TMC211 DATASHEET (V. 1.04 / January 7, 2005)
1
TMC211 – DATASHEET
Micro Stepping Stepper Motor
Controller / Driver with LIN Interface
19
18
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16
15
14
13
20
OA1
OA2
OB1
OB2
12
CPN
9
VBAT
GND
VBAT
HW0
HW1
HW2
GND
GND
VDD
TST
P +49 - (0) 40 - 51 48 06 - 0
F +49 - (0) 40 - 51 48 06 - 60
www.trinamic.com
info@trinamic.com
LIN
1 Features
The TMC211 is a combined micro-stepping stepper motor motion controller and driver with RAM and
OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings.
The TMC211 allows up to four bit of microstepping and a coil current of up to 800 mA. After
initialization it performs all time critical tasks autonomously based on target positions and velocity
parameters. Communications to a host takes place via LIN. Together with an inexpensive
microcontroller the TMC211 forms a complete motion control system. The main benefits of the
TMC211 are:
•
Motor driver
•
Controls one stepper motor with four bit microstepping
•
Programmable Coil current up to 800 mA
•
Supply voltage operating range 8V ... 29V
•
Fixed frequency PWM current control with automatic selection of fast and slow decay mode
•
Full step frequencies up to 1 kHz
•
High temperature, open circuit, short, over-current and under-voltage diagnostics
Motion controller
•
Internal 16-bit wide position counter
•
Configurable speed and acceleration settings
•
Build-in ramp generator for autonomous positioning and speed control
•
On-the-fly alteration of target position
•
reference switch input available for read out
LIN interface
•
Physical and Data-Link Layers conform to LIN specification rev. 1.3
•
Field-programmable node addresses (128)
•
Dynamically allocated identifiers
•
Diagnostics and status information as well as motion parameters accessable
•
LIN bus short-circuit protection to supply and ground
•
Lost LIN safe operation
•
•
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
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CPP
TRINAMIC Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg
GERMANY
®
TMC211
SOIC-20
GND
VCP
SWI
11
2
Life support policy
TRINAMIC Motion Control GmbH & Co. KG does
not authorize or warrant any of its products for
use in life support systems, without the specific
written consent of TRINAMIC Motion Control
GmbH & Co. KG.
Life support systems are equipment intended to
support or sustain life, and whose failure to
perform, when properly used in accordance with
instructions provided, can be reasonably
expected to result in personal injury or death.
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
© TRINAMIC Motion Control GmbH & Co. KG 2005
Information given in this data sheet is believed to
be accurate and reliable. However no
responsibility is assumed for the consequences
of its use nor for any infringement of patents or
other rights of third parties which may result form
its use.
Specifications subject to change without notice.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
3
Table of Contents
1
2
FEATURES .....................................................................................................................................1
GENERAL DESCRIPTION .............................................................................................................5
2.1
2.2
2.3
2.4
2.5
2.6
3
4
5
B
LOCK
D
IAGRAMM
......................................................................................................................5
P
OSITION
C
ONTROLLER
/ M
AIN
C
ONTROL
...................................................................................5
S
TEPPER
M
OTOR
D
RIVER
...........................................................................................................5
LIN I
NTERFACE
..........................................................................................................................6
M
ISCELLANEOUS
........................................................................................................................6
P
IN AND
S
IGNAL
D
ESCRIPTIONS
..................................................................................................6
TYPICAL APPLICATION................................................................................................................7
ORDERING INFORMATION ..........................................................................................................7
FUNCTIONAL DESCRIPTION .......................................................................................................8
5.1
P
OSITION
C
ONTROLLER AND
M
AIN
C
ONTROLLER
.........................................................................8
5.1.1
Stepping Modes ................................................................................................................8
5.1.2
Velocity Ramp...................................................................................................................8
5.1.3
Examples for different Velocity Ramps.............................................................................9
5.1.4
Vmax Parameter.............................................................................................................10
5.1.5
Vmin Parameter..............................................................................................................11
5.1.6
Acceleration Parameter ..................................................................................................11
5.1.7
Position Ranges..............................................................................................................12
5.1.8
Secure Position...............................................................................................................12
5.1.9
External Switch ...............................................................................................................12
5.1.10 Motor Shutdown Management........................................................................................13
5.1.11 Reference Search / Position initialization........................................................................14
5.1.12 Sleep Mode.....................................................................................................................14
5.1.13 Temperature Management .............................................................................................15
5.1.14 Battery Voltage Management .........................................................................................16
5.1.15 Internal handling of commands and flags .......................................................................17
5.2
RAM
AND
OTP M
EMORY
.........................................................................................................19
5.2.1
RAM Registers................................................................................................................19
5.2.2
Status Flags ....................................................................................................................20
5.2.3
OTP Memory Structure...................................................................................................21
5.3
S
TEPPER
M
OTOR
D
RIVER
.........................................................................................................21
5.3.1
Coil current shapes .........................................................................................................22
5.3.2
Transition Irun to Ihold ....................................................................................................23
5.3.3
Chopper Mechanism.......................................................................................................24
6
LIN INTERFACE ...........................................................................................................................25
6.1
G
ENERAL
D
ESCRIPTION
...........................................................................................................25
6.2
P
HYSICAL
L
AYER
......................................................................................................................25
6.3
A
NALOG
P
ART
..........................................................................................................................26
