel =%00 rdsel =%01 rdsel =%10 19 mstep9 sg9 sg9 18 mstep8 sg8 sg8 17 mstep7 sg7 sg7 16 mstep6 sg6 sg6 15 mstep5 sg5 sg5 14 mstep4 sg4 se4 13 mstep3 sg3 se3 12 mstep2 sg2 se2 11 mstep1 sg1 se1 10 mstep0 sg0 se0 9 - - - 8 - - - 7 stst 6 olb 5 ola 4 s2gb 3 s2ga 2 otpw 1 ot 0 sg 6.5 driver control register (drvctrl) the format of the drvctrl register depends on the state of the sdoff mode bit. spi mode sdoff bit is set, the step/dir interface is disabled, and drvctrl is the interface for specifying the currents through each coil. step/dir mode sdoff bit is clear, the step/dir interface is enabled, and drvctrl is a configuration register for the step/dir interface. 6.5.1 drvctrl register in spi mode drvctrl driver control in spi mode (sdoff=1) bit name function comment 19 0 register address bit 18 0 register address bit 17 pha polarity a sign of current flow through coil a: 0: current flows from oa1 pins to oa2 pins. 1: current flows from oa2 pins to oa1 pins. 16 ca7 current a msb magnitude of current flow through coil a. the range is 0 to 248, if hysteresis or offset are used up to their full extent. the resulting value after applying hysteresis or offset must not exceed 255. 15 ca6 14 ca5 13 ca4 12 ca3 11 ca2 10 ca1 9 ca0 current a lsb
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 19 www.trinamic.com drvctrl driver control in spi mode (sdoff=1) bit name function comment 8 phb polarity b sign of current flow through coil b: 0: current flows from ob1 pins to ob2 pins. 1: current flows from ob2 pins to ob1 pins. 7 cb7 current b msb magnitude of current flow through coil b. the range is 0 to 248, if hysteresis or offset are used up to their full extent. the resulting value after applying hysteresis or offset must not exceed 255. 6 cb6 5 cb5 4 cb4 3 cb3 2 cb2 1 cb1 0 cb0 current b lsb 6.5.2 drvctrl register in step/dir mode drvctrl driver control in step/dir mode (sdoff=0) bit name function comment 19 0 register address bit 18 0 register address bit 17 0 reserved 16 0 reserved 15 0 reserved 14 0 reserved 13 0 reserved 12 0 reserved 11 0 reserved 10 0 reserved 9 intpol enable step interpolation 0: disable step pulse interpolation. 1: enable step pulse multiplication by 16. 8 dedge enable double edge step pulses 0: rising step pulse edge is active, falling edge is inactive. 1: both rising and falling step pulse edges are active. 7 0 reserved 6 0 reserved 5 0 reserved 4 0 reserved 3 mres3 microstep resolution for step/dir mode microsteps per 90: %0000: 256 %0001: 128 %0010: 64 %0011: 32 %0100: 16 %0101: 8 %0110: 4 %0110: 2 (halfstep) %1000: 1 (fullstep) 2 mres2 1 mres1 0 mres0
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 20 www.trinamic.com 6.6 chopper control register (chopconf) chopconf chopper configuration bit name function comment 19 1 register address bit 18 0 register address bit 17 0 register address bit 16 tbl1 blanking time blanking time interval, in system clock periods: %00: 16 %01: 24 %10: 36 %11: 54 15 tbl0 14 chm chopper mode this mode bit affects the interpretation of the hdec, hend, and hstrt parameters shown below. 0 standard mode (spreadcycle) 1 constant t off with fast decay time. fast decay time is also terminated when the negative nominal current is reached. fast decay is after on time. 13 rndtf random toff time enable randomizing the slow decay phase duration: 0: chopper off time is fixed as set by bits t off 1: random mode, t off is random modulated by dn clk = - 12 +3 clocks. 12 hdec1 hysteresis decrement interval or fast decay mode chm=0 hysteresis decrement period setting, in system clock periods: %00: 16 %01: 32 %10: 48 %11: 64 11 hdec0 chm=1 hdec1=0: current comparator can terminate the fast decay phase before timer expires. hdec1=1: only the timer terminates the fast decay phase. hdec0: msb of fast decay time setting. 10 hend3 hysteresis end (low) value or sine wave offset chm=0 %0000 %1111: hysteresis is - 3, - 2, - 1, 0, 1, , 12 (1/512 of this setting adds to current setting) this is the hysteresis value which becomes used for the hysteresis chopper. 9 hend2 8 hend1 chm=1 %0000 %1111: offset is - 3, - 2, - 1, 0, 1, , 12 this is the sine wave offset and 1/512 of the value becomes added to the absolute value of each sine wave entry. 7 hend0 6 hstrt2 hysteresis start value or fast decay time setting chm=0 hysteresis start offset from hend: %000: 1 %100: 5 %001: 2 %101: 6 %010: 3 %110: 7 %011: 4 %111: 8 effective: hend+hstrt must be 15 5 hstrt1 4 hstrt0 chm=1 three least - significant bits of the duration of the fast decay phase. the msb is hdec0. fast decay time is a multiple of system clock periods: n clk = 32 x ( hdec0+ hstrt )
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 21 www.trinamic.com chopconf chopper configuration bit name function comment 3 toff3 off time/mosfet disable duration of slow decay phase. if toff is 0, the mosfets are shut off. if toff is nonzero, slow decay time is a multiple of system clock periods: n clk = 12 + (32 x toff) (minimum time is 6 4clocks.) %0000: driver disable, all bridges off %0001: 1 (use with tbl of minimum 24 clocks) %0010 %1111: 2 15 6.7 coolstep control register (smarten) smarten coolstep configuration bit name function comment 19 1 register address bit 18 0 register address bit 17 1 register address bit 16 0 reserved 15 seimin minimum coolstep current 0: ? cs current setting 1: ? cs current setting 14 sedn1 current decrement speed number of times that the stallguard2 value must be sampled equal to or above the upper threshold for each decrement of the coil current: %00: 32 %01: 8 %10: 2 %11: 1 13 sedn0 12 0 reserved 11 semax3 upper coolstep threshold as an offset from the lower threshold if the stallguard2 measurement value sg is sampled equal to or above (semin+semax+1) x 32 enough times, then the coil current scaling factor is decremented. 10 semax2 9 semax1 8 semax0 7 0 reserved 6 seup1 current increment size number of current increment steps for each time that the stallguard2 value sg is sampled below the lower threshold: %00: 1 %01: 2 %10: 4 %11: 8 5 seup0 4 0 reserved 3 semin3 lower coolstep threshold/coolstep disable if semin is 0, coolstep is disabled. if semin is nonzero and the stallguard2 value sg falls below semin x 32, the coolstep current scaling factor is increased. 2 semin2 1 semin1 0 semin0
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 22 www.trinamic.com 6.8 stallguard2 control register (sgcsconf) sgcsconf stallguard2? and current setting bit name function comment 19 1 register address bit 18 1 register address bit 17 0 register address bit 16 sfilt stallguard2 filter enable 0: standard mode, fastest response time. 1: filtered mode, updated once for each four fullsteps to compensate for variation in motor construction, highest accuracy. 15 0 reserved 14 sgt6 stallguard2 threshold value the stallguard2 threshold value controls the optimum measurement range for readout. a lower value results in a higher sensitivity and requires less torque to indicate a stall . the value is a twos complement signed integer. values below - 10 are not recommended. range: - 64 to +63 13 sgt5 12 sgt4 11 sgt3 10 sgt2 9 sgt1 8 sgt0 7 0 reserved 6 0 reserved 5 0 reserved 4 cs4 current scale (scales digital currents a and b) current scaling for sp i and step/direction operation. %00000 %11111: 1/32, 2/32, 3/32, 32/32 this value is biased by 1 and divided by 32, so the range is 1/32 to 32/32. example: cs=0 is 1/32 current 3 cs3 2 cs2 1 cs1 0 cs0
