POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC6200 DATASHEET
Universal high voltage BLDC/PMSM/Servo MOSFET 3-halfbridge gate-driver with in line motor current
sensing. External MOSFETs for up to 100A motor current.
A
PPLICATIONS
PMSM FOC drives and BLDC motors
Industrial Drives
Factory Automation
Lab Automation
Robotics
CNC machines
Textile Machines
Pumps
Surveillance Cameras
Home Automation
Printers
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC6200 is a high-power gate-driver
for PMSM servo or BLDC motors. Using
six external MOSFETs and two or three
sense resistors, it integrates the full high
voltage part of a PMSM drive system for
12V, 24V or 48V, including in-line current
sense amplifiers with programmable
amplification. It can drive a wide range
of motors from Watt to Kilowatt.
Software controlled drive strength allows
in-system EME optimization. Programm-
able safety features like short detection
and overtemperature thresholds together
with an SPI interface for diagnostics
allow robust and reliable designs. With
the TMC6200, a minimum number of
external components is required to build
a rugged drive with full protection and
diagnostics.
3-phase
motors up to 100A coil current (external MOSFETs)
Voltage Range
8
…
60V DC
Gate Drive Programmable
0.5A / 1A / 1.5A
Full Protection and Diagnostics
via SPI interface
3 Floating Sense Amplifiers
with programmable gain (5, 10, 20)
Gate Off Drive
with 1Ω (LS) / 1.3Ω (HS) safe hold off resistance
SPI & Stand-Alone
operation
Charge Pump for 100% Duty Cycle
operation
Optional BBM
break-before-make logic for single line control
Programmable Short and Overload
current threshold and retry
Programmable Control Interface
with 3 line or 6 line drive
Full Protection & Diagnostics
Compact Size
9x9mm
2
TQFP48 package
Double Pin Distance
for safe operation at high voltage
B
LOCK
D
IAGRAM
Power
VM
BUS / IO
VCC_IO
Charge
Pump
5V / 12V
Regulator
TMC6200
CP
+V
M
Power on
reset
RC
Oscillator
LS-Drive
LS-Drive
HS-Drive
BHx
BLx
ENABLE
Driver
Logic
HS
RS
N
BM
RS
S
µC or µC+
TMC4671
RS
BLDC Motor
SPI / Pin setting
LS-Drive
LS-Drive
LS-Drive
LS
FAULT
Diagnostics &
Error Feedback
Diagn. Comp.
Current
Measurement
RSU
RSV
RSW
Short to GND, Short to VS
Undervoltage
Overtemperature
GNDA
CURU, V, W
GNDP
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC6200 DATASHEET (Rev. 1.03 / 2019-FEB-13)
2
APPLICATION EXAMPLES: PMSM
AND
BLDC
MOTORS
The TMC6200 scores with integration of the complete high-voltage part for FOC controlled PMSM drivers. On
the control side, it mates with sophisticated FOC TMC467x and TMC867x family controller chips, or with any
microcontroller. Its versatile interface matches simple BLDC drives with minimum requirements on the µC
PWM, as well as advanced PMSM control algorithms. The small form factor and easy-to-use package of the
TMC6200 keeps costs down and allows for miniaturized layouts. Extensive support at the chip, board, and
software levels enables rapid design cycles and fast time-to-market with competitive products. High
integration and reliability deliver cost savings in related systems such as power supplies and cooling.
M
INIATURIZED
CPU
BASED
D
ESIGN FOR
BLDC
OR
PMSM
Gate CTRL
DIAG
High-Level
Interface
PWM
CPU
ADC
SPI
(optional)
TMC6200
M
Encoder
/ Hall
Current Sense
A CPU with internal BLDC or sine wave PWM
unit drives the gate control lines based on
encoder or hall sensor feedback. The current
sensor outputs become sampled by the µC
integrated ADC. Use of SPI is not required,
unless more sophisticated diagnostics is
desired.
When using one of the TRINAMIC FOC
controllers, the CPU is completely offloaded
from time-intensive regulation loop tasks,
and software design shrinks to initialization
and target parameter setting. The TMC6200
optimally complements a TMC467x family
controller.
H
IGH
P
ERFORMANCE
FOC S
ERVO
D
ESIGN FOR
PMSM
Gate CTRL
PWM
High-Level
Interface
CPU
SPI
TMC467x
ADC
Current
Sense
SPI
TMC6200
M
Encoder
/ Hall
The TMC6200-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
TMC6200 evaluation board system
consists
of
three
parts:
LANDUNGSBRÜCKE
(base
board),
ESELSBRÜCKE (connector board including
several test points), and TMC6200-EVAL,
plus a TMC4671-EVAL FOC controller.
O
RDER
C
ODES
Order code
TMC6200-TA
TMC6200-TA-T
TMC6200-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
Description
Three phase gate-driver for external MOSFETs; TQFP48
-T denotes tape on reel packed devices
Evaluation board for TMC6200.
Baseboard for TMC6200-EVAL and further evaluation boards.
