TMC457 – DATA SHEET
S-profile motion controller with PID feedback
control and high resolution micro stepping
sequencer for stepper motors and piezo motors
TRINAMIC Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg
GERMANY
www.trinamic.com
®
1 Features
The TMC457 is a high end single axis micro stepping motion controller. It adds to any microcontroller
TM
or processor with SPI (SPI is Trademark of Motorola) interface. It is intended for applications, where
a precise and fast, jerk-free motion profile is desired. An encoder can be added for extremely quick
and precise positioning using the internal hardware PID regulator and provides for increased reliability /
fault detection. The high-resolution micro step sequencer directly controls stepper motors and piezo
motors. Wide range motion control parameters eliminate any “gear switching”. The TMC457 supports
linear velocity ramps and S-shaped velocity ramps. For maximum flexibility all motion control
parameters (target position, target velocity, acceleration, deceleration and bow) can be changed any
time during motion.
Highlights
• S-shaped and linear ramps with on-the-fly alteration of all parameters
• Programmable high resolution sequencer with (12 bit, 8192 entry) micro step look-up table
• Incremental encoder interface with flexible up- and down scaling to match drive resolution
TM
• Fast and stable easyPID PID controller
• 32 bit registers – from mHz to MHz / from nanometer to meter
• SPI interface to microcontroller
• Reference switch processing / virtual stop switches (programmable soft limits)
• Step / direction output (with programmable timing)
• Position pulse output to trigger external events
• Synchronization of multiple axis via scalable step / direction input
• Direct interface for TMC246/TMC249 family stepper motor drivers supports StallGuard™ (pat.)
• ChopSync™ (pat. fil.) built in for best motor velocity range
• Analog high resolution motor driver control via external dual 12 bit DAC
• Automatic load angle limitation using encoder for stepless servo behaviour
Types of Motors
• Two phase stepper motors (direct sequencer support)
®
• PiezoMotors (direct sequencer support for PiezoMotor’s PiezoLEGS motor)
• Any type of motor via step/direction interface
Applications
• Medical and laboratory equipment with high speed motion e.g. for liquid handling
• High end placement and positioning systems / High reliability drives
• Sub-micrometer positioning (piezo motors)
• Active stabilization with incremental encoder and fast PID regulator
TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
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.
© TRINAMIC Motion Control GmbH & Co. KG 2008
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 from its use.
Specification is subject to change without notice.
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
3
2 Contents
1
2
FEATURES ...................................................................................................................................... 1
CONTENTS ...................................................................................................................................... 3
2.1
2.2
3
4
Figures ...................................................................................................................................... 4
Tables........................................................................................................................................ 4
GENERAL DESCRIPTION .............................................................................................................. 5
TMC457 BLOCK DIAGRAM AND INTERFACES ........................................................................... 6
4.1
Microcontroller Interface (SPI ) ............................................................................................... 6
4.2
Step Direction Inputs ................................................................................................................. 6
4.3
DAC (LTC2602) Interface ......................................................................................................... 6
4.3.1
Piezo Motor Driver ............................................................................................................. 6
4.4
Stepper Motor Driver Interface (TMC236, TMC239, TMC246, TMC249) ................................. 7
4.4.1
Stepper Motor Driver (high resolution micro stepping) ...................................................... 7
4.4.2
Stepper Motor Driver (low resolution micro stepping) ........................................................ 7
TM
5
FUNCTIONAL BLOCKS AND REGISTERS ................................................................................... 8
5.1
Ramp Generator ....................................................................................................................... 8
5.2
ABN Incremental Encoder Interface.......................................................................................... 8
5.2.1
Setting the encoder to match the motor resolution: ........................................................... 9
5.3
Vector control ............................................................................................................................ 9
5.3.1
Initialization of vector control mode .................................................................................. 10
TM
5.4
PID Controller - easyPID ...................................................................................................... 10
5.5
Step Direction Output Interface ............................................................................................... 11
5.6
Step Direction Input Interface for multi axis interpolation ........................................................ 11
5.7
Reference Switch and Stop Switch Interface .......................................................................... 11
5.8
Micro Step Sequencer ............................................................................................................. 11
TM
5.8.1
ChopSync
CHOPCLK .................................................................................................. 11
5.9
Type and Version Register / Version specific notes and known bugs .................................... 12
5.10
Interrupt Controller ............................................................................................................... 12
5.11
Sine Wave Look-up Table (SIN-LUT) Access and Parameterization.................................. 13
5.11.1 Calculation of the Sine Wave Look-Up-Table to drive a Piezo Motor .............................. 13
5.11.2 Calculation of the Sine Wave Look-Up-Table to drive a Stepper Motor .......................... 13
6
REGISTER MAPPING ................................................................................................................... 14
6.1
SPI Datagram Structure .......................................................................................................... 14
6.1.1
Selection of Write / Read (WRITE_notREAD) ................................................................. 14
6.1.2
Data Alignment ................................................................................................................ 15
6.2