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 23 www.trinamic.com 6.9 driver control register (drvconf) drvconf driver configuration bit name function comment 19 1 register address bit 18 1 register address bit 17 1 register address bit 16 tst reserved test mode must be cleared for normal operation. when set, the sg_tst output exposes digital test values, and the test_ana output exposes analog test values. test value selection is controlled by sgt1 and sgt0: test_ana: %00: anatest_2vth, %01: anatest_dac_out, %10: anatest_vdd_half. sg_tst: %00: comp_a, %01: comp_b, %10: clk, %11: on_state_xy 15 slph1 slope control, high side %00: minimum %01: minimum temperature compensation mode. %10: medium temperature compensation mode. %11: maximum in temperature compensated mode (tc) , the mosfet gate driver strength is increased if the overtemperature warning temperature is reached. this compensates for temperature dependency of high - side slope control. 14 slph0 13 slpl1 slope control, low side %00: minimum. %01: minimum. %10: medium. %11: maximum. 12 slpl0 11 0 reserved 10 diss2g short to gnd protection disable 0: short to gnd protection is enabled. 1: short to gnd protection is disabled. 9 ts2g1 short to gnd detection timer %00: 3.2s. %01: 1.6s. %10: 1.2s. %11: 0.8s. 8 ts2g0 7 sdoff step/dir interface disable 0: enable step and dir interface. 1: disable step and dir interface. spi interface is used to move motor. 6 vsense sense resistor voltage - based current scaling 0: full - scale sense resistor voltage is 305mv. 1: full - scale sense resistor voltage is 165mv. (full - scale refers to a current setting of 31 and a dac value of 255.) 5 rdsel1 select value for read out (rd bits) %00 microstep position read back 4 rdsel0 %01 stallguard2 level read back %10 stallguard2 and coolstep current level read back %11 reserved, do not use 3 0 reserved 2 0 reserved 1 0 reserved 0 0 reserved
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 24 www.trinamic.com 6.10 read response for every write command sent to the motor driver, a 20 - bit response is returned to the motion controller. the response has one of three formats, as selected by the rdsel parameter in the drvconf register. the table below shows these formats. softw are must not depend on the value of any bit shown as reserved. drvstatus read response bit name function comment rdsel= % 00 % 01 % 10 19 mstep9 sg9 sg9 microstep counter for coil a or stallguard2 value sg9:0 or stallguard2 value sg9:5 and coolstep value se4:0 microstep position in sine table for coil a in step/dir mode. mstep9 is the polarity bit: 0: current flows from oa1 pins to oa2 pins. 1: current flows from oa2 pins to oa1 pins. 18 mstep8 sg8 sg8 17 mstep7 sg7 sg7 16 mstep6 sg6 sg6 15 mstep5 sg5 sg5 stallguard2 value sg9:0. 14 mstep4 sg4 se4 13 mstep3 sg3 se3 12 mstep2 sg2 se2 stallguard2 value sg9:5 and the actual coolstep scaling value se4:0. 11 mstep1 sg1 se1 10 mstep0 sg0 se0 9 reserved 8 reserved 7 stst standstill indicator 0: no standstill condition detected. 1: no active edge occurred on the step input during the last 2 20 system clock cycles. 6 olb open load indicator 0: no open load condition detected. 1: no chopper event has happened during the last period with constant coil polarity. only a current above 1/16 of the maximum setting can clear this bit! hint: this bit is only a status indicator. the chip takes no other action when this bit is set. false indications may occur during fast motion and at standstill. check this bit only during slow motion. 5 ola 4 s2gb short to gnd detection bits on high - side transistors 0: no short to ground shutdown condition. 1: short to ground shutdown condition. the short counter is incremented by each short circuit and the chopper cycle is suspended. the counter is decremented for each phase polarity change. the mosfets are shut off when the counter reaches 3 and remain shut off until the shutdown condition is cleared by disabling and re - enabling t he driver. the shutdown conditions reset by deasserting the enn input or clearing the toff parameter. 3 s2ga 2 otpw overtemperature warning 0: no overtemperature warning condition. 1: warning threshold is active. 1 ot overtemperature shutdown 0: no overtemperature shutdown condition. 1: overtemperature shutdown has occurred. 0 sg stallguard2 status 0: no motor stall detected . 1: stallguard2 threshold has been reached, and the sg_tst output is driven high.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 25 www.trinamic.com 6.11 device initialization the following sequence of spi commands is an example of enabling the driver and initializing the chopper: spi = $901b4; // hysteresis mode or spi = $94557; // constant t off mode spi = $d001f; // current setting: $d001f (max. current) spi = $e0010; // low driver strength, stallguard2 read, sdoff=0 spi = $00000; // 256 microstep setting first test of coolstep current control: spi = $a8202; // enable coolstep with minimum current ? cs the configuration parameters should be tuned to the motor and application for optimum performance.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 26 www.trinamic.com 7 step/dir interface the step and dir inputs provide a simple, standard interface compatible with many existing motion controllers. the microplyer step pulse interpolator brings the smooth motor operation of high - resolu tion microstepping to applications originall y designed for coarser stepping and reduce s pulse bandwidth. 7.1 timing figure 7 . 1 shows the timing parameters for the step and dir signals, and the table below gives their specifications. when the dedge mode bit in the drvctrl register is set, both edges of step are active. if dedge is clear ed , only rising edges are active. step and dir are sampled and synchronized to the syst em clock. an internal analog filter removes glitches on the signals, such as those caused by long pcb traces. if the signal source is far from the chip, and especially if the signals are carried on cables, the signals should be filtered or differentially t ransmitted. figure 7 . 1 step and dir timing. step and dir interface timing ac - characteristics clock period is t clk parameter symbol conditions min typ max unit step frequency (at maximum microstep resolution) f step dedge=0 ? f clk dedge=1 ? f clk fullstep frequency f fs f clk /512 step input low time t sl max(t filtsd , t clk +20) ns step input high time t sh max(t filtsd , t clk +20) ns dir to step setup time t dsu 20 ns dir after step hold time t dsh 20 ns step and dir spike filtering time t filtsd rising and falling edge 36 60 85 ns step and dir sampling relative to rising clk input t sdclkhi before rising edge of clk t filtsd ns d i r s t e p t d s h t s h t s l t d s u a c t i v e e d g e ( d e d g e = 0 ) a c t i v e e d g e ( d e d g e = 0 )
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 27 www.trinamic.com 7.2 microstep table the internal microstep table maps the sine function from 0 to 90, and symmetries allow mapping the sine and cosine functions from 0 to 360 with this table. the angle is encoded as a 10 - bit un signed integer mstep provided by the microstep counter. the s ize of the increment applied to the counter while microstepping through this table is controlled by the microstep resolution setting mres in the drvctrl register. depending on the dir input, the microstep counter is increased (dir=0) or decreased (dir=1) b y the step size with each step active edge. despite many entries in the last quarter of the table being equal, the electrical angle continuously changes, because either the sine wave or cosine wave is in an area, where the current vector changes monotonica lly from position to position. figure 7 . 2 shows the table. the largest values are 248, which leaves headroom used for adding an offset. entry 0 - 31 32 - 63 64 - 95 96 - 127 128 - 159 160 - 191 192 - 223 224 - 255 0 1 49 96 138 176 207 229 243 1 2 51 97 140 177 207 230 244 2 4 52 98 141 178 208 231 244 3 5 54 100 142 179 209 231 244 4 7 55 101 143 180 210 232 244 5 8 57 103 145 181 211 232 245 6 10 58 104 146 182 212 233 245 7 11 60 105 147 183 212 233 245 8 13 61 107 148 184 213 234 245 9 14 62 108 150 185 214 234 246 10 16 64 109 151 186 215 235 246 11 17 65 111 152 187 215 235 246 12 19 67 112 153 188 216 236 246 13 21 68 114 154 189 217 236 246 14 22 70 115 156 190 218 237 247 15 24 71 116 157 191 218 237 247 16 25 73 118 158 192 219 238 247 17 27 74 119 159 193 220 238 247 18 28 76 120 160 194 220 238 247 19 30 77 122 161 195 221 239 247 20 31 79 123 163 196 222 239 247 21 33 80 124 164 197 223 240 247 22 34 81 126 165 198 223 240 248 23 36 83 127 166 199 224 240 248 24 37 84 128 167 200 225 241 248 25 39 86 129 168 201 225 241 248 26 40 87 131 169 201 226 241 248 27 42 89 132 170 202 226 242 248 28 43 90 133 172 203 227 242 248 29 45 91 135 173 204 228 242 248 30 46 93 136 174 205 228 243 248 31 48 94 137 175 206 229 243 248 figure 7 . 