Connector board for plug-in evaluation board system.
Size [mm
2
]
9x9
85 x 80
85 x 55
61 x 38
www.trinamic.com
TMC6200 DATASHEET (Rev. 1.03 / 2019-FEB-13)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 4
1.1
2
C
ONTROL
I
NTERFACES
..................................... 6
8
9
7.2
S
HORT
P
ROTECTION
...................................... 32
EXTERNAL RESET
............................................. 34
CLOCK OSCILLATOR AND INPUT
............... 34
9.1
9.2
10
11
11.1
11.2
11.3
12
12.1
12.2
12.3
12.4
12.5
13
13.1
13.2
14
15
16
17
U
SING THE
I
NTERNAL
C
LOCK
........................ 34
U
SING AN
E
XTERNAL
C
LOCK
......................... 34
ABSOLUTE MAXIMUM RATINGS
............ 35
ELECTRICAL CHARACTERISTICS
............ 35
O
PERATIONAL
R
ANGE
................................... 35
DC
AND
T
IMING
C
HARACTERISTICS
.............. 36
T
HERMAL
C
HARACTERISTICS
.......................... 40
LAYOUT CONSIDERATIONS.....................
41
E
XPOSED
D
IE
P
AD
........................................ 41
W
IRING
GND
.............................................. 41
W
IRING
B
RIDGE
S
UPPLY
.............................. 41
S
UPPLY
F
ILTERING
........................................ 41
L
AYOUT
E
XAMPLE
......................................... 42
PACKAGE MECHANICAL DATA
................ 44
D
IMENSIONAL
D
RAWINGS
TQFP48-EP
....... 44
P
ACKAGE
C
ODES
........................................... 45
DISCLAIMER
................................................. 46
ESD SENSITIVE DEVICE............................
46
TABLE OF FIGURES
.................................... 47
REVISION HISTORY
................................... 47
PIN ASSIGNMENTS
........................................... 7
2.1
2.2
P
ACKAGE
O
UTLINE
.......................................... 7
S
IGNAL
D
ESCRIPTIONS
................................... 7
3
SAMPLE CIRCUITS
..........................................10
3.1
3.2
3.3
3.4
3.5
S
TANDARD
A
PPLICATION
C
IRCUIT
................10
E
XTERNAL
G
ATE
V
OLTAGE
R
EGULATOR
..........11
Z
ERO
S
TANDBY
C
URRENT
..............................12
MOSFET
S AND
S
LOPE
C
ONTROL
..................13
T
UNING THE
MOSFET B
RIDGE
.....................15
4
SPI INTERFACE
................................................18
4.1
4.2
4.3
SPI D
ATAGRAM
S
TRUCTURE
.........................18
SPI S
IGNALS
................................................19
T
IMING
.........................................................20
5
REGISTER MAPPING
.......................................21
5.1
G
ENERAL
C
ONFIGURATION
R
EGISTERS
..........22
6
CURRENT SENSE AMPLIFIERS
.....................27
6.1
6.2
6.3
S
ETTLING
T
IME
.............................................27
C
URRENT
A
MPLIFIER
O
FFSET
........................28
C
HOICE OF
S
ENSE
R
ESISTORS
.......................31
7
DIAGNOSTICS AND PROTECTION
.............32
7.1
T
EMPERATURE
S
ENSORS
................................32
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TMC6200 DATASHEET (Rev. 1.03 / 2019-FEB-13)
4
1
Principles of Operation
The TMC6200 is a MOSFET gate driver for three phase PMSM and BLDC motors. Ideally suited for
applications in the range of 12V to 48V, it supports motor power ratings from 1 Watt to 1kW. It
complements with TRINAMICs TMC467x & TMC867x families of three phase motor controller ICs.
Internal break-before-make timing is provided for the ease-of-use in combination with simple
microcontrollers for PWM generation. Integrated current sense amplifiers eliminate costly sense
amplifiers required for FOC controllers, while bringing the benefit of in-line current sensing. A
complete set of protection and diagnostic functions makes the power stage more rugged than a
discrete setup.
T
HE
TMC6200
OFFERS TWO BASIC MODES OF OPERATION
:
MODE 1: Stand-alone driver with pin configuration
Enable this mode by tying low pin SPE. The interface pins allow a number of different settings for
BBM generation and sense amplifier amplification control.
MODE 2: SPI controlled
This mode allows detailed control over the protection, diagnostic and control features, e.g. for tuning
overcurrent detection. Enable this mode by tying high pin SPE.
