Motion Controller for Stepper Motors
Integrated Circuits
TMC4330A DATASHEET
TMC4330A Document Revision 1.00 • 2016-NOV-25
S
HORT
The S-ramp and sixPoint™ ramp motion controller for stepper motors is optimized for high
velocities, allowing on-the-fly changes. TMC4330A offers Step/Dir interfaces, as well as an
encoder interface for closed-loop operation.
SPEC
Features
Figure 1: Sample Image
TMC4330A Closed-Loop Drive
*Marking details are explained on page
159.
SPI Interfaces for µC with easy-to-use protocol.
Encoder interface for incremental or serial encoders.
Closed-loop operation for Step drivers.
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.
Applications
Office automation
POS
Factory automation
Lab automation
Pumps and valves
Heliostat controllers
CNC machines
Robotics
Textile, sewing machines
CCTV, security
Printers, scanners
ATM, cash recycler
Block Diagram: TMC4330A Interfaces & Features
START
Ref. Switches
TMC4330
Ref. Switch
Processing
SPI to µC
SPI to
Master
Timer Unit
S-Ramp
Generator
incl. trapezoid,
rectangle, 4bows
Step
Sequencer
Driver
Interface:
Step/Dir
Step/Dir
INTR / TR to µC
CLK
NRST
Status Flags
Interrupt
Controller
Power-on
Reset
Encoder
Interface
ABN
SSI
SPI
Closed Loop
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
17
(page
160
).
SHORT SPEC
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•
2016-NOV-25
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Functional Scope of TMC4330A
TMC4330A 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
24).
A typical hardware setup for closed-loop operation with a TMC220x/222x stepper
motor driver is shown in the figure below.
High level
interface
µC
SPI
TMC4330
Motion
Controller
STEP/DIR
TMC22xx
Motor Driver
M
Encoder
ABN/
SSI/SPI
Figure 4: Hardware Set-up for Closed-loop Operation with TMC220x/222x
Reference
Switch Support
A typical hardware setup for open-loop operation with enhanced modifications, by
use of external stop switches with the TMC2100 motor stepper driver is shown
below. Home switches with different configurations are also supported.
High level
interface
µC
SPI
TMC4330
Motion
Controller
STEP/DIR
TMC2100
Motor
Driver
M
Stop
switches
+5V
Figure 5: Hardware Set-up for Open-loop Operation with TMC2100 supporting External
Stop Switches
Order Codes
Order code
Description
Size
TMC4330A-LA
Motion controller with closed-loop features, QFN32
Table 1: TMC4330A Order Codes
4 x 4 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
160.
SHORT SPEC
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•
2016-NOV-25
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T A BL E O F C O NT E N T S
TMC4330A DATASHEET .................................................................................................... 1
SHORT SPEC ..................................................................................................................... 1
Features ........................................................................................................................... 1
Applications ..................................................................................................................... 1
Block Diagram: TMC4330A Interfaces & Features ........................................................... 1
Functional Scope of TMC4330A ........................................................................................ 2
Order Codes ..................................................................................................................... 2
TABLE OF CONTENTS ....................................................................................................... 3
MAIN MANUAL ................................................................................................................. 8
1. Pinning and Design-In Process Information .............................................................. 8
Pin Assignment: Top View .................................................................................................... 8
Pin Description .................................................................................................................... 9
System Overview ............................................................................................................... 11
2. Application Circuits .................................................................................................. 12
TMC4330A Standard Connection: VCC=3.3V ....................................................................... 12
TMC4330A with TMC2100 Stepper Connection and Encoder feedback ................................... 12
TMC4330A with TMC22xx Stepper Connection ..................................................................... 12
3. SPI Interfacing ........................................................................................................ 13
SPI Datagram Structure ..................................................................................................... 13
SPI Timing Description ....................................................................................................... 16
4. Input Filtering .......................................................................................................... 17
Input Filtering Examples..................................................................................................... 19
5. Status Flags and Events ........................................................................................... 20
Status Event Description .................................................................................................... 21
SPI Status Bit Transfer ....................................................................................................... 22
Generation of Interrupts..................................................................................................... 22
Connection of Multiple INTR Pins ........................................................................................ 23
6. Ramp Configurations for different Motion Profiles .................................................. 24
Step/Dir Output Configuration ............................................................................................ 25
Step/Dir Output Configuration Steps ................................................................................... 25
STPOUT: Changing Polarity ............................................................................................... 25
Configuration Details for Operation Modes and Motion Profiles ............................................. 26
Starting Point: Choose Operation Mode ............................................................................... 27
Stop during Motion ............................................................................................................ 27
Motion Profile Configuration ............................................................................................... 28
No Ramp Motion Profile...................................................................................................... 29
Trapezoidal 4-Point Ramp without Break Point..................................................................... 30
Trapezoidal Ramp with Break Point .................................................................................... 30
Position Mode combined with Trapezoidal Ramps ................................................................ 31
Configuration of S-Shaped Ramps ....................................................................................... 32
Changing Ramp Parameters during S-shaped Motion or Switching to Positiong Mode ............. 33
© 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
160.
