POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2208
/2
& TMC2224
/0/5
family Datasheet
TMC2202, TMC2208, TMC2220, TMC2224, TMC2225 Step/Dir Drivers for Two-Phase Bipolar Stepper Motors
up to 2A peak -
stealthChop™ for
Quiet Movement - UART Interface Option.
A
PPLICATIONS
Compatible Design Upgrade
3D Printers
Printers, POS
Office and home automation
Textile, Sewing Machines
CCTV, Security
ATM, Cash recycler
HVAC
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC2202, TMC2208, TMC2220, TMC2224
and TMC2225 are ultra-silent motor driver
ICs for two phase stepper motors. Their
pinning is compatible to a number of
legacy drivers. TRINAMICs sophisticated
stealthChop2 chopper ensures noiseless
operation, maximum efficiency and best
motor torque. Its fast current regulation
and optional combination with spreadCycle
allow
for
highly
dynamic
motion.
Integrated power-MOSFETs handle motor
current up to 1.4A RMS. Protection and
diagnostic features support robust and
reliable operation. A simple to use UART
interface opens up more tuning and
control options. Application specific tuning
can be stored to OTP memory.
Industries’
most advanced STEP/DIR stepper motor
driver family upgrades designs to noiseless
and most precise operation for cost-
effective and highly competitive solutions.
IREF
optional current scaling
2-phase
stepper motors up to 2A coil current (peak)
STEP/DIR Interface
with 2, 4, 8, 16 or 32 microstep pin
setting
Smooth Running
256 microsteps by
microPlyer™
interpolation
stealthChop2™
silent motor operation
spreadCycle™
highly dynamic motor control chopper
Low RDSon
LS 280mΩ & HS 290mΩ (typ. at 25°C)
Voltage Range
4.75…
36V DC
Automatic Standby
current reduction (option)
Internal Sense Resistor
option
(no sense resistors required)
Passive Braking
and Freewheeling
Single Wire UART
& OTP
for advanced configuration options
Integrated Pulse Generator
for standalone motion
Full Protection & Diagnostics
Choice of QFN, TQFP and HTSSOP packages
for best fit
B
LOCK
D
IAGRAM
Step/Dir
Power
Supply
+5V Regulator
Charge Pump
OTP
memory
Step Multiplyer
Standstill Current
Reduction
DAC Reference
TMC220X
TMC222X
Motor
UART
optional control
Configuration
Pins
UART Control
Mode
Selection
CLK Oscillator /
Selector
Control
Register
Set
spreadCycle
256 µStep
Sequencer
DRIVER
stealthChop
stealthChop2
CLK
Protection
& Diagnostics
Pulse Generator
Diag Out /
Index
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC220X, TMC222X DATASHEET (Rev. 1.04 / 2018-MAY-17)
2
APPLICATION EXAMPLES: SIMPLE SOLUTIONS
–
HIGHLY EFFECTIVE
The TMC22xx family scores with power density, integrated power MOSFETs, smooth and quiet
operation, and a congenial simplicity. The TMC22xx covers a wide spectrum of applications from
battery systems to embedded applications with up to 2A motor current per coil. TRINAMICs unique
chopper modes spreadCycle and stealthChop2 optimize drive performance. stealthChop reduces motor
noise to the point of silence at low velocities. Standby current reduction keeps costs for power
dissipation and cooling down. Extensive support enables rapid design cycles and fast time-to-market
with competitive products.
S
TANDALONE
R
EPLACEMENT
0A+
S/D
ERROR, INDEX
FOR
L
EGACY
S
TEPPER
D
RIVER
N
TMC22xx
0A-
0B+
0B-
S
In this example, configuration is hard
wired via pins. Software based motion
control generates STEP and DIR
(direction) signals, INDEX and ERROR
signals report back status information.
UART
High-Level
Interface
INTERFACE FOR
F
ULL
D
IAGNOSTICS
S/D
AND
C
ONTROL
S
N
0A+
CPU
UART
TMC22xx
0A-
0B+
0B-
Sense Resistors may be omitted
A CPU operates the driver via step and
direction signals. It accesses diagnostic
information
and
configures
the
TMC22xx via the UART interface. The
CPU manages motion control and the
TMC22xx drives the motor and smoo-
thens and optimizes drive performance.