2 internal microstep table showing the first quarter of the sine wave.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 28 www.trinamic.com 7.3 changing resolution the application may need to change the microstepping resolution to get the best performance from the motor. for example, high - resolution microstepping may be used for precision operations on a workpiece, and then fullstepping may be use d for maximum torque at maximum velocity to advance to the next workpiece. when changing to coarse resolutions like fullstepping or halfstepping, switching should occur at or near positions that correspond to steps in the lower resolution, as shown in table 7 . 1 . step position mstep value coil a current coil b current half step 0 0 0% 100% full step 0 128 70.7% 70.7% half step 1 256 100% 0% full step 1 384 70.7% - 70.7% half step 2 512 0% - 100% full step 2 640 - 70.7% - 70.7% half step 3 768 - 100% 0% full step 3 896 - 70.7% 70.7% table 7 . 1 optimum positions for changing to halfstep and fullstep resolution 7.4 microplyer step interpolator for each active edge on step, microplyer produces 16 microsteps at 256x resolution, as shown in figure 7 . 3 . microplyer is enabled by setting the intpol bit in the drvctrl register. it supports input at 16x resolution, which it transforms into 256x resolution. the step rate for each 16 microsteps is determined by measuring the time interval of the previous step period and dividing it in to 16 equal parts. the maximum time between two microsteps corresponds to 2 20 (roughly one million system clock cycles), for an even distribution of 1/ 256 microsteps. at 16mhz system clock frequency, this results in a minimum step input frequency of 16hz f or microplyer operation (one fullstep per second). a lower step rate causes the stst bit to be set, which indicates a standstill event. at that frequency, microsteps occur at a rate of . microplyer only works well with a stable step frequency. do not use the dedge option if the step signal does not have a 50% duty cycle. figure 7 . 3 microplyer microstep interpolation with rising step frequency. s t e p i n t e r p o l a t e d m i c r o s t e p a c t i v e e d g e ( d e d g e = 0 ) a c t i v e e d g e ( d e d g e = 0 ) a c t i v e e d g e ( d e d g e = 0 ) 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 3 2 a c t i v e e d g e ( d e d g e = 0 ) s t a n d s t i l l ( s t s t ) a c t i v e 3 3 3 4 3 5 3 6 3 7 3 8 3 9 4 0 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 5 0 m o t o r a n g l e 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 6 0 6 1 6 2 6 3 6 4 6 5 6 6 5 1 2 ^ 2 0 t c l k
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 29 www.trinamic.com in figure 7 . 3 , the first step cycle is long enough to set the stst bit. this bit is cleared on the ne xt step active edge. then, the step frequency increases and after one cycle at the higher rate microplyer increases the interpolated microstep rate. during the last cycle at the slower rate, microplyer did not generate all 16 microsteps, so there is a smal l jump in motor angle between the first and second cycles at the higher rate. 7.5 standstill current reduction when a standstill event is detected, the motor current should be reduced to save energy and reduce heat dissipation in the power mosfet stage. this is especially true at halfstep positions, which are a worst - case condition for the driver and motor because the full energy is consumed in one bridge and one motor coil.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 30 www.trinamic.com 8 current setting the internal 5v supply voltage available at the pin 5vout is used as a reference for the coil current regulation based on the sense resistor voltage measurement. the desired ma ximum motor current is set by selecting an appropriate value for the sense resistor. the sense resistor voltage range can be selected by the vsense bit in the drvconf register. the low sensitivity (high sense resistor voltage, vsense=0) brings best and mos t robust current regulation, while high sensitivity (low sense resistor voltage; vsense= 1 ) reduces power dissipation in the sense resistor. this setting reduces the power dissipation in the sense resistor by nearly half. after choosing the vsense setting and selecting the sense resistor, the currents to both coils are scaled by the 5 - bit current scale parameter cs in the sgcsconf register. the sense resistor value is chosen so that the maximum desired current (or slightly more) flows at the maximum current setting (cs = %11111). using the interna l sine wave table, which has amplitude of 248, the rms motor current can be calculated by: the momentary motor current is calculated as: where: cs is the effective current scale setting as set by the cs bits and modified by coolstep. the effective value ranges from 0 to 31 . v fs is the sense resistor voltage at full scale, as selected by the vsense control bit ( refer to the electrical characteristics). current a/b is the value set by the current setting in spi mode or the internal sine table in step/dir mode. parameter description setting comment cs current scale . scales both coil current values as taken from the internal sine wave table or from the spi interface. for high precision motor operation, work with a current scaling factor in the range 16 to 31, because scaling down the current values reduces the effective microstep resolution by making microsteps co arser. this setting also controls the maximu m current value set by coolstep . 0 31 1/32, 2/32, 32/32 voltage range or adaptation of one electronic module to different maximum motor currents. 0 310mv 1 165mv
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 31 www.trinamic.com 8.1 sense resistors sense resistors should be carefully selected. the full motor current flows through the sense resistors. they also see the switching spikes from the mosfet bridges. a low - inductance type such as film or composition resistors is required to prevent spikes causing ringing on the sense voltage inputs leading to unstable measurement results. a low - inductance, low - resistance pcb layout is essential. any common gnd path for the two sense resistors must be avoided, because this would lead to coupling between the two current sense signals. a massive ground plane is best. when using high currents or long motor cables, spike damping with parallel capacitors to ground may be needed, as shown in figure 8 . 1 . because the sense resistor inputs are susceptible to damage from negative overvoltages, an additional input protection resistor helps protect against a motor cable break or ringing on long motor cables. figure 8 . 1 sense resistor grounding and protection components the sense resistor needs to be able to conduct the peak motor coil current in motor standstill conditi ons, unless standby power is reduced. under normal conditions, the sense resistor sees a bit less than the coil rms current, because no current flows through the sense resistor during the slow decay phases. the peak sense resistor power dissipation is: for high - current applications, power dissipation is halved by using the lower sense resistor voltage setting and the corresponding lower resistance value. in this case, any voltage drop in the pcb traces has a larger influence on the result. a compact power stage layout with massive ground plane is best to avoid parasitic resistance effects. s r a r s e n s e s r b r s e n s e 1 0 r t o 4 7 r 1 0 r t o 4 7 r o p t i o n a l i n p u t p r o t e c t i o n r e s i s t o r s m o s f e t b r i d g e m o s f e t b r i d g e g n d t m c 2 6 0 t m c 2 6 1 p o w e r s u p p l y g n d n o c o m m o n g n d p a t h n o t v i s i b l e t o t m c 2 6 2 4 7 0 n f 4 7 0 n f o p t i o n a l f i l t e r c a p a c i t o r s
