MOTION CONTROLLER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC429 DATASHEET
Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces and Step/Direction
Full Compatible Successor of the TMC428
A
PPLICATIONS
CCTV, Security
Antenna Positioning
Heliostat Controller
Battery powered applications
Office Automation
ATM, Cash recycler, POS
Lab Automation
Liquid Handling
Medical
Printer and Scanner
Pumps and Valves
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC429 is a miniaturized stepper motor
controller with an industry leading feature
set. It controls up to three motors via SPI or
Step/Direction interface. The SPI interface
provides a programmable 6 bit microstep
table (64 µsteps / fullstep) for best step
accuracy with 2-phase stepper motors. Based
on target positions and velocities - which can
be altered on the fly - it performs all real
time critical tasks autonomously. The TMC429
offers high level control functions for robust
and reliable operation. Two separate 4 wire
serial peripheral interfaces allow for
communication with the microcontroller and
with up to three daisy chained stepper motor
drivers.
Together with a microcontroller the TMC429
forms a complete motion control system.
High integration and small form factor allow
for miniaturized designs for cost-effective and
highly competitive solutions.
Controls up to three stepper motors
3.3 V or 5 V operation
with CMOS / TTL compatible IOs
Serial 4-wire interface
for µC with easy-to-use protocol
Interface for SPI™
motor drivers with data rates up to 1 Mbit/s
Step/Direction interface
Clock frequency:
up to 32 MHz (can use CPU clock)
Internal position counters
24 bit wide
Microstep frequency
up to 1 MHz
Read-out option
for all motion parameters
Programmable 6 bit microstep table,
up to 64 entries for a
quarter sine wave period
Ramp generators
for autonomous positioning / speed control
On-the-fly change
of target motion parameters
Power boost
automatic acceleration dependent current control
Low power operation:
1.25 mA at 4 MHz (typ.)
Compact Size:
ultra small 16 pin SSOP package, small 24 pin SOP
package, and 32 pin QFN 5x5 mm package
Directly controls
TMC23x, TMC24x, TMC26x, and TMC389
B
LOCK
D
IAGRAM
3x Ref. Switches
TMC429
Ref. Switch
Processing
OUTPUT SELECT
- SPI
SPI to µC
SPI to
Master
3x Linear
RAMP Generator
SPI to Stepper
Motor Driver 0/1/2
Step/Dir OUT 0/1/2
Step/Dir
Pulse
Generation
or
-
Step/Dir
SDO to µC
Muliplexed
Output
CLK
Interrupt
Controller
Position
Comparator
Microstep
Table
Serial Driver
Interface
Position Compare OUT
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03)
2
APPLICATION EXAMPLES: RELIABLE CONTROL FOR UP TO 3 MOTORS
The TMC429 scores with its autonomous handling of all real time critical tasks. 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 by hardware for up to three stepper motor driver chips.
Parameters for each motor can be changed on the fly while software retains full control using an SPI
bus. This way, high precision and reliable operation is achieved while costs are kept down.
STEP
R
OCKER
™
Controller/Driver Chain
The TMCM-1110 stepRocker is a single axis
motor controller and driver board for 2-phase
bipolar stepper motors. It features the
TRINAMIC controller/driver chain consisting of
TMC429 and TMC262. The Module is intended to
be a fully functional development platform with
6A MOSFETs. Because of the TMC429s ability to
control up to three motors the stepRocker can
be extended to a full 3-axes system.
Development platform with TMC262
TMC429+TMC26
X
-EVAL
This evaluation board is a development
platform for applications based on the TMC429
in combination with TMC260, TMC261, and
TMC262. Common supply voltages are +12V DC /
+24V DC / +48V DC (TMC261 only). The board
features an embedded microcontroller with USB
and RS232 interfaces. The control software
provides a user-friendly GUI for setting control
parameters and visualizing the dynamic
responses of the motors.
Motor movements can be controlled via the
step and direction interface using inputs from
an external source or signals generated by the
microcontroller acting as a step generator.