TMC2208-EVAL E
VALUATION
B
OARD
The
TMC22xx-EVAL
is
part
of
TRINAMICs universal evaluation board
system which provides a convenient
handling of the hardware as well as a
user-friendly
software
tool
for
evaluation. The TMC22xx evaluation
board system consists of three parts:
STARTRAMPE (base board), TMC2208-
BRIDGE (connector board with several
test points and stand-alone settings),
and TMC22xx-EVAL.
O
RDER
C
ODES
Order code
TMC2208-LA
TMC2224-LA
TMC2202-WA
TMC2220-TA
TMC2225-SA
TMC2208-EVAL
TMC2224-EVAL
TMC22xx-Bridge
STARTRAMPE
Description
stealthChop standalone driver; QFN28 (RoHS compliant)
stealthChop standalone driver; QFN28 (RoHS compliant)
stealthChop driver; wettable edge QFN32 (RoHS compliant)
Option package: TQFP 48
–
please request for availability!
Option package: HTSSOP28
–
please request for availability!
Evaluation board for TMC2208 stepper motor driver
Evaluation board for TMC2224 stepper motor driver
Connector and jumper board fitting to TMC22xx family
Baseboard for TMC2208-EVAL and further evaluation boards
Size [mm
2
]
5x5
5x5
5x5
9x9
9.7 x 6.4
85 x 55
85 x 55
61 x 38
85 x 55
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.04 / 2018-MAY-17)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 4
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
K
EY
C
ONCEPTS
................................................ 5
C
ONTROL
I
NTERFACES
..................................... 6
M
OVING AND
C
ONTROLLING THE
M
OTOR
........ 6
STEALTH
C
HOP
2 &
SPREAD
C
YCLE
D
RIVER
........ 6
P
RECISE CLOCK GENERATOR AND
CLK
INPUT
... 7
A
UTOMATIC
S
TANDSTILL
P
OWER
D
OWN
......... 7
I
NDEX
O
UTPUT
................................................ 7
7
SPREADCYCLE CHOPPER
............................... 47
7.1
8
9
SPREAD
C
YCLE
S
ETTINGS
............................... 48
SELECTING SENSE RESISTORS
.................... 51
MOTOR CURRENT CONTROL
........................ 52
9.1
A
NALOG
C
URRENT
S
CALING
VREF
............... 53
10
11
INTERNAL SENSE RESISTORS
..................... 55
STEP/DIR INTERFACE
.................................... 57
PIN ASSIGNMENTS
........................................... 8
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
P
ACKAGE
O
UTLINE
TMC2208
........................ 8
S
IGNAL
D
ESCRIPTIONS
TMC2208
.................. 8
P
ACKAGE
O
UTLINE
TMC2202
........................ 9
S
IGNAL
D
ESCRIPTIONS
TMC2202
.................. 9
P
ACKAGE
O
UTLINE
TMC2224
......................10
S
IGNAL
D
ESCRIPTIONS
TMC2224
................11
P
ACKAGE
O
UTLINE
TMC2225
......................12
S
IGNAL
D
ESCRIPTIONS
TMC2225
................12
P
ACKAGE
O
UTLINE
TMC2220
......................13
S
IGNAL
D
ESCRIPTIONS
TMC2220
................13
11.1 T
IMING
......................................................... 57
11.2 C
HANGING
R
ESOLUTION
............................... 58
11.3
MICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
....................................................... 59
11.4 I
NDEX
O
UTPUT
............................................. 60
12
13
INTERNAL STEP PULSE GENERATOR
......... 61
DRIVER DIAGNOSTIC FLAGS
...................... 62
T
EMPERATURE
M
EASUREMENT
....................... 62
S
HORT
P
ROTECTION
...................................... 62
O
PEN
L
OAD
D
IAGNOSTICS
........................... 63
D
IAGNOSTIC
O
UTPUT
................................... 63
3
SAMPLE CIRCUITS
..........................................15
3.1
3.2
3.3
3.4
3.5
3.6
S
TANDARD
A
PPLICATION
C
IRCUIT
................15
I
NTERNAL
RDS
ON
S
ENSING
..........................15
5V O
NLY
S
UPPLY
..........................................16
C
ONFIGURATION
P
INS
..................................17
H
IGH
M
OTOR
C
URRENT
.................................17
D
RIVER
P
ROTECTION AND
EME C
IRCUITRY
...18
13.1
13.2
13.3
13.4