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 32 www.trinamic.com 9 chopper operation the currents through both motor coils are controlled using choppers. the choppers work independentl y of each other. figure 9 . 1 shows the three chopper phases: figure 9 . 1 chopper phases. al though the current could be regulated using only on phases and fast decay phases, insertion of the slow decay phase is important to reduce electrical losses and current ripple in the motor. the duration of the slow decay phase is specified in a control par ameter and sets an upper limit on the chopper frequency. the current comparator can measure coil current during phases when the current flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is terminated by a timer. the on phase is terminated by the comparator when the current through the coil reaches the target current. the fast decay phase may be terminated by either the comparator or another timer. when the coil current is switched, spikes at the sense resistors occur due to charging and discharging parasitic capacitances. during this time, typically one or two microseconds, the current cannot be measured. blanking is the time when the input to the comparator is masked to block these spikes. there are two chopper modes available: a new high - performance chopper algorithm called spreadcycle and a proven constant off - time chopper mode. the constant off - time mode cycles through three phases: on, fast decay, and slow decay. the spreadcycle mode cycles through four phas es: on, slow decay, fast decay, and a second slow decay. three parameters are used for controlling both chopper modes: parameter description setting comment toff off time. this setting controls the duration of the slow decay time and limits the maximum chopper frequency . for most applications an off time within the range of 5s to 20s will fit. if the value is 0, the mosfets are all shut off and the motor can freewheel. if the value is 1 to 15, the number of system clock cycles in the slow decay phase is : 1 r s e n s e i c o i l o n p h a s e : c u r r e n t f l o w s i n d i r e c t i o n o f t a r g e t c u r r e n t r s e n s e i c o i l f a s t d e c a y p h a s e : c u r r e n t f l o w s i n o p p o s i t e d i r e c t i o n o f t a r g e t c u r r e n t r s e n s e i c o i l s l o w d e c a y p h a s e : c u r r e n t r e - c i r c u l a t i o n + v m + v m + v m
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 33 www.trinamic.com parameter description setting comment tbl blanking time. this time needs to cover the switching event and the duration of the ringing on the sense resistor. for most low - current applications, a setting of 16 or 24 is good. for high - current applications, a setting of 36 or 54 may be required. 0 16 system clock cycles 1 24 system clock cycles 2 36 system clock cycles 3 54 system clock cycles chm chopper mode bit 0 spreadcycle mode 1 constant off time mode 9.1 spreadcycle mode the spreadcycle chopper algorithm (pat.fil.) is a precise and simple to use chopper mode which automatically determines the optimum length for the fast - decay phase. several parameters are available to optimize the chopper to the application. each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a second slow dec ay phase (see figure 9 . 2 ). the slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. the hysteresis star t setting limits the chopper frequency by forcing the driver to introduce a minimum amount of current ripple into the motor coils. the motor inductance limits the ability of the chopper to follow a changing motor current. the duration of the on phase and t he fast decay phase must be longer than the blanking time, because the current comparator is disabled during blanking. this requirement is satisfied by choosing a positive value for the hysteresis as can be estimated by the following calculation: where: di coilblank is the coil current change during the blanking time . di coilsd is the coil current change during the slow decay time . t sd is the slow decay time . t blank is the blanking time (as set by tbl) . v m is the motor supply voltage . i coil is the peak motor coil current at the maximum motor current setting cs . r coil and l coil are motor coil inductance and motor coil resistance. with this, a lower limit for the start hysteresis setting can be determined: example: for a 42mm stepper motor with 7.5mh, 4.5 ? phase, and 1a rms current at cs=31 , i.e. 1.41a peak current, at 24v with a blank time of 1.5s: with this, the minimum hysteresis start setting is 5.2. a value in the range 6 to 10 can be u sed.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 34 www.trinamic.com an excel spreadsheet is provided for performing these calculations. as experiments show, the setting is quite independent of the motor, because higher current motors typically also have a lower coil resistance. choosing a medium default value for the hysteresis (for example, effective hstrt+hend=10) normally fits most applications. the setting can be optimized by experimenting with the motor: a too low setting will result in reduced microstep accuracy, while a too high setting will lead to more cho pper noise and motor power dissipation. when measuring the sense resistor voltage in motor standstill at a medium coil current with an oscilloscope, a too low setting shows a fast decay phase not longer than the blanking time. when the fast decay time beco mes slightly longer than the blanking time, the setting is optimum. you can reduce the off - time setting, if this is hard to reach. the hysteresis principle could in some cases lead to the chopper frequency becoming too low, for example when the coil resis tance is high compared to the supply voltage. this is avoided by splitting the hysteresis setting into a start setting (hstrt + hend) and an end setting (hend). an automatic hysteresis decrementer (hdec) interpolates between these settings, by decrementing t he hysteresis value stepwise each 16, 32, 48, or 64 system clock cycles. at the beginning of each chopper cycle, the hysteresis begins with a value which is the sum of the start and the end values (hstrt+hend), and decrements during the cycle, until either the chopper cycle ends or the hysteresis end value (hend) is reached. this way, the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the frequency gets too low. this avoids the frequency reaching the audible range. figure 9 . 2 spreadcycle chopper mode showing the coil current during a chopper cycle three parameters control spreadcycle mode: parameter description setting comment hstrt hysteresis start setting. please remark, that this value is an offset to the hysteresis end value hend. 0 hysteresis end setting. sets the hysteresis end value after a number of decrements. decrement interval time is controlled by hdec. the sum hstrt+hend must be <16. at a current setting cs of max. 30 (amplitude reduced to 240), the sum is not limited. 0 3 4 ositive hend: 1 t i t a r g e t c u r r e n t t a r g e t c u r r e n t - h y s t e r e s i s s t a r t t a r g e t c u r r e n t + h y s t e r e s i s s t a r t o n s d f d s d t a r g e t c u r r e n t + h y s t e r e s i s e n d t a r g e t c u r r e n t - h y s t e r e s i s e n d h d e c
