Dedicated Motion Controller for 2-/3-Phase PMSM
INTEGRATED CIRCUITS
TMC4670 Datasheet
IC Version V1.01 | Document Revision V1.00 • 2018-Oct-08
The TMC4670 is servo controller, providing Field Oriented Control for BLDC/PMSM and 2-phase
Stepper Motors. Main control functions as torque, velocity and position control are implemented
in hardware. Integrated ADCs, position sensor interfaces, position interpolators, enables a fully
functional servo controller.
Features
• Field Oriented Control (FOC)
w/ Servo Controller
• Torque Control (FOC),
Velocity Control, Position Control
• Feed Forward Offsets
• Integraded ADCs
• Encoder Engine: Hall analog/digital,
Encoder analog/digital,
2nd digital Encoder
• Supports 3-Phase PMSM (FOC3) and
2-Phase Stepper Motors (FOC2)
• PWM Engine including SVPWM
• SPI Communication Interface
Applications
• Robotics
• Pick and Place Machines
• Semiconductor Handling
• Factory Automation
• E-Mobility
• Laboratory Automation
• Blowers
• Pumps
Simpli ed Block Diagram
©2018 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.
TMC4670 Datasheet • IC Version V1.01 | Document Revision V1.00 • 2018-Oct-08
2 / 102
Contents
1 Order Codes
2 Functional Summary
3 Functional Description
3.1 Functional Blocks
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Communication Interface
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 SPI Slave User Interface
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Register Bank
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Register Bank - Read and Write
. . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Register Access Datagram Examples
. . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Identi cation of Silicon via Type, Version, Date, and Time
. . . . . . . . . .
3.3.4 Read of RAW Inputs & RAW Outputs
. . . . . . . . . . . . . . . . . . . . . . .
3.4 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs
. .
3.4.1 Numerical Representation
. . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 N_POLE_PAIRS, PHI_E, PHI_M
. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Numerical Representation of Angles PHI
. . . . . . . . . . . . . . . . . . . .
3.5 ADC Engine
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Internal ADC
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 External ADC (LTC2351)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 ADC Selector & ADC Scaler w/ Offset Correction
. . . . . . . . . . . . . . . .
3.6 Encoder Engine
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Open Loop Encoder
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Incremental ABN Encoder
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.3 Secondary Incremental ABN Encoder
. . . . . . . . . . . . . . . . . . . . . .
3.6.4 Digital Hall Sensor Interface with optional Interim Position Interpolation
.
3.6.5 Digital Hall Sensor - Interim Position Interpolation
. . . . . . . . . . . . . .
3.6.6 Digital Hall together with Incremental Encoder
. . . . . . . . . . . . . . . .
3.6.7 Analog Hall and Analog Encoder Interface (SinCos of 0°90° or 0°120°240°)
3.6.8 Analog Position Decoder (SinCos of 0°90° or 0°120°240°)
. . . . . . . . . .
3.7 FOC23 Engine
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1 PI(D) Controllers
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2 PI(D) Controller Calculations
. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.3 PI(D) Controller - Clipping
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.4 PI Flux & PI Torque
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.5 PI Velocity
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.6 P(I) Position
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.7 Inner FOC Control Loop - Flux & Torque
. . . . . . . . . . . . . . . . . . . . .
3.7.8 FOC Transformations and PI(D) for control of Flux & Torque
. . . . . . . . .
3.7.9 Motion Modes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8 PWM Engine
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1 PWM Polarites
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2 PWM frequency
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3 PWM Resolution
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.4 PWM Modes
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.5 Brake-Before-Make (BBM)
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.6 Space Vector PWM (SVPWM)
. . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Safety Functions
5 Register Map
6 Pinning
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
4
5
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
6
6
7
7
8
8
9
9
9
9
9
10
11
12
13
13
13
15
15
15
17
17
18
18
19
20
20
20
21
21
22
22
23
23
23
24
24
25
25
25
25
25
26
26
27
85
TMC4670 Datasheet • IC Version V1.01 | Document Revision V1.00 • 2018-Oct-08
3 / 102
7 Package Dimensions
8 Characteristics
8.1 Absolute Maximum Ratings
. . . . . .