MAIN MANUAL
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2016-NOV-25
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Configuration of S-shaped Ramp with
ASTART
and
DFINAL
.................................................. 33
S-shaped Mode and Positioning: Fast Motion ....................................................................... 34
Start Velocity
VSTART
and Stop Velocity
VSTOP
.................................................................. 35
S-shaped Ramps with Start and Stop Velocity ...................................................................... 39
Combined Use of
VSTART
and
ASTART for S-shaped Ramps
............................................... 40
sixPoint Ramps .................................................................................................................. 41
U-Turn Behavior ................................................................................................................ 42
Continuous Velocity Motion Profile for S-shaped Ramps ...................................................... 43
Internal Ramp Generator Units ........................................................................................... 44
Clock Frequency ................................................................................................................ 44
Velocity Value Units ........................................................................................................... 44
Acceleration Value Units ..................................................................................................... 44
Bow Value Units ................................................................................................................ 45
Overview of Minimum and Maximum Values: ....................................................................... 45
7. External Step Control and Electronic Gearing .......................................................... 46
Description of Electronic Gearing ........................................................................................ 47
Indirect External Control .................................................................................................... 47
Switching from External to Internal Control ......................................................................... 48
8. Reference Switches ................................................................................................. 49
Hardware Switch Support ................................................................................................... 50
Stop Slope Configuration for Hard or Linear Stop Slopes ...................................................... 50
How Active Stops are indicated and reset to Free Motion ..................................................... 51
How to latch Internal Position on Switch Events .................................................................. 51
Virtual Stop Switches ......................................................................................................... 52
Enabling Virtual Stop Switches ............................................................................................ 52
Virtual Stop Slope Configuration ......................................................................................... 52
How Active Virtual Stops are indicated and reset to Free Motion ........................................... 53
Home Reference Configuration ........................................................................................... 54
Home Event Selection ........................................................................................................ 54
HOME_REF Monitoring ....................................................................................................... 55
Homing with STOPL or STOPR ............................................................................................ 56
Target Reached / Position Comparison ................................................................................ 57
Connecting several Target-reached Pins .............................................................................. 57
Use of TARGET_REACHED Output ...................................................................................... 58
Position Comparison of Internal Values ............................................................................... 59
Repetitive and Circular Motion ............................................................................................ 60
Repetitive Motion to XTARGET ............................................................................................ 60
Activating Circular Motion ................................................................................................... 60
Uneven or Noninteger Microsteps per Revolution ................................................................. 61
Release of the Revolution Counter ...................................................................................... 62
Blocking Zones .................................................................................................................. 62
Activating Blocking Zones during Circular Motion ................................................................. 62
Circular Motion with and without Blocking Zone ................................................................... 63
9. Ramp Timing and Synchronization .......................................................................... 64
Basic Synchronization Settings ............................................................................................ 65
Start Signal Trigger Selection ............................................................................................. 65
User-specified Impact Configuration of Timing Procedure ..................................................... 65
Delay Definition between Trigger and internally generated Start Signal ................................. 66
© 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
160.
MAIN MANUAL
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2016-NOV-25
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Active START Pin Output Configuration ............................................................................... 66
Ramp Timing Examples ...................................................................................................... 67
Shadow Register Settings ................................................................................................... 70
Shadow Register Configuration Options ............................................................................... 71
Delayed Shadow Transfer................................................................................................... 75
Pipelining Internal Parameters ............................................................................................ 76
Configuration and Activation of Target Pipeline .................................................................... 76
Using the Pipeline for different internal Registers ................................................................. 77
Pipeline Mapping Overview ................................................................................................. 78
Cyclic Pipelining ................................................................................................................. 79
Pipeline Examples .............................................................................................................. 79
Masterless Synchronization of Several Motion Controllers via START Pin ................................ 81
10. Controlled PWM Output ........................................................................................... 82
How to change Motion Direction ......................................................................................... 82
Change of Microstep Resolution .......................................................................................... 82
PWM Output Generation and Scaling Possibilities ................................................................. 83
PWM Scale Example ........................................................................................................... 84
Microstep Lookup Tables .................................................................................................... 85
Actual Microstep Values Output .......................................................................................... 86
How to Program the Internal MSLUT ................................................................................... 86
Setup of MSLUT Segments ................................................................................................. 87
Microstep Waves Start Values ............................................................................................. 88
Default MSLUT .................................................................................................................. 88
Explanatory Notes for Base Wave Inclinations ..................................................................... 89
11. Decoder Unit: Connecting ABN, SSI, or SPI Encoders correctly ............................... 91
Selecting the correct Encoder ............................................................................................. 92
Disabling digital differential Encoder Signals ........................................................................ 93
Inverting of Encoder Direction ............................................................................................ 93
Encoder Misalignment Compensation .................................................................................. 94
Incremental ABN Encoder Settings ...................................................................................... 95
Automatic Constant Configuration of Incremental ABN Encoder ............................................ 95
Manual Constant Configuration of Incremental ABN Encoder ................................................ 95
Incremental Encoders: Index Signal: N resp. Z .................................................................... 96
Setup of Active Polarity for Index Channel .......................................................................... 96
Configuration of N Event .................................................................................................... 96
External Position Counter
ENC_POS
Clearing ....................................................................... 97
Latching External Position .................................................................................................. 98
Latching Internal Position ................................................................................................... 98
Absolute Encoder Settings .................................................................................................. 99
Singleturn or Multiturn Data ............................................................................................... 99
Automatic Constant Configuration of Absolute Encoder .......................................................100
Manual Constant Configuration of incremental ABN Encoder ................................................100
Absolute Encoder Data Setup ............................................................................................101
Emitting Encoder Data Variation ........................................................................................102
SSI Clock Generation ........................................................................................................103
Enabling Multicycle SSI request ........................................................................................104
Gray-encoded SSI Data Streams .......................................................................................104
SPI Encoder Data Evaluation .............................................................................................105
© 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
160.
MAIN MANUAL
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