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 35 www.trinamic.com parameter description setting comment hdec hysteresis decrement setting. this setting determines the slope of the hysteresis during on time and during fast decay time. it sets the number of system clocks for each decrement. 0 3: very slow decrement %00: 16 %01: 32 %10: 48 %11: 64 example: in the example above, a hysteresis start of 7 has been chosen. the hysteresis end is set to about half of this value, 3. the resulting configuration register values are: hend=6 (sets an effective end value of 3) hstrt=3 (sets an effective start value of hysteresis end +4) hdec=0 (hysteresis decrement becomes used) 9.2 constant off - time mode the classic constant off - time chopper uses a fixed - time fast decay following each on phase. while the duration of the on phase is determined by the chopper comparator, the fast decay time needs to be fast enough for the driver to follow the falling slope of the sine wave, but it should not be so long that it causes excess motor current ripple and power dissipation. this can be tuned using an oscilloscope or e valuating motor smoothness at different velocities. a good starting value is a fast decay time setting similar to the slow decay time setting. figure 9 . 3 constant off - time chopper with offset showing the coil current during two cycles, after tuning the fast decay time, the offset should be tuned for a smooth zero crossing. this is necessary because the fast decay phase makes the absolute value of the motor current lower than the t arget current (see figure 9 . 4 ). if the zero offset is too low, the motor stands still for a short moment during current zero crossing. if it is set too high, it makes a larger microstep. typically, a positive offset setting is required for smoothest operation. figure 9 . 4 zero crossing with correction using sine wave offset. t i m e a n v a l u e = t a r g e t c u r r e n t t a r g e t c u r r e n t + o f f s e t o n s d f d s d o n f d t i t a r g e t c u r r e n t c o i l c u r r e n t t i t a r g e t c u r r e n t c o i l c u r r e n t c o i l c u r r e n t d o e s n o t h a v e o p t i m u m s h a p e t a r g e t c u r r e n t c o r r e c t e d f o r o p t i m u m s h a p e o f c o i l c u r r e n t
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 36 www.trinamic.com three parameters control constant off - time mode: parameter description setting comment tfd (hstart & hdec0) fast decay time setting. with chm=1, these bits control the portion of fast decay for each chopper cycle. 0 s low decay only . 1 sine wave offset . with chm=1, these bits control the sine wave offset. a positive offset corrects for zero crossing error. 02 4 ositive offset: 1 current comparator for termination of the fast decay cycle. if current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. 0 e nable comparator termination of fast decay cycle . 1 e nd by time only . 9.2.1 random off time in the constant off - time chopper mode, both coil choppers run freely without synchronization. the frequency of each chopper mainly depends on the coil current and the motor coil inductance. the inductance varies with the microstep position. with some motors, a slightly audible beat can occur between the chopper frequencies when they are close together. this typically occurs at a few microstep positions within each quarter wave. this effect is usu ally not audible when compared to mechanical noise generated by ball bearings, etc. another factor which can cause a similar effect is a poor layout of the sense resistor gnd connections. a common cause of motor noise is a bad pcb layout causing coupling of both sense resistor voltages. to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. it modulates the slow decay time setting when switched on by the rndtf bit. the rndtf feature further spreads the chopper spectrum, reducing electromagnetic emission on single frequencies. parameter description setting comment rndtf enables a random off - time generator, which slightly modulates the off time t off using a random polynomial. 0 d isable . 1 r and om modulation e nable .
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 37 www.trinamic.com 10 power mosfet stage the gate current for the power mosfets can be adapted to influence the slew rate at the coil outputs. the main features of the stage are: - 5v gate drive voltage for low - side n - mos transistors, 8v for high - side p - mos transistors. - the gate drivers protect the bridges actively against cross - conduction using an internal q gd protection that holds the mosfets safely off. - automatic break - before - make logic minimizes dead time and diode - conduction time. - integrated short to gr ound protection detects a short of the motor wires and protects the mosfets. the low - side gate driver is supplied by the 5vout pin. the low - side driver supplies 0v to the mosfet gate to close the mosfet, and 5vout to open it. the high - side gate driver vol tage is supplied by the vs and the vhs pin. vhs is more negative than vs and allows opening the vs referenced high - side mosfet. the high - side driver supplies vs to the p channel mosfet gate to close the mosfet and vhs to open it. the effective low - side gat e voltage is roughly 5v; the effective high - side gate voltage is roughly 8v. parameter description setting comment slpl low - side slope control. controls the mosfet gate driver current. set to 0, 1 or 2 . slopes are fast to minimize package power dissipation. 0 3 0 3 10.1 break - before - make logic each half - bridge has to be protected against cross - conduction during switching events. when switching off the low - side mosfet, its gate first needs to be discharged before the high - side mosfet is allowed to switch on. the same goes when switching off the high - side mosfet and switching on the low - side mosfet. the time for charging and discharging of the mosfet gates depends on the mosfet gate charge and the gate driver current set by slpl and slph. the bbm (break - before - make) logic measures the gate voltage and automatically delays turning on the opposite bridge transistor until its counterpart is discharged. this way, the bridge will always switch with optimized timing independent of the slope setting. 10.2 enn input the mosfets can be completely disabled in hardware by pulling the enn input high. this allows the motor to free - wheel. an equivalent func tion can be performed in software by setting the parameter toff to zero. the hardware disable is available for allowing the motor to be hot plugged. for the TMC260, it can be used in overvoltage situations. the TMC260 can withstand voltages of up to 60v wh en the mosfets are disabled. if a hardware disable function is not needed, tie enn low.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 38 www.trinamic.com 11 diagnostics and protection 11.1 short to gnd detection the short to ground detection prevents the high - side power mosfets from being damaged by accidentally shorting the motor outputs to ground. it disables the mosfets only if a short condition persists. a temporary event like an esd event could look like a short, but these events are filtered out by requiring the event to persist. when a short is detected, the bridge is switched off immediately, the chopper cycle on the affected coil is terminated, and the short counter is incremented. the counter is decremented for each phase polarity change. the mosfets are shut off when the counter reaches 3 and remain shut off until t he short condition is cleared by disabling the driver and re - enabling it. the short to ground detection status is indicated by two bits: status description range comment s2ga these bits identify a short to gnd condition on coil a and coil b persisting for multiple chopper cycles. the bits are cleared when the mosfets are disabled. 0 / 1 0: no short condition detected. 1: short condition detected. s2gb an overload condition on the high - side mosfet (short to gnd) is detected by monitoring the coil voltage during the high - side on phase. under normal conditions, the high - side power mosfet reaches the bridge supply voltage minus a small voltage drop during the on phase. if the bridge is overloaded, the voltage cannot rise to the detection level within the time defined by the internal detection delay setting. when an overload is detected, the bridge is switched off. the short to gnd detection delay needs to be adjusted for the slope time, because it must be longer than slope, but should not be unnecessarily long. figure 11 . 1 short to gnd detection timing. s h o r t d e t e c t i o n v a l i d a r e a b m x y h x y v v s - v b m s 2 g 0 v 0 v v v s t s 2 g b m v o l t a g e m o n i t o r e d s h o r t t o g n d m o n i t o r p h a s e d r i v e r e n a b l e d 0 v t s 2 g s h o r t d e t e c t e d d e l a y d e l a y i n a c t i v e i n a c t i v e s h o r t t o g n d d e t e c t e d d r i v e r o f f
