TMC249 / TMC249A DATA SHEET (V2.10 / 2011-Aug-10)
1
TMC249/A – DATASHEET
High current microstep stepper motor driver
with stallGuard™, protection / diagnostics and
SPI Interface
TRINAMIC Motion Control GmbH & Co KG
Hamburg, Germany
®
www.trinamic.com
Features
The TMC249 / TMC249A (1) is a dual full bridge driver IC for bipolar stepper motor control
applications. The TMC249 is realized in a HVCMOS technology and directly drives eight external Low-
RDS-ON high efficiency MOSFETs. It supports more than 6000mA coil current. The low power
dissipation makes the TMC249 an optimum choice for drives, where a high reliability is desired. With
additional drivers, motor current and voltage can be increased. The integrated unique sensorless stall
detection (pat. pend.) stallGuard™ makes it a good choice for applications, where a reference point is
needed, but where a switch is not desired. Its ability to predict an overload makes the TMC249 an
optimum choice for drives, where a high reliability is desired. Internal DACs allow microstepping as well
i
as smart current control. The device can be controlled by a serial interface (SPI™ ) or by analog /
digital input signals. Short circuit, temperature, undervoltage and overvoltage protection are integrated.
More than 6000mA using 8 external MOS transistors (e.g. 4A RMS)
Sensorless stall detection stallGuard™ and load measurement integrated
Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals
Short circuit, overvoltage and over temperature protection integrated
Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage
Integrated 4 bit DACs allow up to 16 times microstepping via SPI, any resolution via analog control
(for up to 64 microsteps via SPI see last manual page)
Mixed decay feature for smooth motor operation
Slope control user programmable to reduce electromagnetic emissions
Chopper frequency programmable via a single capacitor or external clock
Current control allows cool motor and driver operation
7V to 34V motor supply voltage (A-type)
up to 58V motor supply voltage using a few additional low cost components
3.3V or 5V operation for digital part
Low power dissipation via low RDS-ON power stage
Standby and shutdown mode available
Choice of SO28 or chip size MLF package
(1) The term TMC249 in this datasheet always refers to the TMC249A and the TMC249. The major
differences in the older TMC249 are explicitly marked with “non-A-type”. The TMC249A brings a
number of enhancements and is fully backward compatible to the TMC249.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG
TMC249 / TMC249A DATA SHEET (V2.10 / 2011-Aug-10)
2
FEATURES ............................................................................................................................................. 1
PINNING .................................................................................................................................................. 5
P
ACKAGE CODES
................................................................................................................................... 5
SO28 D
IMENSIONS
................................................................................................................................ 6
QFN32 D
IMENSIONS
.............................................................................................................................. 6
APPLICATION CIRCUIT / BLOCK DIAGRAM ....................................................................................... 7
P
IN
F
UNCTIONS
...................................................................................................................................... 7
SELECTING POWER TRANSISTORS ................................................................................................... 8
L
IST OF RECOMMENDED TRANSISTORS
.................................................................................................... 8
LAYOUT CONSIDERATIONS ................................................................................................................ 9
USING ADDITIONAL POWER DRIVERS ............................................................................................. 10
CONTROL VIA THE SPI INTERFACE ................................................................................................. 11
S
ERIAL DATA WORD TRANSMITTED TO
TMC249..................................................................................... 11
S
ERIAL DATA WORD TRANSMITTED FROM
TMC249 ................................................................................ 11
T
YPICAL MOTOR COIL CURRENT VALUES
................................................................................................ 12
B
ASE CURRENT CONTROL VIA
INA
AND
INB
IN
SPI
MODE
....................................................................... 12
C
ONTROLLING THE POWER DOWN MODE VIA THE
SPI
INTERFACE
........................................................... 12
O
PEN LOAD DETECTION
........................................................................................................................ 13
S
TANDBY AND SHUTDOWN MODE
.......................................................................................................... 13
P
OWER SAVING
.................................................................................................................................... 13
STALL DETECTION STALLGUARD™ ................................................................................................ 14
U
SING THE SENSORLESS LOAD MEASUREMENT
...................................................................................... 14
I
MPLEMENTING SENSORLESS STALL DETECTION
..................................................................................... 14
PROTECTION FUNCTIONS ................................................................................................................. 15
O
VERCURRENT PROTECTION AND DIAGNOSIS
........................................................................................ 15
O
VER TEMPERATURE PROTECTION AND DIAGNOSIS