TMC429
Layout for Evaluation of TMC429 with
TMC262, TMC261, and TMC260
O
RDER
C
ODES
Order code
TMC429-LI
TMC429-PI24
Description
3-axis controller QFN32-package (5x5mm2), full functionality
3-axis controller SOP24-package (TMC428 replacement
possible)
TMC429-I
3-axis controller SSOP16-package (SPI only, for TMC428
replacement)
TMC429+26x-EVAL
Evaluation board for S/D chipset (TMC429with TMC260,
TMC261, TMC262 and TMC424)
TMC429+TMC24x-EVAL Evaluation board for SPI chipset (TMC429, TMC246, and
TMC249)
Size
5 x 5 mm
2
15.5 x 10.5 mm
2
6 x 5 mm
2
16 x 10 cm
2
13.5 x 8,2 cm
2
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03)
3
T
ABLE OF
C
ONTENTS
1
1.1
1.2
1.3
1.4
1.5
PRINCIPLES OF OPERATION
K
EY
C
ONCEPTS
C
ONTROL
I
NTERFACES
S
OFTWARE
V
ISIBILITY
S
TEP
F
REQUENCIES
M
OVING THE
M
OTOR
4
4
5
6
6
7
9
9
9
9
9
11.4
11.5
12
10
STEP/DIR DRIVERS
T
IMING
53
53
54
10.1
11
SPI MODE DRIVER INTERFACE
2
GENERAL DEFINITIONS, UNITS, AND
NOTATIONS
2.1
2.2
2.3
2.4
3
4
4.1
4.2
5
5.1
5.2
5.3
6
6.1
6.2
7
7.1
7.2
7.3
8
8.1
8.2
9
9.1
9.2
9.3
9.4
N
OTATIONS
S
IGNAL
P
OLARITIES
U
NITS OF
M
OTION
P
ARAMETERS
R
EPRESENTATION OF
S
IGNED
V
ALUES BY
T
WO
’
S
C
OMPLEMENT
PACKAGE VARIANTS
PIN ASSIGNMENTS
P
ACKAGE
O
UTLINES
S
IGNAL
D
ESCRIPTIONS
SAMPLE CIRCUITS
11.1
11.2
11.3
B
US
S
IGNALS
54
T
IMING
54
RAM A
DDRESS
P
ARTITIONING AND
D
ATA
O
RGANIZATION
55
S
TEPPER
D
RIVER
SPI D
ATAGRAM
C
ONFIGURATION
57
I
NITIALIZATION OF
M
ICROSTEP
L
OOK
-U
P
T
ABLE
62
67
RUNNING A MOTOR
10
10
11
12
13
12.1
12.2
13
14
15
16
G
ETTING
S
TARTED
67
R
UNNING A
M
OTOR WITH
S
TART
-S
TOP
-S
PEED IN
RAMP
_
MODE
67
68
69
70
70
70
71
72
73
73
74
75
76
77
ON-CHIP VOLTAGE REGULATOR
POWER-ON RESET
ABSOLUTE MAXIMUM RATINGS
ELECTRICAL CHARACTERISTICS
P
OWER
D
ISSIPATION
DC C
HARACTERISTICS
T
IMING
C
HARACTERISTICS
A
PPLICATION
E
XAMPLE
: TMC429
IN
QFN32
P
ACKAGE
13
A
PPLICATION
E
XAMPLE
: TMC429
IN
SSOP16
P
ACKAGE
14
A
PPLICATION
E
XAMPLE
: TMC429
WITH
D
RIVERS
WITHOUT
S
ERIAL
D
ATA
O
UTPUT
(SDO)
14
CONTROL INTERFACE
B
US
S
IGNALS
S
ERIAL
P
ERIPHERAL
I
NTERFACE FOR µ
C
ADDRESS SPACE PARTITIONS
R
EAD AND
W
RITE
R
EGISTER
S
ET
R
EGISTER
M
APPING
REGISTER DESCRIPTION
A
XIS
P
ARAMETER
R
EGISTERS
G
LOBAL
P
ARAMETER
R
EGISTERS
REFERENCE SWITCH INPUTS
R
EFERENCE
S
WITCH
C
ONFIGURATION
,
MOT
1
R
,
AND
REFMUX
16.1
16.2
16.3
18
PACKAGE MACHANICAL DATA
TMC429-LI / QFN32
TMC429-PI24 / SOP24
TMC429-I / SSOP16
15
15
15
20
20
20
21
22
22
39
49
49
51
52
18.1
18.2
18.4
19
MARKING
20 COMPATIBILITY INFORMATION: TMC429
AND TMC428
20.1
20.2
20.3
20.4
21
22
23
24
25
S
IGNAL
D
ESCRIPTIONS
: TMC428
VS
. TMC42977
TMC428 SDO_C O
UTPUT
78
U
NUSED
A
DDRESSES
78
G
ENERAL
T
IMING
P
ARAMETERS
79
80
80
81
82
83
DISCLAIMER
ESD SENSITIVE DEVICE
TABLE OF FIGURES
REVISION HISTORY
REFERENCES
T
RIPLE
S
WITCH
C
ONFIGURATION
H
OMING
P
ROCEDURE
S
IMULTANEOUS
S
TART OF UP TO
T
HREE
S
TEPPER
M
OTORS
52
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03)
4
1
Principles of Operation
REF3
REF2
REF1
REF3R*
REF2R*
REF1R*
POSCMP*
nINT_SDO_C
POSCOMP
Interrupt Controller
V5
TMC429
nSCS_C
SPI to
µC
SCK_C
SDI_C
SDOZ_C*
Serial
µC
Interface
3 x RAMP
Generator
6
3 x STEPPULS
Generator
3x Step/Dir
SPI Mode
Microstep
Unit
(incl. Sequencer)
Serial Driver
Interface
SPI
M
U
X
SDO_S / Step 1
SCK_S / Dir 1
nSCS_S / Step 2
SDI_S / Dir 2
nSCS2 / Step 3*
nSCS3 / Dir 3*
SPI / Step/Dir
to driver
CLK
4-32MHz
TEST
Multiple Ported RAM
Power-on
Reset
Voltage
Regulator
Connect for
+3.3V operation
V33
470nF
V5 /+5V supply or
+3V supply
DIE PAD
GND
GND
GND
GND
100nF
GND
*
Not available with all IC packages. Please refer to the package outlines.