14
15
16
17
18
QUICK CONFIGURATION GUIDE
................ 64
EXTERNAL RESET
............................................. 67
CLOCK OSCILLATOR AND INPUT
............... 67
ABSOLUTE MAXIMUM RATINGS
................. 68
ELECTRICAL CHARACTERISTICS
................. 68
O
PERATIONAL
R
ANGE
................................... 68
DC
AND
T
IMING
C
HARACTERISTICS
.............. 69
T
HERMAL
C
HARACTERISTICS
.......................... 73
4
UART SINGLE WIRE INTERFACE
................19
4.1
4.2
4.3
4.4
D
ATAGRAM
S
TRUCTURE
.................................19
CRC C
ALCULATION
.......................................21
UART S
IGNALS
............................................21
A
DDRESSING
M
ULTIPLE
S
LAVES
....................22
18.1
18.2
18.3
19
5
REGISTER MAP
.................................................23
5.1
5.2
5.3
5.4
G
ENERAL
R
EGISTERS
.....................................24
V
ELOCITY
D
EPENDENT
C
ONTROL
...................29
S
EQUENCER
R
EGISTERS
.................................30
C
HOPPER
C
ONTROL
R
EGISTERS
.....................31
LAYOUT CONSIDERATIONS
......................... 74
E
XPOSED
D
IE
P
AD
........................................ 74
W
IRING
GND
.............................................. 74
S
UPPLY
F
ILTERING
........................................ 74
L
AYOUT
E
XAMPLE
TMC2208
........................ 75
19.1
19.2
19.3
19.4
20
6
STEALTHCHOP™
..............................................37
6.1
6.2
6.3
6.4
6.5
6.6
6.7
A
UTOMATIC
T
UNING
.....................................37
STEALTH
C
HOP
O
PTIONS
................................39
STEALTH
C
HOP
C
URRENT
R
EGULATOR
.............39
V
ELOCITY
B
ASED
S
CALING
............................41
C
OMBINING STEALTH
C
HOP AND SPREAD
C
YCLE
..
.....................................................................43
F
LAGS IN STEALTH
C
HOP
................................44
F
REEWHEELING AND
P
ASSIVE
B
RAKING
........45
PACKAGE MECHANICAL DATA
.................... 76
D
IMENSIONAL
D
RAWINGS
QFN28
............... 76
D
IMENSIONAL
D
RAWINGS
QFN32-WA
....... 78
P
ACKAGE
C
ODES
........................................... 79
20.1
20.2
20.3
21
22
23
TABLE OF FIGURES
......................................... 80
REVISION HISTORY
....................................... 81
REFERENCES
...................................................... 81
www.trinamic.com
TMC220X, TMC222X DATASHEET (Rev. 1.04 / 2018-MAY-17)
4
1
Principles of Operation
The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low cost stepper
driver applications. Its silent drive technology stealthChop enables non-bugging motion control for
home and office applications. A highly efficient power stage enables high current from a tiny package.
The TMC22xx requires just a few control pins on its tiny package. They allow selection of the most
important setting: the desired microstep resolution. A choice of 2, 4, 8, 16 or 32 microsteps adapts the
driver to the capabilities of the motion controller. Some package options also allow chopper mode
selection by pin.
Even at low microstepping rate, the TMC22xx offers a number of unique enhancements over
comparable products: TRINAMICs sophisticated stealthChop2 chopper plus the microstep enhancement
microPlyer ensure noiseless operation, maximum efficiency and best motor torque. Its fast current
regulation and optional combination with spreadCycle allow for highly dynamic motion. Protection
and diagnostic features support robust and reliable operation. A simple-to-use 8 bit UART interface
opens up more tuning and control options. Application specific tuning can be stored to on-chip OTP
memory. Industries’ most advanced step & direction
stepper motor driver family upgrades designs to
noiseless and most precise operation for cost-effective and highly competitive solutions.