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 39 www.trinamic.com the short to ground detector is controlled by a mode bit and a parameter: mode bit / parameter description setting comment diss2g short to ground detection disable bit. 0/1 0: short to ground detection enabled. 1: short to ground detection disabled. ts2g this setting controls the short to gnd detection delay time. it needs to cover the switching slope time. a higher setting reduces sensitivity to capacitive loads. 0 3 11.2 open - load detection the open - load detection determines whether a motor coil has an open condition, for example due to a loose contact. when driving in fullstep mode, the open - load detection will also signal when the motor current cannot be reached within each step, for example due to a too - high moto r velocity in which the back emf voltage exceeds the supply voltage. the detection bit is only for information, and no other action is performed by the chip. assertion of an open - load condition does not always indicate that the motor is not working properl y. the bit is updated during normal operation whenever the polarity of the respective coil toggles. the open - load detection status is indicated by two bits: 11.3 overtemperature detection the TMC260 and tmc261 integrate a two - level temperature sensor (100c warning and 150c shutdown) for diagnostics and for protection of the power mosfets. the temperature detector can be triggered by heat accumulation on the board, for example due to missing convection cooling. most critical situations, in which the mosfets could be overheated, are avoided when using the short to ground protection. for most applications, the overtemperature warning indicate s an abnormal operation situation and can be used to trigger an alarm or power - reduction measures. if continuous operation in hot environments is necessary, a more precise mechanism based on temperature measurement should be used. the thermal shutdown is s trictly an emergency measure and temperature rising to the shutdown level should be prevented by design. the shutdown temperature is above the specified operating temperature range of the chip. the high - side p - channel gate drivers have a temperature depen dency which can be compensated to some extent by increasing the gate driver current when the warning temperature threshold is reached. the chip automatically corrects for the temperature dependency above the warning temperature when the temper ature - compens ated modes of slph is used. in these modes, the gate driver current is increased by one step when the temperature warning threshold is reached. status flag description range comment ola these bits indicate an open - load condition on coil a and coil b. the flags become set, if no chopper event has happened during the last period with constant coil polarity. the flag is not updated with too low actual coil current below 1/16 of maximum setting. 0 / 1 0: no open - load detected 1: open - load dete cted olb
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 40 www.trinamic.com 11.4 undervoltage detection the undervoltage detector monitors both the internal logic supply voltage and the supply voltage. it prevents operation of the chip when the mosfets cannot be guaranteed to operate properly because the gate drive voltage is too low. it also initializes the chip at power up. in undervoltage conditions, the logic control block becomes reset and the driver is disabled. all mosfets are switched off. all internal registers are reset to z ero. software also should monitor the supply voltage to detect an undervoltage condition. if software cannot measure the supply voltage, an undervoltage condition can be detected when the response to an spi command returns only zero bits in the response an d no bits are shifted through the internal shift register from sdi to sdo. after a reset due to undervoltage occurs, the cs parameter is cleared, which is reflected in an se status of 0 in the read response. figure 11 . 2 undervoltage reset timing note: be sure to operate the ic significantly above the undervoltage threshold to ensure reliable operation! check for se reading back as zero to detect an undervoltage event. status description range comment otpw overtemperature warning. this bit indicates whether the warning threshold is reached. software can react to this setting by reducing current. 0 / 1 1: temperature prewarning level reached ot overtemperature shutdown. this bit indicates whether the shutdown threshold has been reached and the driver has been disabled. 0 / 1 1: driver shut down due to over - temperature t i m e v v s d e v i c e i n r e s e t : a l l r e g i s t e r s c l e a r e d t o 0 r e s e t v u v c a . 1 0 0 s c a . 1 0 0 s
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 41 www.trinamic.com 12 power supply sequencing the TMC260 and tmc261 generate their own 5v supply for all internal operations. the internal reset of the chips is derived from the supply voltage regulators in order to ensure a clean start - up of the devices after power up. during start up, the spi unit is in reset and cannot be addressed. all registers become cleared. vcc_io limits the voltage allowable on the inputs and outputs and is used for driving the outputs, but input levels thresholds are not depending on the actual level of vc c_io. therefore, the startup sequence of the vcc_io power supply with respect to vs is not important.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 42 www.trinamic.com 13 system clock the internal system clock frequency for all operations is nominally 15mhz. an external clock of 10mhz to 20mhz (16mhz recommended for optim um performance) can be supplied for more exact timing, especially when using coolstep and stallguard2. alternatively, the on - chip oscillator clock frequency can be determined by measuring the delay time between the last step and assertion of the stst statu s bit, which is 2 20 clocks. there is some delay in reading the stst bit through the spi interface, but it is possible to measure the oscillator frequency within 1%. chopper timing parameters can then be corrected using this measurement, because the oscilla tor is relatively stable over a wide range of environmental temperatures. an external clock frequency of up to 20mhz can be supplied. the external clock is enabled and the on - chip oscillator is disabled with the first logic high driven on the clk input. t o use the on - chip oscillator, tie clk to gnd near the chip. if the external clock is suspended or disabled after the oscillator has been disabled, the chip will not operate. be careful to switch off the power mosfets (by driving the enn input high or setti ng the toff parameter to 0) before switching off the clock, because otherwise the chopper would stop and the motor current level could rise uncontrolled. if the short to gnd detection is enabled, it stays active even without clock. 13.1 frequency selection a h igher frequency allows faster step rates, faster spi operation, and higher chopper frequencies. on the other hand, it may cause more electromagnetic emission and more power dissipation in the digital logic. generally, a system clock frequency of 8mhz to 16 mhz should be sufficient for most applications, unless the motor is to operate at the highest velocities. if the application can tolerate reduced motor velocity and increased chopper noise , a clock frequency of 4mhz to 8mhz should be considered.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 43 www.trinamic.com 15 layout considerations the pcb layout is critical to good performance, because the environment includes both high - sensitivity analog signals and high - current motor drive signals . 15.1 sense resistors the sense resistors are susceptible to ground differences and ground ripple voltage, as the microstep current steps result in voltages down to 0.5mv. no current other than the sense resistor currents should flow through their connections to ground. place the sense resistors close to chip with one or more vias to the ground plane for each sense resistor . the sense resistor layout is also sensitive to coupling between the axes. the two sense resistors should not share a common ground connection trace or vias, because pcb traces have some resistance. 