6.4
S
LAVE OPERATIONAL RANGE FOR PROPER SELF SYNCHRONIZATION
...........................................26
6.5
P
HYSICAL
A
DDRESS OF THE CIRCUIT
.........................................................................................27
6.6
E
LECTRO
M
AGNETIC
C
OMPABILITY
...........................................................................................27
6.7
E
RROR
S
TATUS
R
EGISTER
.......................................................................................................27
6.8
D
YNAMIC
A
SSIGNMENT OF
LIN I
DENTIFIERS
..............................................................................28
6.9
LIN M
ESSAGE
F
RAMES
............................................................................................................29
6.9.1
Writing Frames ...............................................................................................................29
6.9.2
Writing Frame Type#1 (2 or 4 bytes) ..............................................................................30
6.9.3
Writing Frame Type#2 (2, 4 or 8 bytes) ..........................................................................30
6.9.4
Writing Frame Type#3 (2 bytes) .....................................................................................30
6.9.5
Writing Frame Type#4 (8 bytes) .....................................................................................30
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
4
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
6.9.6
Reading Frames ............................................................................................................ 31
6.9.7
Reading Frame Type#5 (2, 4 or 8 bytes) ....................................................................... 31
6.9.8
Reading Frame Type#6 (8 bytes) .................................................................................. 31
6.9.9
Reading Frame Type#7 (Preparing frame) .................................................................... 32
6.9.10 Reading Frame Type#8 (Preparing frame) .................................................................... 32
6.10
A
PPLICATION
C
OMMANDS
O
VERVIEW
................................................................................... 33
6.11
C
OMMAND
D
ESCRIPTION
...................................................................................................... 34
6.11.1 GetActualPos ................................................................................................................. 34
6.11.2 GetFullStatus ................................................................................................................. 36
6.11.3 GetOTPParam ............................................................................................................... 38
6.11.4 GetStatus ....................................................................................................................... 39
6.11.5 GotoSecurePosition ....................................................................................................... 39
6.11.6 HardStop ........................................................................................................................ 39
6.11.7 ResetPosition ................................................................................................................. 40
6.11.8 ResetToDefault .............................................................................................................. 40
6.11.9 RunInit............................................................................................................................ 41
6.11.10
SetMotorParam .......................................................................................................... 42
6.11.11
SetOTPParam ............................................................................................................ 42
6.11.12
SetPosition ................................................................................................................. 43
6.11.13
SetPositionShort......................................................................................................... 44
6.11.14
SoftStop...................................................................................................................... 45
6.11.15
Sleep Mode ................................................................................................................ 45
6.12
P
OSITIONING
T
ASK
E
XAMPLE
............................................................................................... 46
7
FREQUENTLY ASKED QUESTIONS ......................................................................................... 48
7.1
7.2
7.3
7.4
U
SING THE BUS INTERFACE
...................................................................................................... 48
G
ENERAL PROBLEMS WHEN GETTING STARTED
......................................................................... 48
U
SING THE DEVICE
.................................................................................................................. 49
F
INDING THE REFERENCE POSITION
.......................................................................................... 50
SOIC-20 ................................................................................................................................ 51
SOIC-20 P
ACKAGE
................................................................................................................. 52
ELECTRICAL CHARACTERISTICS ........................................................................................ 53
A
BSOLUTE
M
AXIMUM
R
ATINGS
............................................................................................. 53
O
PERATING
R
ANGES
........................................................................................................... 53
DC P
ARAMETERS
................................................................................................................ 53
AC P
ARAMETERS
................................................................................................................ 55
REVISION HISTORY................................................................................................................ 56
8
9
10
PACKAGE OUTLINE ................................................................................................................... 51
8.1
9.1
10.1
10.2
10.3
10.4
PACKAGE THERMAL RESISTANCE AND LAYOUT CONSIDERATIONS ............................... 52
11
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TMC211 DATASHEET (V. 1.04 / January 7, 2005)
5
2 General Description
2.1
Block Diagramm
SWI
LIN
LIN
transceiver
Position controller
Decoder
PWM
regulator
X
OA1
OA2
HW0
HW1
HW2
LIN
slave
controller
Synchronous
I/O controller
(test)
Main control
& Registers
OTP + ROM
Sinewave
table
PWM
regulator
Y
OB1
DACs
TST
OB2
VBAT
Voltage
regulator
VDD
Oscillator
Charge pump
Reference voltage
&
Thermal monitoring
VCP
CP2 CP1
2.2
Position Controller / Main Control
Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control
block via the LIN interface. These information are stored internally in RAM or OTP memory and are
accessable by the position controller. This block takes over all time critical tasks to drive a stepper
motor to the desired position under abiding the desired motion parameters.
The main controller gets feedback from the stepper motor driver block and is able to arrange internal
actions in case of possible problems. Diagnostics information about problems and errors are
transferred to the LIN interface block.
2.3
Stepper Motor Driver
Two H-bridges are employed to drive both windings of a bipolar stepper motor. The internal transistors
can reach an output current of up to 800 mA. The PWM principle is used to force the given current
through the coils. The regulation loop performs a comparison between the sensed output current and
the internal reference. The PWM signals to drive the power transistors are derived from the output of
the current comparator.
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
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