motionCookie SYSTEM IN A PACKAGE
motionCookie™
TMCC160 DATASHEET
Integrated motionCookie™ microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A
gate current with a complete servocontroller software stack.
Applications
Robotics
Pump, Fan Applications
Industrial Automation
Medical, Lab Automation
CNC Machines
E-Bikes
Battery Powered Devices
Features & Benefits
Integrated BLDC or PMSM Servo Controller
Integrated Gate Driver up to 1A Gate Current
Voltage Range 7…24V
Integrated FOC Controller
UART, CAN or SPI Interface
Hall Interface
ABN Incremental Encoder Interface
Integrated Switching Regulator
Description
The TMCC160 is a ready to use PMSM/
BLDC motor controller in a miniaturized
12x17mm² system in a package. It
integrates a powerful programmed
microcontroller with efficient state of
the art commutation algorithm, gate
driver, different interface options as well
as a step down converter which
generates the digital power supply,
measurement and diagnostic features.
Block Diagram
Ref.
Switches
I_U, I_V
Power Bridge
TMCC160
VM
Motor
UART
CAN
SPI0
SPI1
AIN
PWM
U
Microcontroller
DIAG
Gatedriver
V
Current
W
ABN
Power
Supply
DC/DC
(3.3V)
HALL
ABN
HALL
I_U, I_V
Figure 1: TMCC160 System Block Diagram
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical
change reserved. Download newest version at:
www.trinamic.com
TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16)
1
Table of Contents
4.5.11 Power
Supply
Filtering
Capacitors .................................................... 21
4.6
Interface ............................................... 21
4.6.1 RS232 ............................................... 21
4.6.2 RS485 ............................................... 22
4.6.3 RS485 Bus Structure ...................... 23
4.6.4 RS485 Bus Termination................. 23
4.6.5 No Floating Bus Lines .................... 23
4.6.6 CAN 2.0B Interface ........................ 24
4.6.7 CAN Bus Structure ......................... 24
4.6.8 CAN Bus Termination .................... 25
4.6.9 Number of Nodes .......................... 25
4.6.10 Analog Input ................................... 26
4.7
EEPROM ................................................ 27
4.8
Brake Chopper .................................... 28
4.8.1 Brake resistor selection ................ 28
4.8.2 Brake Chopper Example ............... 29
4.9
Absolute Maximum Ratings............... 30
Operational Ratings ................................... 31
Mechanical Dimensions ............................. 33
6.1
TMCC160 Package Footprint ............. 33
6.1.1 Soldering Profile ............................ 35
SUPPLEMENTAL DIRECTIVES ..................... 36
7.1
ESD Sensitive Device ........................... 36
7.2
Disclaimer ............................................ 36
Revision History .......................................... 37
8.1
Document Revision ............................. 37
8.2
Hardware Revision .............................. 37
8.3
Software Revision ............................... 37
TMCC160 DATASHEET ......................................... 1
Applications ....................................................... 1
Features & Benefits .......................................... 1
Description ........................................................ 1
Block Diagram ................................................... 1
1 Table of Contents ......................................... 2
PRODUCT DETAILS ....................................... 1
2 Pin Assignments ........................................... 1
2.1
Package Pin Numbering ....................... 1
2.2
Package Pin Description ....................... 2
2.3
Wide Range of Control Algorithms ..... 3
3 System Overview .......................................... 5
3.1
Block Diagram ....................................... 5
3.2
System Architecture.............................. 5
3.3
Hall-Sensor Configuration.................... 6
3.4
Encoder Configuration ......................... 7
4 External Components .................................. 8
4.1
Gate Driver Charge Pump (TMC6130) 8
4.2
DC/DC Converter (3.3V) ...................... 10
4.3
CORTEX M4 Crystal ............................. 12
4.4
Supply Filter ......................................... 12
4.5
Power MOSFET Bridge ........................ 15
4.5.1 Direct Coil Current Measurement 15
4.5.2 Recommended Schematic for Direct
Coil Measurement ...................................... 15
4.5.3 Sense Resistor Selection ............... 16
4.5.4 Calculating Power Losses ............. 17
4.5.5 Current Amplifier ........................... 17
4.5.6 Single Shunt Measurement .......... 17
4.5.7 Sense Resistor Selection ............... 18
4.5.8 Dead Time Logic............................. 18
4.5.9 Power MOSFET Selection .............. 18
4.5.10 Gate Driver Clamp Diodes ............ 19
5
6
7
8
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change
reserved. Download newest version at:
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motionCookie SYSTEM IN A PACKAGE
motionCookie™
PRODUCT DETAILS
2
Pin Assignments
TMCC160 has two pad sizes. The pads on the edges measure 0.43mm x 0.43mm with 1mm pitch.