Figure 1.1 TMC429 functional block diagram
The TMC429 is a miniaturized high performance stepper motor controller with an outstanding cost-
performance ratio. It is designed for high volume automotive as well as for demanding industrial
motion control applications. Once initialized the TMC429 controls up to three 2-phase stepper motors
simultaneously. A programmable sequencer for 2-phase motors is integrated. The TMC429 motion
controller is equipped with an SPI™ host interface with easy-to-use protocol and two driver interfaces
(SPI and STEP/DIR) for addressing various stepper motor driver types.
1.1 Key Concepts
The TMC429 realizes real time critical tasks autonomously and guarantees for a robust and reliable
drive. These following features contribute toward greater precision, greater efficiency, higher
reliability, and smoother motion in many stepper motor applications.
Initialization
Interfacing
Positioning
Programming
Adapt the TMC429 to the driver type and configuration and send initial configuration
data to SPI drivers. Configure microstep resolution and waveform for SPI drivers.
The TMC429 offers application specific interfacing via Step/Dir or SPI.
The TMC429 operates the motors based on user specified target positions and
velocities. Modify all motion target parameters on-the-fly during motion.
Every parameter can be changed at any time. The uniform access to any TMC429
register simplifies application programming. A read-back option for all internal
registers is available.
Based on internal position counters the TMC429 performs up to ±2
23
(micro)steps
completely independent from the microcontroller. Microstep resolutions are
individually programmable for each stepper motor.
The range goes from full stepping (1 microstep = 1 full step) and half stepping (2
microsteps per full step) up to 6 bit micro stepping (64 microsteps per full step) for
precise positioning and noiseless stepper motor rotation. With STEP/DIR drivers any
microstep resolution is possible as supported by the driver.
The internal microstep table can be adapted to specific motor characteristics to
further reduce torque ripple, if desired.
Microstepping
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03)
5
1.2 Control Interfaces
1.2.1
Serial µC Interface
From the software point of view, the TMC429 provides a set of registers, accessed by a
microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a read-
write selection bit, and data bits to access the registers and the on-chip memory. Each time the
microcontroller sends a datagram to the TMC429 it simultaneously receives a datagram from the
TMC429. This simplifies the communication with the TMC429 and makes programming easy. Most
microcontrollers have an SPI hardware interface, which directly connects to the serial four wire
microcontroller interface of the TMC429. For microcontrollers without SPI hardware software doing the
serial communication is sufficient and can easily be implemented.
1.2.2
Step/Dir Driver Interface
The TMC429-LI controls the motor position by sending pulses on the STEP signal while indicating the
direction on the DIR signal. A programmable step pulse length and step frequencies up to 1MHz allow
operation at high speed and high microstep resolution. The driver chip converts these signals into the
coil currents which control the position of the motor. The TMC429-LI perfectly fits to the TMC26x smart
power Step/Dir driver family.
High Level
Interface
µC
SPI
TMC429
Motion Controller
Step/Dir 2
Step/Dir 3
SPI
Step/Dir 1
Stepper Motor
Driver
e.g. TMC260/TMC261
Stepper Motor
Driver
e.g. TMC260/TMC261
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 1
M
Motor 2
M
Motor 3
Figure 1.2 Application example using Step/Dir driver interface
1.2.3
Serial Driver Interface
The TMC429 automatically generates the required data-stream for SPI drivers and provides user
configurable microstep waves and motor ramps for up to three motors. The serial interface to the
motor drivers is flexibly configurable for different types (from different vendors) with up to 64 bit
length for the SPI daisy chain. The TMC429-I perfectly fits to the TMC24x driver family.
High Level
Interface
µC
SPI
TMC429
Motion Controller
SPI
Stepper Motor
Driver
e.g. TMC236/TMC246
Stepper Motor
Driver
e.g. TMC236/TMC246
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 1
M
Motor 2
M
Motor 3
Figure 1.3 Application example using SPI driver interface
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