Register Block Structure – Register Mapping ......................................................................... 15
6.2.1
Nomenclature of Read / Write / Clear on Read / Clear on Write of Registers ................. 15
6.2.2
Time Scaling by Clock Frequency ................................................................................... 15
6.2.3
Real World Units vs. Units of the TMC457 ...................................................................... 26
7
EXAMPLES .................................................................................................................................... 27
7.1
7.2
How to Get a Motor Running ................................................................................................... 27
Set Incremental Encoder Interface Parameters ...................................................................... 27
8
9
NOTATION OF NUMBER SYSTEMS ........................................................................................... 28
PINNING, PACKAGE, AND ELECTRICAL DATA OF THE TMC457 ........................................... 29
9.1
Pinning of TMC457.................................................................................................................. 29
9.1.1
Pull-Up / Pull-Down Resistances ..................................................................................... 32
9.1.2
Blocking Capacitors ......................................................................................................... 32
9.2
Package Outlines and Dimensions ......................................................................................... 33
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
4
9.2.1
10
11
12
13
Fine Pitch BGA Package with 144 Balls (FBGA144) of TMC457-BC .............................. 33
MICRO CONTROLLER INTERFACE (SPI) ............................................................................... 34
CHARACTERISTICS .................................................................................................................. 35
LITERATURE ............................................................................................................................. 36
REVISION HISTORY .................................................................................................................. 36
2.1
Figures
Figure 1 : Functional Block Diagram of the TMC457............................................................................... 5
Figure 2 : TMC457 with Piezo Motor Interface ........................................................................................ 6
Figure 3 : High Resolution Micro Stepping Configuration ........................................................................ 7
Figure 4 : Stepper Motor Driver Configuration (SPI)................................................................................ 7
Figure 5 : Outline of ABN Signals of an Incremental Encoder ................................................................. 8
Figure 6 : Incremental Encoder Signals Outline (AB w/o clear pulse N) ............................................... 28
Figure 7 : Package Outline Drawing FBGA144 – (JEDEC MO-192 VAR DAD-1) ................................. 33
Figure 8 : Timing Diagram of the Serial Micro Controller Interface ....................................................... 34
Figure 9 - General IO Timing Parameters ............................................................................................. 35
2.2
Tables
TM
Table 1 : PWM frequency calculation for ChopSync .......................................................................... 12
Table 2: TMC457-BC Pin Out ................................................................................................................ 32
Table 3 : Dimensions of FBGA144 (Note: BSC = Basis Spacing Between Centers) ............................ 33
Table 4: Timing Characteristics of the Micro Controller Serial Peripheral Interface (SPI) ..................... 34
Table 5 - Absolute Maximum Ratings .................................................................................................... 35
Table 6 – DC Ccharacteristics Operating Conditions ............................................................................ 35
Table 7 - Power Dissipation ................................................................................................................... 35
Table 8 - General IO Timing Parameters .............................................................................................. 35
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
5
3 General Description
The TMC457 has been designed with TRINAMIC's background of more than 10 years of dedicated
motion control ICs for stepper motors, like the 6 axis controller TMC406, the low cost 3 axis controller
TMC428 and the high end controller TMC453 with its compatible successor TMC454. While there lie
10 years of development and experience between the TMC453 and the TMC457, the basic features
look similar, but a lot of ideas, application know-how and customer feedback have been evaluated,
sorted and flown into the design. The intention in creating the TMC457 was to provide a motion
controller that provides superior performance, which can hardly be achieved by software in a processor
system, while providing a very easy-to-use interface to the programmer, which looks similar to the
peripherals found in a microcontroller. The electronic gear shift / pre-scaling found in our other motion
controllers was eliminated by extending position and velocity registers to 32 bits. This direct control
makes it easy to use the full range and precision of parameter setting. The easyPID™ closed loop PID
regulator eases the achievement of control loop stability by providing a programmable hysteresis.
Some features found in the TMC453 and TMC428 have been streamlined, to make them easier to use
and some options have been removed, like the programmable sequencer for many different motor
types, bearing in mind the most common applications.
+1.5V
one capacitor
per supply pin
100n
+1.5V
GND
100n
+3.3V
+3.3V
RES
CLK
ENABLE
RES
I
TMC457
CLK
I
I
Interface
Section
Motion profile
generation
S-Ramp
generator
Trapezoid
Ramp
generator
Sequencer
O
NSCS
SCK
Host CPU SPI
Interface
SDI
SDO
STEP_OUT
DIR_OUT
XSTEP_OUT
HIRES_OUT
STDBY_OUT
PHA
PHB
NCS_DAC
SCK_DAC
SDO_DAC_A
SDO_DAC_B
PZO_EN
NCS_DRV
SCK_DRV
SDO_DRV
SDI_DRV
NANA_SPI
Step/Dir Output
I
O
v
I
I
SPI bus
interface
Register
Block
target
Pulse
generator
Output
Pulse
generator
STEP/
DIR
O
O
O
O
NINT
O
Interrupt
control
O
control &
status
Position
Counter
Microstep
RAM
8192*12
POSCOMP
O
Position
compare
easyPID
PID
controller
2 phase
stepper &
piezo
sequencer
O
Classic stepper
driver
Analog control of
Stepper / Piezo
via DAC
(LTC2622)
TMC246 /
TMC249 stepper
driver
O
O
O
O
I
STEP_IN
Optional Step/
Dir Input
DIR_IN
I
I
STEP DIR
Prescaler
O
PID
Stop /
Reference
Switches
Optional
Incremental
Encoder
STOPL
STOPR
ENC_A
ENC_B
ENC_N
I
TMC24x
SPI
interface
O
O
I
I
I
Stop input
processing
& virtual
stop
switches
Encoder
Encoder
Scaler &
Counter
ChopSync
O
ChopClk
synchronized
chopper clock
I
I
I
quadrature
decoder
Figure 1 : Functional Block Diagram of the TMC457
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
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