Motion Controller for Stepper Motors
Integrated Circuits
TMC4361A DATASHEET
TMC4361A Document Revision 1.22 • 2017-JAN-12
S
HORT
The S-ramp and sixPoint™ ramp motion controller for stepper motors is optimized for high
velocities, allowing on-the-fly changes. TMC4361A offers SPI and Step/Dir interfaces, as well
as an encoder interface for closed-loop operation.
SPEC
NOTE:
TMC4361A is a product upgrade of TMC4361.
Features
Figure 1: Sample Image
TMC4361A Closed-Loop Drive
*Marking details are explained on page
223.
SPI Interfaces for µC with easy-to-use protocol.
SPI Interfaces for SPI motor stepper drivers.
Encoder interface for incremental or serial encoders.
Closed-loop operation for Step and SPI drivers.
Integrated ChopSync™ and dcStep™ support.
Internal ramp generator generating S-shaped ramps
or sixPoint™ ramps supporting on-the-fly changes.
Controlled PWM output.
Reference switch handling.
Hardware and virtual stop switches.
Extensive Support of TMC stepper motor drivers.
Applications
Textile, sewing machines
CCTV, security
Printers, scanners
ATM, cash recycler
Office automation
POS
Factory automation
Lab automation
Pumps and valves
Heliostat controllers
CNC machines
Robotics
Block Diagram: TMC4361A Interfaces & Features
START
Ref. Switches
TMC4361
Ref. Switch
Processing
dcStep
SPI to µC
SPI to
Master
Timer Unit
S-Ramp
Generator
incl. trapezoid,
rectangle, 4bows
Step
Sequencer
Current
Regulation
Driver
Interface:
SPI /
Step/Dir
SPI
Step/Dir
ABN
SSI
SPI
INTR / TR to µC
CLK
NRST
Status Flags
Interrupt
Controller
Power-on
Reset
Encoder
Interface
Safe Ramp Down
Closed Loop
NFreeze
Figure 2: Block Diagram
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg,
Germany — Terms of delivery and rights to technical change
reserved. Download newest version at:
www.trinamic.com.
Read entire documentation; especially the
Supplemental Directives in chapter
22
(page
224
).
SHORT SPEC
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•
2017-JAN-12
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Functional Scope of TMC4361A
TMC4361A is a miniaturized high-performance motion controller for stepper motor drivers,
particularly designed for fast and jerk-limited motion profile applications with a wide range
of ramp profiles. The S-shaped or sixPoint™ velocity profile, closed-loop and open-loop
features offer many configuration options to suit the user’s specifications, as presented
below:
S-Shaped
Velocity Profile
S-shaped ramp profiles are jerk-free. Seven ramp segments form the S-shaped
ramp that can be optimally adapted to suit the user’s requirements. High torque
with high velocities can be reached by calibrating the bows of the ramp, as
explained in this user manual.
v(t)
VMAX
t
Figure 3: S-shaped Velocity Profile
i
Closed-loop
Operation
Feature
More information on ramp configurations and other velocity profiles, e.g.
sixPoint™ ramps, are provided in chapter
6
(Page
28).
A typical hardware setup for closed-loop operation with a TMC262 stepper motor
gate driver is shown in the diagram below. In case internal MOSFETs are desired,
combine the TMC4361A with the TMC2620, the TMC261 or the TMC2660.
High level
interface
SPI
µC
TMC4361
Motion
Controller
SPI
TMC262
Motor Gate
Driver
MOSFET
Driver
Stage
M
Encoder
ABN/
SSI/SPI
Figure 4: Hardware Set-up for Closed-loop Operation with TMC262
Open-loop
Operation with
dcStep™ Feature
A typical hardware setup for dcStep operation with a TMC2130 stepper motor driver
is shown in the diagram below. This feature is also available for TMC26x stepper
motor drivers.
SPI
High level
interface
SPI
TMC4361
Motion
Controller
µC
S/D
dcStep™ signals
TMC2130
Motor Driver
M
Figure 5: Hardware Set-up for Open-loop Operation with TMC2130
Order Codes
Order code
Description
Size
TMC4361A-LA
Motion controller with closed-loop and dcStep features, QFN40
Table 1: TMC4361A Order Codes
6 x 6 mm
2
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at:
www.trinamic.com
.
Read entire documentation; especially the
Supplemental Directives
on page
224.
