TMC223 DATASHEET (V. 1.06 / August 21, 2017)
1
TMC223 – DATASHEET
Micro Stepping Stepper Motor
Controller / Driver with Two Wire Serial Interface
and Sensorless Stall Detection
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
GND
GND
GND
26
SDA
2
SCL
3
VDD
4
GND
5
TST
6
open
7
GND
8
HW
9
CPN
10
CPP
11
19
SWI
VBAT
18
OA1
17
GND
16
OA2
OA1
OA1
VBAT
VBAT
VBAT
OB1
14
GND
13
OB2
12
VBAT
VCP
SWI
NC
SDA
1
32
31
30
29
28
27
25
GND
24
23
22
1
20
OA2
OA2
OB1
OB1
TMC 223
QFN32
20
19
18
21
9
10
11
12
13
14
15
16
GND
open
SCL
VDD
GND
HW
Top view
1 Features
The TMC223 is a combined micro-stepping stepper motor motion controller and driver with RAM and
OTP memory and integrated sensorless stall detection. The RAM or OTP memory is used to store
motor parameters and configuration settings. The TMC223 allows up to four bit of micro stepping 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 a two wire serial
interface. Together with an inexpensive micro controller the TMC223 forms a complete motion control
system. The main benefits of the TMC223 are:
•
Motor driver
•
Controls one stepper motor with four bit micro stepping
•
Programmable Coil current up to 800 mA / Supply voltage range 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
Two wire serial interface
•
Transfer rates up to 350 kbps
•
Diagnostics and status information as well as motion parameters accessible
•
Field-programmable node addresses (32)
Sensorless Stall Detection
o
GetFullStatus1 & GetFullStatus2 with parameters concerning stall detection
o
SetStallParam to set stall detection parameters
•
•
•
Copyright © 2007-2017 TRINAMIC Motion Control GmbH & Co. KG
TST
NC
17
TRINAMIC
OB2
OB2
VBAT
VBAT
VBAT
VCP
CPP
CPN
2
3
4
TMC223
15
5
6
7
8
2
TMC223 DATASHEET (V. 1.06 / August 21, 2017)
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 2017
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.
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TMC223 DATASHEET (V. 1.06 / August 21, 2017)
3
Table of Contents
1
2
FEATURES ...................................................................................................................................... 1
GENERAL DESCRIPTION .............................................................................................................. 5
2.1
2.2
2.3
2.4
2.5
2.6
2.7
3
4
5
Block Diagramm ........................................................................................................................ 5
Position Controller / Main Control ............................................................................................. 5
Stepper Motor Driver ................................................................................................................. 5
Two Wire Serial Interface.......................................................................................................... 5
Sensorless Stall Detection ........................................................................................................ 6
Miscellaneous ........................................................................................................................... 6
Pin and Signal Descriptions ...................................................................................................... 7
TYPICAL APPLICATION ................................................................................................................. 8
ORDERING INFORMATION ........................................................................................................... 8
FUNCTIONAL DESCRIPTION ........................................................................................................ 9
5.1
Position Controller and Main Controller .................................................................................... 9
5.1.1
Stepping Modes ................................................................................................................. 9
5.1.2
Velocity Ramp .................................................................................................................... 9
5.1.3
Examples for different Velocity Ramps ............................................................................ 10
5.1.4
Vmax Parameter .............................................................................................................. 11
5.1.5
Vmin Parameter ............................................................................................................... 12
5.1.6
Acceleration Parameter ................................................................................................... 12
5.1.7
Position Ranges ............................................................................................................... 13
5.1.8
Secure Position ................................................................................................................ 13
5.1.9
External Switch ................................................................................................................ 13
5.1.10 Motor Shutdown Management ......................................................................................... 14
5.1.11 Reference Search / Position initialization ......................................................................... 15
5.1.12 Temperature Management .............................................................................................. 16
5.1.13 Battery Voltage Management .......................................................................................... 17
5.1.14 Internal handling of commands and flags ........................................................................ 18
5.2
RAM and OTP Memory ........................................................................................................... 20
5.2.1
RAM Registers ................................................................................................................. 20
5.2.2
Status Flags ..................................................................................................................... 21
5.2.3
OTP Memory Structure .................................................................................................... 22
5.3
Stepper Motor Driver ............................................................................................................... 22
5.3.1
Coil current shapes .......................................................................................................... 23
5.3.2
Transition Irun to Ihold ..................................................................................................... 24
5.3.3
Chopper Mechanism ........................................................................................................ 25
6
TWO-WIRE SERIAL INTERFACE................................................................................................. 26
6.1
