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TMC260-PA: 产品描述IC MOTOR DRIVER SPI/PAR 44QFP; 产品类别未分类; 文件大小743KB，共48页; 制造商Trinamic Motion Control GmbH; 官网地址https://www.trinamic.com/

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TMC260-PA概述

IC MOTOR DRIVER SPI/PAR 44QFP

IC 电动机驱动高速同步串行口/PAR 44方型扁平式封装

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TMC260/TMC261/TMC262 DATA SHEET (V. 1.02 / 2010-Aug-12)

TMC260, TMC261, TMC262

Energy saving

phase stepper

interface and

external power

and protection

high resolution microstep two

driver with step and direction

internal (TMC260, TMC261) or

stage (TMC262) with diagnostics

TRINAMIC Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg

GERMANY

www.trinamic.com

1 Features

The TMC262 family is an energy efficient two phase stepper motor driver with high resolution

microstepping capability. It integrates the low resonance chopper spreadCycle for quiet and fast motor

operation. Its step and direction interface allows simple use. An SPI interface allows for

parameterization and diagnostics and can also be used to drive the motor. The TMC262 directly drives

four external N/P channel dual MOSFETs for motor currents up to 8A and up to 60V. Protection and

diagnostic features further reduce system cost and increase reliability. The TMC260 and TMC261

integrate a power stage for applications up to 40V resp. 60V and 1.7A. Their basic pinning is

compatible to the TMC236, allowing a simple upgrade path for existing applications. Its energy

efficiency and low power dissipation allow for a miniaturized design with minimum additional

infrastructure requirements making it a very cost effective driver.

Highlights

•

up to 256 microsteps using the step/direction interface or the SPI interface

•

coolStep™: Save up to 75% of energy using automatic load adaptive motor current control

•

stallGuard2™: High precision sensorless motor load measurement

•

microPlyer: Microstep extrapolator gives 256 microstep smoothness with low frequency step input

•

spreadCycle: High precision chopper algorithm

•

Dual edge step option allows half step frequency requirement, e.g. for opto-couplers

•

Up to 8A Motor current using external N&P channel MOSFET pairs (TMC262)

Up to 1.7A with integrated power MOS transistors (TMC260 and TMC261)

•

Synchronous rectification reduces transistor heating

•

9V to 60V operating voltage (TMC261, TMC262), respectively 9V to 40V (TMC260)

•

3.3V or 5V interface

•

QFN32 package (TMC262) for extremely small solution with superior thermal performance

•

10mm x 10mm TQFP-44 package (TMC260, TMC261) integrates power bridges

•

EMV optimized current controlled gate drivers – up to 40mA gate current (TMC262)

•

Overcurrent, short to GND and overtemperature protection and diagnostics integrated

Applications

•

Energy efficient industrial and commercial stepper applications

•

Precision two phase stepper motor drives

•

Medical and optical applications

•

Robotics

Motor type

•

2 phase Stepper

TMC260/TMC261/TMC262 DATA SHEET (V. 1.02 / 2010-Aug-12)

2 Table of contents

FEATURES

.......................................................................................................................................... 1

TABLE OF CONTENTS

........................................................................................................................ 2

PRINCIPLE OF OPERATION

............................................................................................................... 4

3.1

OVING THE MOTOR

........................................................................................................................ 4

3.1.1

Step and direction control

.................................................................................................. 4

3.1.2

SPI control

.......................................................................................................................... 4

3.2

HOPPED MOTOR COIL DRIVER

............................................................................................................ 4

3.3

NERGY EFFICIENT DRIVER WITH LOAD FEEDBACK

.................................................................................... 4

PINNING

........................................................................................................................................... 5

4.1

TMC260-PA, TMC261-PA

............................................................................................................... 5

4.2

TMC262-LA

.................................................................................................................................. 5

4.3

ACKAGE CODES

............................................................................................................................. 5

4.4

IMENSIONAL DRAWINGS

................................................................................................................. 6

4.4.1

PQFP44 dimensions

............................................................................................................ 6

4.4.2

QFN32 dimensions

.............................................................................................................. 6

BLOCK DIAGRAM

.............................................................................................................................. 8

5.1

5.2

IN DESCRIPTION OF

TMC262-LA

.................................................................................................... 10

IN DESCRIPTION OF

TMC260-PA / TMC261-PA

................................................................................ 11

SPI MODE SHIFT REGISTER

............................................................................................................ 12