8.2 Recommended Operation Conditions
8.3 DC Characteristics
. . . . . . . . . . . .
8.4 Timing Characteristics
. . . . . . . . .
8.5 Power Dissipation
. . . . . . . . . . . .
9 Supplemental Directives
9.1 Producer Information
. . . . . . . . .
9.2 Copyright
. . . . . . . . . . . . . . . . .
9.3 Trademark Designations and Symbols
9.4 Target User
. . . . . . . . . . . . . . . .
9.5 Disclaimer: Life Support Systems
. . .
9.6 Disclaimer: Intended Use
. . . . . . .
9.7 Collateral Documents & Tools
. . . . .
10 Figures Index
11 Tables Index
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
95
96
96
96
97
97
97
98
98
98
98
98
98
98
99
100
101
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
12 Revision History
102
12.1 IC Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
12.2 Document Revision
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
TMC4670 Datasheet • IC Version V1.01 | Document Revision V1.00 • 2018-Oct-08
4 / 102
1 Order Codes
Order Code
TMC4670-BI
TMC4670-EVAL
Description
TMC4670 FOC Servo Controller IC
TMC4670 Evaluation Board
Table 1: Order codes
Size [mm]
17 x 17 x 2.5
85 x 79
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
TMC4670 Datasheet • IC Version V1.01 | Document Revision V1.00 • 2018-Oct-08
5 / 102
2 Functional Summary
•
Field Oriented Control (FOC) Servo Controller
–
–
–
–
torque (and ux) control mode
velocity control mode
position control mode
update rate 200 kHz (w/ 4 kHz velocity meter sampling frequency)
•
PI Controllers
–
programmable clipping of inputs and outputs of interim results
–
error sum (error integral over time) clipping
–
programmable target torque change in time (dTargetTorque/dt) limiter
–
programmable circular (
2
2
U
D
+
U
Q
) limiter
–
PI controller clipping status bit vector for real time Monitoring
–
Feed Forward Offsets for Target Values
•
Supported Motor Types
–
FOC3 : three-phase permanent magnet synchronous motors (PMSM)
–
FOC2 : two-phase stepper motors
•
ADC Engine with Offset Correction and Scaling
–
integrated 12 bit ADCs as analog interface for currents and analog encoders
–
interface to external AD (LTC2351, 14 bit or 12 bit)
–
ADC register to write externally sampled data via SPI communication interface
•
Encoder Engine
–
–
–
–
–
–
–
open loop position generator (programmable [rpm], [rpm/s]) for initial setup
digital incremental encoder (ABN resp. ABZ, up to 5MHz)
secondary digital incremental encoder
digital hall sensor interface (H
1
, H
2
, H
3
resp. H
U
, H
V
, H
W
)
digital hall sensor interface with interpolation of interim positions
analog encoder/analog hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
position multi-turn counter (32 Bit)
•
PWM Engine including SVPWM
–
programmable PWM frequency within range 25kHz . . . 200kHz
–
programmable Brake-Before-Make (BBM) times (high side, low side) 0ns . . . 2.5µs in 10ns steps
–
PWM auto scaling for transparent change of PWM frequency during motion
•
SPI Communication Interface
–
40 bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits)
–
immediate SPI read response (register read access by single datagram)
•
Supply Voltages
3.3V, 2.5V, 1.2V
•
IO Voltage
3.3V
•
Clock Frequency
25MHz
•
Package
17mm x 17mm BGA w/ 1mm ball pitch
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at
www.trinamic.com
京公网安备 11010802033920号
Copyright © 2005-2026 EEWORLD.com.cn, Inc. All rights reserved
电子工程世界