15.2 power mosf et outputs the oa and ob dual pin outputs on the TMC260 and tmc261 are directly connected electrically and thermally to the drain of the mosfets of the power stage. a symmetrical, thermally optimized layout is required to ensure proper heat dissipation of all mosfets into the pcb. use thick traces and areas for vertical heat transfer into the gnd plane and enough vias for the motor outputs. the printed circuit board should have a solid ground plane spreading heat into the board and providing for a stable gnd reference. all signals of the TMC260 and tmc261 are referenced to gnd. directly connect all gnd pins to a common ground area. the switching motor coil outputs have a high dv/dt, so stray capacitive coupling into high - impedance signals can occur, if th e motor traces are parallel to other traces over long distances. 15.3 power filtering the 470nf ceramic filtering capacitor on 5vout should be placed as close as possible to the 5vout pin, with its gnd return going directly to the nearest gnd pin. use as short and as thick connections as possible. a 100nf filtering capacitor should be placed as close as possible from the vs pin to the ground plane. the motor supply pins, vsa and vsb, should be decoupled with an electrolytic (>47 f is recommended) capacitor and a ceramic capacitor, placed close to the device.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 44 www.trinamic.com 15.4 layout example here, an example for a layout with TMC260 or tmc261 is shown. top layer (assembly side) inner layer inner layer bottom layer (solder side) figure 15 . 1 layout example for TMC260 or tmc261
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 45 www.trinamic.com 16 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 sha ll be avoided by application design. parameter symbol min max unit supply voltage (tmc261) v vs - 0.5 60 v supply voltage (TMC260) - 0.5 40 v logic supply voltage v vcc - 0.5 6.0 v i/o supply voltage v vio - 0.5 6.0 v logic input voltage v i - 0.5 v vio +0.5 v analog input voltage v ia - 0.5 v cc +0.5 v relative high - side gate driver voltage (v vm C hs ) v hsvm - 0.5 15 v maximum current to/from digital pins and analog low voltage i/os i io +/ - 10 ma non - destructive short time peak current into input/output pins i io 500 ma bridge output peak current (10s pulse) i op +/ - 7 a output current, continuous (one bridge active, or 0.71 x current with both bridges active) t a 50c oc 2000 ma t a 85c a 105c a 125c 5vout 50 ma 5v regulator peak power dissipation (v vm - 5v) * i 5vout p 5vout 1 w junction temperature t j - 50 150 c storage temperature t stg - 55 150 c esd - protection (human body model, hbm), in application v esdap 1 kv esd - protection (human body model, hbm), device handling v esddh 300 v
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 46 www.trinamic.com 17 electrical characteristics 17.1 operational range parameter symbol min max unit junction temperature t j - 40 125 c supply voltage tmc261 v vs 9 59 v supply voltage TMC260 v vs 9 39 v i/o supply voltage v vio 3.00 5.25 v 17.2 dc and ac specifications dc characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. typical values represent the average value of all parts measured at +25c. temperat ure variation also causes some values to stray. a device with typical values will not leave min/max range within the full temperature range. power supply current dc characteristics v vs = 24.0v parameter symbol conditions min typ max unit supply current, operating i vs f clk =16mhz, 40khz chopper, q g =10nc 12 ma supply current, mosfets off i vs f clk =16mhz 10 ma supply current, mosfets off, dependency on clk frequency i vs f clk variable additional to i vs 0 0.32 ma / mhz static supply current i vs0 f clk =0hz, digital inputs at +5v or gnd 3.2 4 ma part of supply current not consumed from 5v supply i vshv mosfets off 1.2 ma io supply current i vio no load on outputs, inputs at v io or gnd 0.3 a high - side voltage regulator dc characteristics v vs = 24.0v parameter symbol conditions min typ max unit output voltage v vhs i out = 0ma t j = 25c 9.3 10.0 10.8 v output resistance r vhs static load 50 ? vhs(dev) t j = full range 60 200 mv dc output current i vhs 4 ma current limit i vhsmax 15 ma series regulator transistor output resistance (determines voltage drop at low supply voltages) r vhslv 400 1000 ?
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 47 www.trinamic.com internal mosfets TMC260 dc characteristics v vs = v vsx 12.0v, v brx = 0v parameter symbol conditions min typ max unit n - channel mosfet on resistance r onn t j = 25c 125 190 m? onp t j = 25c 190 240 m? onn t j = 150c 205 m? onp t j = 150c 312 m? internal mosfets tmc261 dc characteristics v vs = v vsx 12.0v, v brx = 0v parameter symbol conditions min typ max unit n - channel mosfet on resistance r onn t j = 25c 100 150 m? onp t j = 25c 200 255 m? onn t j = 150c 164 m? onp t j = 150c 328 m? linear regulator dc characteristics parameter symbol conditions min typ max unit output voltage v 5vout i 5vout = 10ma t j = 25c 4.75 5.0 5.25 v output resistance r 5vout static load 3 ? 5vout(dev) i 5vout = 10ma t j = full range 30 60 mv output current capability (attention, do not exceed maximum ratings with dc current) i 5vout v vs = 12v 100 ma v vs = 8v 60 ma v vs = 6.5v 20 ma clock oscillator and clk input timing characteristics parameter symbol conditions min typ max unit clock oscillator frequency f clkosc t j = - 50c 10.0 14.3 mhz clock oscillator frequency f clkosc t j =50c 10.8 15.2 20.0 mhz clock oscillator frequency f clkosc t j =150c 15.4 20.3 mhz external clock frequency (operating) f clk 4 20 mhz external clock high / low level time t clk 12 ns
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 48 www.trinamic.com detector levels dc characteristics parameter symbol conditions min typ max unit v vs undervoltage threshold v uv 6.5 8 8.5 v short to gnd detector threshold (v vs - v bmx ) v bms2g 1.0 1.5 2.3 v short to gnd detector delay (low - side gate off detected to short detection) t s2g ts2g=00 2.0 3.2 4.5 s ts2g=10 1.6 s ts2g=01 1.2 s ts2g=11 0.8 s overtemperature warning t otpw 80 100 120 c overtemperature shutdown t ot temperature rising 135 150 170 c sense resistor voltage levels dc characteristics parameter symbol conditions min typ max unit sense input peak threshold voltage (low sensitivity) v srtripl vsense=0 cx=248; hyst.=0 290 310 330 mv sense input peak threshold voltage (high sensitivity) v srtriph vsense=1 cx=248; hyst.=0 153 165 180 mv digital logic levels dc characteristics parameter symbol conditions min typ max unit input voltage low level d) v inlo - 0.3 0.8 v input voltage high level d) v inhi 2.4 v vio +0.3 v output voltage low level v outlo i outlo = 1ma 0.4 v output voltage high level v outhi i outhi = - 1ma 0.8v vio v input leakage current i ileak - 10 10 a note digital inputs left within or near the transition region substantially increase power supply current by drawing power from the internal 5v regulator. make sure that digital inputs become driven near to 0v and up to the v io i/o voltage. there are no on - chip pull - up or pull - down resistors on inputs.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 49 www.trinamic.com 17.3 thermal characteristics parameter symbol conditions typ unit thermal resistance bridge transistor junction to ambient, one bridge chopping, fixed polarity r tha12 soldered to 2 layer pcb 88 k/w thermal resistance bridge transistor junctions to ambient, two bridges chopping, fixed polarity r tha22 soldered to 2 layer pcb 68 k/w thermal resistance bridge transistor junction to ambient, one bridge chopping, fixed polarity r tha14 soldered to 4 layer pcb (pessimistic) 84 k/w thermal resistance bridge transistor junctions to ambient, two bridges chopping, fixed polarity r tha24 soldered to 4 layer pcb (pessimistic) 51 k/w if the device is to be operated near its maximum thermal limits, care has to be taken to provide a good thermal design of the pcb layout in order to avoid overheating of the power mosfets integrated into the TMC260 and tmc261. as the tmc26x use disc rete mosfets, power dissipation in each mosfet needs to be looked over carefully. worst case power dissipation for the individual mosfet is in standstill, with one coil operating at the maximum current, because one full bridge in this case takes over the full current. this scenario can be avoided with power down current reduction. as the single mosfet temperatures cannot be monitored, it is a good practice to react to the temperature pre - warning by reducing motor current, rather than relying on the overte mperature switch off. note check mosfet temperature under worst case conditions not to exceed 150c, especially for TMC260 and tmc261 in design using a thermal camera to validate your layout. figure 17 . 1 one TMC260 operating at 1.4a rms (2a peak), other TMC260 devices at 1.1a rms