SHORT SPEC
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•
2017-JAN-12
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T A BL E O F C O NT E N T S
TMC4361A DATASHEET .................................................................................................... 1
SHORT SPEC ..................................................................................................................... 1
Features ........................................................................................................................... 1
Applications ..................................................................................................................... 1
Block Diagram: TMC4361A Interfaces & Features ........................................................... 1
Functional Scope of TMC4361A ........................................................................................ 2
Order Codes ..................................................................................................................... 2
TABLE OF CONTENTS ....................................................................................................... 3
MAIN MANUAL ............................................................................................................... 10
1. Pinning and Design-In Process Information ............................................................ 10
Pin Assignment: Top View .................................................................................................. 10
Pin Description .................................................................................................................. 11
System Overview ............................................................................................................... 13
2. Application Circuits .................................................................................................. 14
TMC4361A
TMC4361A
TMC4361A
TMC4361A
TMC4361A
Standard Connection: VCC=3.3V ....................................................................... 14
with TMC26x Stepper Connection....................................................................... 14
with TMC248 Stepper Driver .............................................................................. 15
with TMC2130 Stepper Driver ............................................................................ 15
with TMC5130A or TMC5160 ............................................................................. 15
3. SPI Interfacing ........................................................................................................ 16
SPI Datagram Structure ..................................................................................................... 16
SPI Timing Description ....................................................................................................... 19
4. Input Filtering .......................................................................................................... 20
Input Filtering Examples..................................................................................................... 22
Configuration of Step/Dir Input Filter .................................................................................. 23
5. Status Flags and Events ........................................................................................... 24
Status Event Description .................................................................................................... 25
SPI Status Bit Transfer ....................................................................................................... 26
Generation of Interrupts..................................................................................................... 26
Connection of Multiple INTR Pins ........................................................................................ 27
6. Ramp Configurations for different Motion Profiles .................................................. 28
Step/Dir Output Configuration ............................................................................................ 29
Step/Dir Output Configuration Steps ................................................................................... 29
STPOUT: Changing Polarity ............................................................................................... 29
Altering the Internal Motion Direction.................................................................................. 30
Configuration Details for Operation Modes and Motion Profiles ............................................. 31
Starting Point: Choose Operation Mode ............................................................................... 32
Stop during Motion ............................................................................................................ 32
Motion Profile Configuration ............................................................................................... 33
No Ramp Motion Profile...................................................................................................... 34
Trapezoidal 4-Point Ramp without Break Point..................................................................... 35
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at:
www.trinamic.com
.
Read entire documentation; especially the “Supplemental
Directives”
on page
224.
MAIN MANUAL
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Trapezoidal Ramp with Break Point .................................................................................... 35
Position Mode combined with Trapezoidal Ramps ................................................................ 36
Configuration of S-Shaped Ramps ....................................................................................... 37
S-Ramps: Changing Ramp Parameters during Motion or Switching to Positiong Mode ............ 38
Configuration of S-shaped Ramp with
ASTART
and
DFINAL
.................................................. 38
S-shaped Mode and Positioning: Fast Motion ....................................................................... 39
Start Velocity
VSTART
and Stop Velocity
VSTOP
.................................................................. 40
S-shaped Ramps with Start and Stop Velocity ...................................................................... 44
Combined Use of
VSTART
and
ASTART for S-shaped Ramps
............................................... 45
sixPoint Ramps .................................................................................................................. 46
U-Turn Behavior ................................................................................................................ 47
Continuous Velocity Motion Profile for S-shaped Ramps ...................................................... 48
Internal Ramp Generator Units ........................................................................................... 49
Clock Frequency ................................................................................................................ 49
Velocity Value Units ........................................................................................................... 49
Acceleration Value Units ..................................................................................................... 49
Bow Value Units ................................................................................................................ 50
Overview of Minimum and Maximum Values: ....................................................................... 50
7. External Step Control and Electronic Gearing .......................................................... 51
Description of Electronic Gearing ........................................................................................ 52
Indirect External Control .................................................................................................... 52
Switching from External to Internal Control ......................................................................... 53
8. Reference Switches ................................................................................................. 54
Hardware Switch Support ................................................................................................... 55
Stop Slope Configuration for Hard or Linear Stop Slopes ...................................................... 55
How Active Stops are indicated and reset to Free Motion ..................................................... 56
How to latch Internal Position on Switch Events .................................................................. 56
Virtual Stop Switches ......................................................................................................... 57
Enabling Virtual Stop Switches ............................................................................................ 57
Virtual Stop Slope Configuration ......................................................................................... 57
How Active Virtual Stops are indicated and reset to Free Motion ........................................... 58
Home Reference Configuration ........................................................................................... 59
Home Event Selection ........................................................................................................ 59
HOME_REF Monitoring ....................................................................................................... 60
Homing with STOPL or STOPR ............................................................................................ 61
Target Reached / Position Comparison ................................................................................ 62
Connecting several Target-reached Pins .............................................................................. 62
Use of TARGET_REACHED Output ...................................................................................... 63
Position Comparison of Internal Values ............................................................................... 64
Repetitive and Circular Motion ............................................................................................ 65
Repetitive Motion to XTARGET ............................................................................................ 65
Activating Circular Motion ................................................................................................... 65
Uneven or Noninteger Microsteps per Revolution ................................................................. 66
Release of the Revolution Counter ...................................................................................... 67
Blocking Zones .................................................................................................................. 67
Activating Blocking Zones during Circular Motion ................................................................. 67
Circular Motion with and without Blocking Zone ................................................................... 68
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at:
www.trinamic.com
.