+V
M
22n
100V
100n
16V
CPO
+V
M
VCP
CPI
100n
VS
C
E
470n
VSA
100n
4.7µ
VCP
12VOUT
5VOUT
Gate Voltage
Regulator
5V Regulator
I
T
Charge Pump
12VOUT
CU
HS
C
B
HSU
U
VOFS
IW
3.3V or 5V
+V
IO
I/O voltage
100n
2.2µ
VCC_IO
+
LS
I
T
USENSE
R
P
RS
LSU
OTP memory
TMC6200
CLK_IN
UH
pd
VCP
12VOUT
24MHz Oscillator
B.Dwersteg, ©
TRINAMIC 2014
CV
HS
C
B
3 Phase
Motor
Chopper Control
dual line LS+HS,
or single line
(HS=polarity, LS=enable)
UL
VH
VL
WH
WL
pd
pd
pd
pd
pd
HSV
V
N
VOFS
IV
Break before
Make logic
+
LS
VSENSE
R
P
RS
S
LSV
VCP
Diagnostic Output
Driver Strength [IDRV1 IDRV0]:
00: 0.5A 01: 0.5/1A, 10: 1A, 11: 1.5A
Sense Amplification 0: 5, 1: 10
0: xH/xL individual gate control
1: xH=Polarity, xL=Enable control
FAULT
Diagnostics
(Short circuit,
Temperature)
I
T
12VOUT
5VOUT
CW
HS
C
B
VOFS
HSW
W
CSN / IDRV0
SCK / IDRV1
SDI / AMPLx10
SDO / SINGLE
500k
Configuration
interface
+
250k
IU
IV
WSENSE
R
P
RS
LS
LSW
1
+V
IO
0
SPE
pd
DIE PAD
Enable
DRV_EN
Current Sense
Figure 1.1 Standalone application using differential sensing
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CURW
GNDA
CURU
CURV
VOFS
TMC6200 DATASHEET (Rev. 1.03 / 2019-FEB-13)
5
+V
M
22n
100V
100n
16V
CPO
+V
M
VCP
CPI
100n
VS
C
E
470n
VSA
100n
4.7µ
VCP
12VOUT
5VOUT
Gate Voltage
Regulator
5V Regulator
I
T
Charge Pump
12VOUT
CU
HS
C
B
HSU
U
VOFS
IW
3.3V or 5V
+V
IO
I/O voltage
100n
2.2µ
VCC_IO
+
LS
I
T
USENSE
LSU
OTP memory
TMC6200
CLK_IN
UH
pd
VCP
12VOUT
24MHz Oscillator
B.Dwersteg, ©
TRINAMIC 2014
CV
HS
C
B
3 Phase
Motor
Chopper Control
dual line LS+HS,
or single line
(HS=polarity, LS=enable)
UL
VH
VL
WH
WL
pd
pd
pd
pd
pd
HSV
V
N
VOFS
IV
Break before
Make logic
+
LS
VSENSE
S
LSV
VCP
Diagnostic Output
Driver Strength [IDRV1 IDRV0]:
00: 0.5A 01: 0.5/1A, 10: 1A, 11: 1.5A
unused
0: xH/xL individual gate control
1: xH=Polarity, xL=Enable control
FAULT
Diagnostics
(Short circuit,
Temperature)
I
T
12VOUT
5VOUT
CW
HS
C
B
VOFS
HSW
W
CSN / IDRV0
SCK / IDRV1
SDI / AMPLx10
SDO / SINGLE
500k
Configuration
interface
+
250k
IU
IV
WSENSE
LS
LSW
5VOUT
1
+V
IO
0
SPE
pd
DIE PAD
DRV_EN
CURW
GNDA
CURU
CURV
VOFS
Current Sense
R
S
R1
R2
Use LMV641 or similar
Amplification=1+R2/R1
Enable
Figure 1.2 Standalone application using single shunt current sensing
+V
M
22n
100V
100n
16V
CPO
+V
M
VCP
CPI
100n
VS
C
E
470n
VSA
100n
4.7µ
VCP
12VOUT
5VOUT
Gate Voltage
Regulator
5V Regulator
I
T
Charge Pump
12VOUT
CU
HS
C
B
HSU
U
VOFS
IW
3.3V or 5V
+V
IO
I/O voltage
100n
2.2µ
VCC_IO
+
LS
I
T
USENSE
R
P
RS
LSU
OTP memory
TMC6200
CLK_IN
UH
pd
VCP
12VOUT
24MHz Oscillator
B.Dwersteg, ©
TRINAMIC 2014
CV
HS
C
B
3 Phase
Motor
Chopper Control
dual line LS+HS,
or single line
(HS=polarity, LS=enable)
UL
VH
VL
WH
WL
pd
pd
pd
pd
pd
HSV
V
N
VOFS
IV
Break before
Make logic
+
LS
VSENSE
R
P
RS
S
LSV
VCP
FAULT
Diagnostics
(Short circuit,
Temperature)
I
T
12VOUT
5VOUT
CW
HS
C
B
VOFS
HSW
W
SPI
CSN / IDRV0
SCK / IDRV1
SDI / AMPLx10
SDO / SINGLE
500k
SPI interface
250k
IU
pd
IV
+
LS
WSENSE
R
P
RS
LSW
DIE PAD
+V
IO
Enable
DRV_EN
Current Sense
Figure 1.3 SPI mode configuration
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CURW
GNDA
CURU
CURV
VOFS
SPE
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