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 50 www.trinamic.com 18 package mechanical data 18.1 dimensional drawings attention: drawings not to scale. parameter ref min nom max size over pins (x and y) a 12 body size (x and y) c 10 pin length d 1 total thickness e 1.6 lead frame thickness f 0.09 0.2 stand off g 0.05 0.10 0.15 pin width h 0.30 0.45 flat lead length i 0.45 0.75 pitch k 0.8 coplanarity ccc 0.08 18.2 package code device package temperature range code/marking TMC260 pqfp44 (rohs) - 40 to +125c TMC260 - pa tmc261 pqfp44 (rohs) - 40 to +125c tmc261 - pa figure 18 . 1 dimensional drawings (pqfp44) i e f c k h d g a
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 51 www.trinamic.com 19 disclaimer trinamic motion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the specific written consent of trinamic motion control gmbh & co. kg. life support systems are equipment intended to support or sustain life, and whose fail ure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. information given in this data sheet is believed to be accurate and reliable. however no responsibility is assum ed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. specifications are subject to change without notice. all trademarks used are property of their respective owners. 20 es d sensitive device the TMC260 and the 261 are esd - sensitive cmos device s and sensitive to electrostatic discharge. take special care to use adequate grounding of personnel and machines in manual handling. after soldering the devices to the board, esd requi rements are more relaxed. failure to do so can result in defects or decreased reliability. note: in a modern smd manufacturing process, esd voltages well below 100v are standard. a major source for esd is hot - plugging the motor during operation. as the power mosfets are discrete devices, the device in fact is very rugged concerning any esd event on the motor outputs. all other connections are typically protected due to external circuitry on the pcb.
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 52 www.trinamic.com 21 table of figures figure 1.1 applications block diagram ................................ ................................ ................................ ............................ 4 figure 2.1 TMC260/261 pin assignments. ................................ ................................ ................................ ....................... 6 figure 3.1 TMC260 and tmc261 block diagram ................................ ................................ ................................ ............ 8 figure 4.1 stallguard2 load measurement sg as a function of load ................................ ................................ .... 9 figure 4.2 linear interpolation for optimizing sgt with changes in velocity. ................................ ................. 10 figure 5.1 energy efficiency example with coolstep ................................ ................................ ................................ 12 figure 5.2 coolstep adapts motor current to the load. ................................ ................................ ........................... 13 figure 6.1 spi timing ................................ ................................ ................................ ................................ ........................ 15 figure 6.2 interfaces to a tmc429 motion controller chip and a TMC260 or tmc261 moto r driver .......... 16 figure 7.1 step and dir timing. ................................ ................................ ................................ ................................ .... 26 figure 7.2 internal microstep table showing the first quarter of the sine wave. ................................ .......... 27 figure 7.3 microplyer microstep interpolation with rising step frequency. ................................ ..................... 28 figure 8.1 sense resistor grounding and protection components ................................ ................................ ...... 31 figure 9.1 chopper phase s. ................................ ................................ ................................ ................................ ............. 32 figure 9.2 spreadcycle chopper mode showing the coil current during a chopper cycle ........................... 34 figure 9.3 constant off - time chopper with offset showing the coil current during two cycles, ............... 35 figure 9.4 zero crossing with correction using sine wave offset. ................................ ................................ ....... 35 figure 11.1 short to gnd detection timing. ................................ ................................ ................................ ............... 38 figure 11.2 undervoltage reset timing ................................ ................................ ................................ ......................... 40 figure 15.1 layout example for TMC260 or tmc261 ................................ ................................ ................................ . 44 figure 17.1 one TMC260 operating at 1.4a rms (2a peak), other TMC260 devices at 1.1a rms ................ 49 figure 18.1 dimensional drawings (pqfp44) ................................ ................................ ................................ .............. 50
TMC260 and tmc261 datasheet (rev. 2.0 5 / 2012 - nov - 05 ) 53 www.trinamic.com 22 revision history version date author bd = bernhard dwersteg sd C sonja dwersteg description 0.94 2010 - apr - 22 bd new headline, photo, details 1.00 2010 - aug - 09 bd v2 silicon results, increased chopper thresholds (identical ratio of vcc power supply as in v1 and v1.2 silicon) vsense bit description corrected based on actual values 1.07 2010 - nov - 22 bd changed optimum sg value range to 0 to 400 at max. load, lower sgt limit for best results: - 10, chapter on stall detect. 1.08 2010 - dec - 01 bd added disclaimer, added spi info 1.10 2011 - mar - 09 bd corrected undervoltage threshold, chopper thresholds 1.11 2011 - apr - 12 bd slightly modified ls driver characteristics 1.12 2011 - jul - 26 bd updated mosfet list, typ. f clkosc is 15mhz (old: 13mhz) 1.13 2011 - okt - 05 bd corrected chopper illustration, new ext. driver application 1.15 2011 - dec - 14 bd minor corrections, added layout considerations 1.17 2012 - jan - 18 bd output current sine wave peak 2a instead of 1.7a. 2.00 2012 - mar - 29 sd amen ded datasheet version for TMC260 and tmc261 (design and wording). no content changes. 2.01 2012 - jun - 07 sd - information about power supply sequencing added ( 12 ). 2.02 2012 - aug - 01 sd - chapter 6.4.2 : table layout corrected. - information about power supply sequencing updated. 2.03 2012 - aug - 13 sd - figure 11 . 2 (u ndervoltage reset timing) new 2.04 2012 - aug - 30 sd name of package changed from tqfp to qfp . 2 :05 2 0 1 2 - n o v - 05 sd chapter 8 corrected: the low sensitivity (high sense resistor voltage, vsense=0) brings best and mos t robust current regulation, while high sensitivity (low sense resistor voltage; vsense= 1 ) reduces power dissipation in the sense resistor. 23 references [tmc262] tmc262 datasheet (please refer to our homepage http://www.trinamic.com ) [tmc429+tmc26x - eval] tmc429+tmc26x - eval evaluation b oard manual

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