Physical Layer ......................................................................................................................... 26
6.2
Communication on Two Wire Serial Bus Interface ................................................................. 26
6.3
Physical Address of the circuit ................................................................................................ 27
6.4
Write data to TMC223 ............................................................................................................. 27
6.5
Read data from TMC223 ........................................................................................................ 28
6.6
Timing characteristics of the serial interface ........................................................................... 29
6.7
Application Commands Overview ........................................................................................... 30
6.8
Command Description ............................................................................................................ 31
6.8.1
GetFullStatus1 ................................................................................................................. 31
6.8.2
GetFullStatus2 ................................................................................................................. 32
6.8.3
GetOTPParam ................................................................................................................. 32
6.8.4
GotoSecurePosition ......................................................................................................... 33
6.8.5
HardStop .......................................................................................................................... 33
Copyright © 2007-2017 TRINAMIC Motion Control GmbH & Co. KG
4
TMC223 DATASHEET (V. 1.06 / August 21, 2017)
6.8.6
ResetPosition ................................................................................................................... 33
6.8.7
ResetToDefault ................................................................................................................ 34
6.8.8
RunInit .............................................................................................................................. 34
6.8.9
SetMotorParam ................................................................................................................ 35
6.8.10 SetStallParam .................................................................................................................. 35
6.8.11 SetOTPParam .................................................................................................................. 36
6.8.12 SetPosition ....................................................................................................................... 37
6.8.13 SoftStop ........................................................................................................................... 37
6.9
Positioning Task Example ....................................................................................................... 38
7
SENSORLESS STALL DETECTION............................................................................................. 39
7.1
7.2
7.3
8
Stall Detection Flags ............................................................................................................... 39
Stall Detection Parameters...................................................................................................... 40
Example of Stall Detection Parameter Setting ........................................................................ 42
FREQUENTLY ASKED QUESTIONS ........................................................................................... 43
8.1
8.2
8.3
8.4
Using the bus interface............................................................................................................ 43
General problems when getting started .................................................................................. 43
Using the device ...................................................................................................................... 44
Finding the reference position ................................................................................................. 45
9
PACKAGE OUTLINE ..................................................................................................................... 46
9.1
9.2
SOIC-20 .................................................................................................................................. 46
QFN32 ..................................................................................................................................... 47
PACKAGE THERMAL RESISTANCE........................................................................................ 48
SOIC-20 Package ................................................................................................................ 48
ELECTRICAL CHARACTERISTICS .......................................................................................... 49
Absolute Maximum Ratings ................................................................................................. 49
Operating Ranges................................................................................................................ 49
DC Parameters .................................................................................................................... 49
AC Parameters .................................................................................................................... 51
10
10.1
11
11.1
11.2
11.3
11.4
REVISION HISTORY ............................................................................................................................. 52
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TMC223 DATASHEET (V. 1.06 / August 21, 2017)
5
2 General Description
2.1
Block Diagramm
SWI
SDA
SCL
Two Wire
Serial
Interface
Position Controller
Decoder
PWM
regulator
X
OA1
OA2
HW
Serial
Interface
Controller
Main control
& Registers
OTP + ROM
Sinewave
table
OB1
DACs
PWM
regulator
Y
TST
Test
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 serial interface. These information are stored internally in RAM or OTP memory and are
accessible 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 serial 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.
2.4
Two Wire Serial Interface
Communication between a host and the TMC223 takes places via the two wire bi-directional serial
interface. Motion instructions and diagnostics information are provided to or from the Main Control
block. It is possible to connect up to 32 devices on the same bus. Slave addresses are programmable
via OTP memory or an external pin.
Copyright © 2007-2017 TRINAMIC Motion Control GmbH & Co. KG
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