Read entire documentation; especially the “Supplemental
Directives”
on page
224.
MAIN MANUAL
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•
2017-JAN-12
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9. Ramp Timing and Synchronization .......................................................................... 69
Basic Synchronization Settings ............................................................................................ 70
Start Signal Trigger Selection ............................................................................................. 70
User-specified Impact Configuration of Timing Procedure ..................................................... 70
Delay Definition between Trigger and internally generated Start Signal ................................. 71
Active START Pin Output Configuration ............................................................................... 71
Ramp Timing Examples ...................................................................................................... 72
Shadow Register Settings ................................................................................................... 75
Shadow Register Configuration Options ............................................................................... 76
Delayed Shadow Transfer................................................................................................... 80
Pipelining Internal Parameters ............................................................................................ 81
Configuration and Activation of Target Pipeline .................................................................... 81
Using the Pipeline for different internal Registers ................................................................. 82
Pipeline Mapping Overview ................................................................................................. 83
Cyclic Pipelining ................................................................................................................. 84
Pipeline Examples .............................................................................................................. 84
Masterless Synchronization of Several Motion Controllers via START Pin ................................ 86
10. Serial Data Output ................................................................................................... 87
Getting Started with TMC Motor Drivers .............................................................................. 88
Sine Wave Lookup Tables................................................................................................... 89
Actual Current Values Output ............................................................................................. 90
How to Program the Internal MSLUT ................................................................................... 90
Setup of MSLUT Segments ................................................................................................. 91
Current Waves Start Values ................................................................................................ 92
Default MSLUT .................................................................................................................. 92
Explanatory Notes for Base Wave Inclinations ..................................................................... 93
SPI Output Interface Configuration Parameters ................................................................... 95
How to enable SPI Output Communication .......................................................................... 95
Setup of SPI Output Timing Configuration ........................................................................... 96
Current Diagrams .............................................................................................................. 97
Change of Microstep Resolution .......................................................................................... 97
Cover Datagrams Communication between µC and Driver .................................................... 97
Sending Cover Datagrams .................................................................................................. 98
Configuring Automatic Generation of Cover Datagrams ........................................................ 99
Overview: TMC Motor Driver Connections ...........................................................................100
TMC Stepper Motor Driver Settings ....................................................................................100
TMC Motor Driver Response Datagram and Status Bits ........................................................101
Events and Interrupts based on Motor Driver Status Bits .....................................................101
Stall Detection and Stop-on-Stall........................................................................................102
TMC23x, TMC24x Stepper Motor Driver ..............................................................................103
TMC23x Setup ..................................................................................................................103
TMC24x Setup ..................................................................................................................103
TMC23x/24x Status Bits ....................................................................................................104
Automatic Fullstep Switchover for TMC23x/24x...................................................................104
Mixed Decay Configuration for TMC23x/24x .......................................................................105
ChopSync Configuration for TMC23x/24x Stepper Drivers ....................................................105
Doubling ChopSync Frequency during Standstill ..................................................................105
Using TMC24x stallGuard Characteristics ............................................................................106
TMC26x Stepper Motor Driver ............................................................................................107
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at:
www.trinamic.com
.
Read entire documentation; especially the “Supplemental
Directives”
on page
224.
MAIN MANUAL
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