................................................................................ 15
O
VERVOLTAGE PROTECTION AND
ENN
PIN BEHAVIOR
............................................................................ 15
CHOPPER PRINCIPLE ......................................................................................................................... 16
C
HOPPER CYCLE
/ U
SING THE MIXED DECAY FEATURE
........................................................................... 16
A
DAPTING THE SINE WAVE FOR SMOOTH MOTOR OPERATION
.................................................................. 17
B
LANK
T
IME
......................................................................................................................................... 17
B
LANK TIME SETTINGS
.......................................................................................................................... 17
CLASSICAL NON-SPI CONTROL MODE (STAND ALONE MODE) .................................................. 18
P
IN FUNCTIONS IN STAND ALONE MODE
................................................................................................. 18
I
NPUT SIGNALS FOR MICROSTEP CONTROL IN STAND ALONE MODE
.......................................................... 18
UNIPOLAR OPERATION ...................................................................................................................... 19
D
IFFERENCES OF SHORT CIRCUIT BEHAVIOR IN UNIPOLAR OPERATION MODE
........................................... 19
D
IFFERENCES IN CHOPPER CYCLE IN UNIPOLAR OPERATION MODE
.......................................................... 19
CALCULATION OF THE EXTERNAL COMPONENTS ....................................................................... 20
S
ENSE
R
ESISTOR
................................................................................................................................. 20
E
XAMPLES FOR SENSE RESISTOR SETTINGS
.......................................................................................... 20
H
IGH SIDE OVERCURRENT DETECTION RESISTOR
R
SH
............................................................................ 20
M
AKING THE CIRCUIT SHORT CIRCUIT PROOF
......................................................................................... 21
O
SCILLATOR
C
APACITOR
...................................................................................................................... 22
T
ABLE OF OSCILLATOR FREQUENCIES
................................................................................................... 22
P
ULL
-
UP RESISTORS ON UNUSED INPUTS
............................................................................................... 22
P
OWER SUPPLY SEQUENCING CONSIDERATIONS
.................................................................................... 22
Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG
TMC249 / TMC249A DATA SHEET (V2.10 / 2011-Aug-10)
3
S
LOPE
C
ONTROL
R
ESISTOR
................................................................................................................. 23
ABSOLUTE MAXIMUM RATINGS ....................................................................................................... 24
ELECTRICAL CHARACTERISTICS ..................................................................................................... 24
O
PERATIONAL
R
ANGE
.......................................................................................................................... 24
DC C
HARACTERISTICS
......................................................................................................................... 25
AC C
HARACTERISTICS
......................................................................................................................... 27
T
HERMAL
P
ROTECTION
......................................................................................................................... 27
SPI INTERFACE TIMING ...................................................................................................................... 28
P
ROPAGATION
T
IMES
........................................................................................................................... 28
U
SING THE
SPI
INTERFACE
................................................................................................................... 28
SPI F
ILTER
.......................................................................................................................................... 28
APPLICATION NOTE: EXTENDING THE MICROSTEP RESOLUTION ............................................. 29
DOCUMENTATION REVISION ............................................................................................................ 30
Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG
TMC249 / TMC249A DATA SHEET (V2.10 / 2011-Aug-10)
4
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 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 from its use.
Specifications subject to change without notice.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG
TMC249 / TMC249A DATA SHEET (V2.10 / 2011-Aug-10)
5
Pinning
GND
GND
26
VCC
SLP
INA
INB
LA1
LA2
SRA
OSC
SDO
SDI
SCK
CSN
ENN
SPE
BL1
SRB
LB2
LB1
1
2
28
27
HA2
HA1
ANN
AGND
SLP
INA
INB
VCC
GND
VS
VT
BL2
HB1
HB2
AGND
ANN
HA1
HA2
-
LA1
LA2
SRA
1
3
4
5
6
7
8
9
10
11
12
13
14
TMC249 / 249A SO28
26
25
24
23
22
21
20
19
18
17
16
15
32
31
30
29
28
27
VS
25
-
24
23
22
20
19
18
9
10
11
12
13
14
15
16
VT
BL2
HB1
HB2
-
LB1
LB2
SRB
TMC 249-LA
5
6
SPE
SCK
OSC
CSN
SDO
Top view
Note: Cooling plane on -LA type should be connected to GND or left open.
Package codes
Type
Package
TMC249A SO28
TMC249 SO28
TMC249A QFN32, 7*7mm
until date code 1808
Temperature range
automotive (1)
automotive (1)
automotive (1)
Lead free
Code/marking
Yes
TMC249A-SA
From date code 0505 TMC249-SA
(wwyy)
Yes
TMC249A-LA /
249A-LA
(1) ICs are not tested according to automotive standards, but are usable within the complete
automotive temperature range.
Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG
ENN
BL1
SDI
17
21
2
3
4
7
8
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