6.1

VERVIEW

(

WRITE

)

........................................................................................................................ 12

6.2

VERVIEW

(

READ

)

......................................................................................................................... 12

6.3

RIVER CONTROL REGISTER BIT ASSIGNMENT

....................................................................................... 13

6.3.1

Driver control register bit assignment in SPI mode

......................................................... 13

6.3.2

Driver control register bit assignment in StepDir mode

.................................................. 14

6.4

ONFIGURATION REGISTER BIT ASSIGNMENT

........................................................................................ 15

6.5

IT ASSIGNMENT FOR READ

............................................................................................................. 18

6.6

SPI

TIMING

................................................................................................................................. 19

STEP AND DIRECTION INTERFACE

................................................................................................. 20

7.1

IMING

....................................................................................................................................... 20

7.2

NTERNAL MICROSTEP TABLE

............................................................................................................ 20

7.3

WITCHING BETWEEN DIFFERENT MICROSTEP RESOLUTIONS

..................................................................... 21

7.3.1

Working with half- and fullstep resolution

...................................................................... 21

7.4

TEP RATE MULTIPLIER AND STAND STILL DETECTION

............................................................................. 22

CURRENT SETTING

.......................................................................................................................... 23

8.1

ONSIDERATIONS ON THE CURRENT SENSE RESISTORS AND LAYOUT

........................................................... 23

CHOPPER OPERATION OF THE MOTOR COILS

................................................................................ 25

9.1

9.2

9.3

SPREAD

YCLE CHOPPER

................................................................................................................... 25

LASSIC CONSTANT OFF TIME CHOPPER

............................................................................................... 27

ANDOM OFF TIME

........................................................................................................................ 28

MOSFET DRIVER STAGE

.............................................................................................................. 29

RINCIPLE OF OPERATION

............................................................................................................ 29

REAK

BEFORE

MAKE LOGIC

.......................................................................................................... 29

LOPE CONTROL IN

TMC262

....................................................................................................... 30

DIAGNOSTICS AND PROTECTION

............................................................................................... 31

HORT TO

GND

DETECTION

......................................................................................................... 31

10.1

10.2

10.3

11.1

TMC260/TMC261/TMC262 DATA SHEET (V. 1.02 / 2010-Aug-12)

3 Principle of operation

figure 1: basic application block diagram

3.1

Moving the motor

3.1.1 Step and direction control

The TMC262 family is a family of chopped stepper motor drivers with integrated sequencer and SPI

interface. They provide two possibilities to control the motor: The motor can be controlled by applying

pulses on the step and direction interface, following an initialization phase which uses the SPI

interface to parameterize the driver for the application. Control and diagnostic registers give the

flexibility to react to changing operation conditions and to modify the behavior of the chip when it

receives a step impulse. An internal microstep table supplies sine and cosine values which control the

motor current for each step. Each step impulse advances the step pointer in the tables and hence

leads to the IC executing the next microstep.

3.1.2 SPI control

A second mode of operation uses the SPI interface, only. Both motor coil currents can be controlled

via the SPI interface, while taking advantage of all other control and diagnostic functions. This mode is

more flexible, as the microstep waves can be specially adapted to the motor to give the best fit for

smoothest operation. It requires slightly more CPU overhead to look up the driver tables and to send

out new current values for both coils. The SPI update rate corresponds to the step rate at low

velocities. At highest velocities the update rate can be limited to a few 10kHz or some 100kHz,

depending on the processor power, or alternatively to an update rate corresponding to a fullstep.

3.2

Chopped motor coil driver

The driver use a cycle by cycle chopper mode: The motor current becomes regulated by comparing

the motor current to a set value for each chopper cycle. This constant off time chopper scheme allows

highest dynamic. The spreadCycle chopper scheme automatically integrates a fast decay cycle and

guarantees smooth zero crossing performance. In an optional operation mode, fast decay length per

cycle can be selected by the user. In this classic constant off time mode, zero crossing can be

optimized by setting a programmable current offset.

3.3

Energy efficient driver with load feedback

The TMC262 family integrates a high resolution load measurement stallGuard2™, which allows

sensing the mechanical load on the motor. This gives more information on the drive allowing functions

like sensorless homing. Its coolStep™ feature uses load measurement information to reduce the

motor current to the minimum motor current required in the actual load situation. This saves lots of

energy and keeps components cool, making the drive an efficient and precise solution.

TMC260-PA

TMC260-PA概述

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