VREF Analog current
scaling or leave
open
Place near IC with
short path to die pad
5VOUT
CPO
VCP
CPI
2.2µ
6.3V
22n
50V
100n
16V
+V
M
VS
Step and Direction
motion control
STEP
DIR
TMC22xx
Step&Dir input
5V Voltage
regulator
Analog Scaling
VREF
IREF
100n
100n
100µF
charge pump
Low ESR type
Step Pulse
Generator
MS1
Configuration
(GND or VCC_IO)
optional UART interface
MS2
SPREAD
(only TMC222x)
Configuration
Memory (OTP)
Stand Still
Current
Reduction
OA1
Full Bridge A
OA2
BRA
S
N
stepper
motor
microPlyer
Configuration
Interface
B. Dwersteg, ©
TRINAMIC 2016
stealthChop2
256 Microstep
Sequencer
Driver
spreadCycle
Integrated
Rsense
IREF
R
SA
PDN/UART
Connect directly
to GND plane
Use low inductivity SMD
type, e.g. 1206, 0.5W for
R
SA
and R
SB
UART interface
+ Register Block
Driver error
Index pulse
opt. ext. clock
10-16MHz
3.3V or 5V
I/O voltage
DIAG
INDEX
(not with TMC2202)
Programmable
Diagnostic
Outputs
Trimmed
CLK oscillator/
selector
OB1
Full Bridge B
OB2
BRB
CLK_IN
VCC_IO
100n
R
SB
Connect directly
to GND plane
DIE PAD
opt. driver enable
Figure 1.1 TMC22xx basic application block diagram
T
HREE
M
ODES OF
O
PERATION
:
O
PTION
1: Standalone STEP/DIR Driver (Legacy Mode)
A CPU (µC) generates step & direction signals synchronized to additional motors and other
components within the system. The TMC22xx operates the motor as commanded by the configuration
pins and STEP/DIR signals. Motor run current either is fixed, or set by the CPU using the analog input
VREF. The pin PDN_UART selects automatic standstill current reduction. Feedback from the driver to
the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN
pin.
www.trinamic.com
GND
ENN
TMC220X, TMC222X DATASHEET (Rev. 1.04 / 2018-MAY-17)
5
O
PTION
2: Standalone STEP/DIR Driver with OTP pre-configuration
Additional options enabled by pre-programming OTP memory (label UART & OTP):
+
+
+
Tuning of the chopper to the application for application tailored performance
Cost reduction by switching the driver to internal sense resistor mode
Adapting the automatic power down level and timing for best application efficiency
0A+
S/D
High-Level
Interface
UART
OTP
CPU
ERROR, INDEX
TMC22xx
0A-
0B+
S
N
TXD only or bit
bang UART
Other drivers
External pre-
programming
0B-
Figure 1.2 Stand-alone driver with pre-configuration
To enable the additional options, either one-time program the driver’s
OTP memory,
or store
configuration in the CPU and transfer it to the on-chip registers following each power-up. Operation
uses the same signals as Option 1. Programming does not need to be done within the application - it
can be executed during testing of the PCB! Alternatively, use bit-banging by CPU firmware to configure
the driver. Multiple drivers can be programmed at the same time using a single TXD line.
O
PTION
3: STEP/DIR Driver with Full Diagnostics and Control
Similar to Option 2, but pin PDN_UART is connected to the CPU UART interface.
Additional options (label UART):
+
+
+
+
Detailed diagnostics and thermal management
Passive braking and freewheeling for flexible, lowest power stop modes
More options for microstep resolution setting (fullstep to 256 microstep)
Software controlled motor current setting and more chopper options
UART
This mode allows replacing all control lines like ENN, DIAG, INDEX, MS1, MS2, and analog current
setting VREF by a single interface line. This way, only three signals are required for full control: STEP,
DIR and PDN_UART. Even motion without external STEP pulses is provided by an internal
programmable step pulse generator: Just set the desired motor velocity. However, no ramping is
provided by the TMC22xx. Access to multiple driver ICs is possible using an analog multiplexer IC.
1.1 Key Concepts
The TMC22xx implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and
cooler operation in many stepper motor applications.
stealthChop2™
No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor. Allows faster motor acceleration and deceleration than
stealthChop™ and extends
stealthChop to low stand still motor currents.
spreadCycle™
microPlyer™
High-precision
movements.
cycle-by-cycle
current
control
algorithm
for
highest
dynamic
Microstep interpolator for obtaining full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
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