The inner pads measure 1.93mm x 1.93mm.
Please refer to chapter
TMCC160 Package Footprint
for further information about the package
dimensions.
2.1
Package Pin Numbering
BM2
CAN_TXD
EXTAL
RS+
HS2
LS2
XTAL
RS-
RXD
TXD
Figure 1 TMCC160 pin assignments / bottom view
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical
change reserved. Download newest version at:
www.trinamic.com
CAN_RXD
TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16)
2.2
Package Pin Description
Package Pin Description
Pad
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
Type
Out (D)
In (D)
In (D)
In (D)
Out (D)
In (A)
In (A)
In (A)
In (A)
Out (D)
In (D)
In (D)
Out
Out
Out
In
Out
Out
In
Out
Out
In
Out
In (D)
In (D)
In (D)
In (D)
In (D)
In (D)
Out (D)
In (D)
Out (D)
Out (D)
IO (D)
Name
RS485_DIR
CSN_SPI1
SCLK_SPI1
MOSI_SPI1
MISO_SPI1
I_V
I_U
TEMP
AIN
Brake
REFL
REFR
DA
SW
LS1
BM1
HS1
HS3
BM3
LS3
VCP_REG
VCP
VCP_SW
HALL_1
HALL_2
HALL_3
ENC_N
ENC_B
ENC_A
MOSI_SPI0
MISO_SPI0
SCLK_SPI0
CSN_SPI0
ENABLE
Function
RS485 transceiver direction output.
SPI1 chip select input (low active) (slave interface).
SPI1 serial clock input (slave interface).
SPI1 serial input (slave interface).
SPI1 serial output (slave interface).
Analog current sense amplifier input for PMSM phase V.
Analog current sense amplifier input for PMSM phase U.
Analog input for temperature measurement.
General purpose analog input.
PWM output for brake chopper circuit.
Left reference switch input.
Right reference switch input.
3.3V switch regulator diode anode.
3.3V switch regulator switch cathode.
Low side N-channel MOSFET gate output phase 1 (U).
MOSFET bridge output phase 1 (U).
High side N-channel MOSFET gate output phase 1 (U).
High side N-channel MOSFET gate output phase 3 (W).
MOSFET bridge output phase 3 (W).
Low side N-channel MOSFET gate output phase 3 (W).
Gate driver linear regulator output. Connect 4.7µF
capacitor.
Gate driver charge pump input.
Gate driver charge pump output.
Hall sensor 1 input.
Hall sensor 2 input.
Hall sensor 3 input.
Encoder N (index) input.
Encoder B input.
Encoder A input.
SPI0 serial output (EEPROM master).
SPI0 serial input (EEPROM master).
SPI0 serial clock output (EEPROM master).
SPI0 chip select output (low active) (EEPROM master).
Motor driver enable (high active). ENABLE signal is also
connected to the internal µC. Please connect ENABLE pin
only to open drain outputs.
Crystal oscillator output.
Crystal oscillator input.
CAN interface output. Connect to CAN transceiver.
35
36
37
Out
In
Out (D)
XTAL
EXTAL
CAN_TXD
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change
reserved. Download newest version at:
www.trinamic.com
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TMCC160 motionCookie™ (Rev. 1.00 / 2015-Nov-16)
Package Pin Description
Pad
Number
38
39
40
41
42
43
44
45
46
47
48
49
50
51
Out
In
Out
In (A)
In (A)
Type
In (D)
Out (D)
In (D)
In (D)
IO (D)
In
Name
CAN_RXD
TXD
RXD
SWDCLK
SWDIO
VM
VCC
GND
GND
LS2
BM2
HS2
RS+
RS-
Function
CAN interface input. Connect to CAN transceiver.
UART output. Connect to RS232/RS485 transceiver.
UART input. Connect to RS232/RS485 transceiver.
Please do not connect.
Please do not connect.
Motor supply voltage.
3.3V digital supply voltage.
System ground connection.
System ground connection.
Low side N-channel MOSFET gate output phase 2 (V).
MOSFET bridge output phase 2 (V).
High side N-channel MOSFET gate output phase 2 (V).
Positive current sense input
measurement.
Negative current sense input
measurement.
for
for
single
single
shunt
shunt
Table Key:
(D): digital IO
,
(A): analog IO
© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change
reserved. Download newest version at:
www.trinamic.com
3/39
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