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TMC428-PI24: 产品描述Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces; 文件大小727KB，共59页; 制造商ETC2

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TMC428-PI24概述

Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces

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TMC428 DATASHEET (v. 2.02 / April 26 , 2006)

TMC428 – DATASHEET

Intelligent Triple Stepper Motor Controller with

Serial Peripheral Interfaces

TRINAMIC Motion Control GmbH & Co. KG

Sternstrasse 67

D – 20357 Hamburg

GERMANY

P +49 - (0) 40 - 51 48 06 - 0

F +49 - (0) 40 - 51 48 06 - 60

www.trinamic.com

info@trinamic.com

1 Features

The TMC428 is a miniaturized high performance stepper motor controller. It controls up to three 2-

phase stepper motors. All motors can operate independently. The TMC428 allows up to 6 bit micro

step resolution – corresponding to 64 micro steps per full step – individually selectable for each motor.

Once initialized, it performs all real time critical tasks autonomously based on target positions and

velocities, which can be altered on-the-fly. So, an inexpensive microcontroller together with the

TMC428 forms a complete motion control system. The microcontroller is free to do application specific

interfacing and high level control functions. Both, the communication with the microcontroller and with

one to three daisy chained stepper motor drivers take place via two separate 4 wire serial peripheral

TM*

interfaces. The TMC428 directly connects to SPI smart power stepper motor drivers.

•

Controls up to three 2-phase stepper motors

Serial 4-wire interface for µC with easy-to-use protocol

Configurable interface for SPI motor drivers

Different types of SPI stepper motor driver chips may be mixed within a single daisy chain

Communication on demand minimizes traffic to the SPI stepper motor driver chain

Programmable SPI data rates up to 1 Mbit/s

Wide range for clock frequency – can use CPU clock up to 16 MHz

Internal 24 bit wide position counters

Full step frequencies up to 20 kHz

Read-out facility for actual motion parameters (position, velocity, acceleration) and driver status

Individual micro step resolution of {64, 32, 16, 8, 4, 2, 1} micro steps via built-in sequencer

Programmable 6 bit micro step table with up to 64 entries for a quarter sine-wave period

Built-in ramp generators for autonomous positioning and speed control

On-the-fly change of target motion parameters (like position, velocity, acceleration)

Automatic acceleration dependent current control (power boost)

Low power operation: Only 1.25 mA @ 4 MHz (typ.)

Power down mode with transparent wake-up for normal operation

3.3V or 5V operation with CMOS / TTL compatible IOs (all inputs Schmitt-Trigger)

Available in ultra small 16 pin SSOP package and small 24 pin SOP package

SPI is Trademark of Motorola, Inc.

TMC428 DATASHEET (v. 2.02 / April 26 , 2006)

2 General Description

The TMC428 is a miniaturized high performance stepper motor controller with a unique price /

performance ratio for both, high volume automotive and for demanding industrial motion control

applications. Once initialized, the TMC428 controls up to three 2-phase stepper motors. Its low price

makes it attractive also for applications, where only one or two stepper motors have to be controlled

simultaneously.

The TMC428 performs all real time critical tasks autonomously. Thus a low cost microcontroller is

sufficient to perform the tasks of initialization, application specific interfacing, and to specify target

positions and velocities. The TMC428 allows on-the-fly change of all motion target parameters also

during motion. Any other parameter may be changed at any time– also during motion –which does not

make sense in any case, but this uniform access to any TMC428 register simplifies application

programming. Read-back option for all internal registers simplifies programming. With its internal

position counters , the TMC428 can perform up to 2 steps respectively micro steps fully independent

from the microcontroller. The step resolution– individually programmable for each stepper motor –

ranges from full step (1 ‘’micro step’’ is one full step), half step (2 ‘’micro steps’’ per full step), up to 6

bit micro stepping (64 micro steps per full step) for precise positioning and noiseless stepper motor

rotation (Table 8-8, page 26). Optionally, the micro step table– common for all motors –can be adapted

to motor characteristics to further reduce torque ripple.

The TMC428 has got serial interfaces for communication with the microcontroller and for the stepper

motor drivers. The serial interface for the microcontroller uses a fixed length of 32 bits with a simple

protocol, directly connecting to SPI interfaces. The serial interface to the stepper motor drivers is

flexibly configurable for different types– even from different vendors –with up to 64 bit length for the

SPI daisy chain. TRINAMIC smart power stepper motor drivers TMC236, TMC239 and TMC246,

TMC249 perfectly fit to the TMC428. Without additional hardware, drivers with same serial interface

polarities of chip select and clock signals may be mixed in a single chain. To mix drivers with different

serial interface polarities, additional inverters (e.g. 74HC04, 74HC14) are required. For those driver

chips without serial data output, two additional variants of the TMC428 with two additional chip select

outputs are available. The TMC428 sends data to the driver chain on demand only, which minimizes

the interface traffic and reduces the power consumption.

Hint:

Unused reference switch inputs should be pulled to ground (Figure 2-1). With this one can

connect reference switches that connect to +5V resp. +3.3V when pushed. Concerning different

reference switch configurations please refer to Figure 9-3, Figure 9-4, Figure 9-5.

Reference Switch Inputs

(active high)

*For details concerning electrical connections of

the TMC236 / TMC239 / TMC246 / TMC249

refer to its datasheet.

REF1

nSCS_C

REF2

REF3

nSCS_S

CSN

SDI

SDO

TMC23x / TMC24x

SCK

SCK_S

MOSI

µC

SCK

MISO

CLK

SDI_C

TMC428-I /

TMC428-A

CLK

V33

TEST

GND

SDO_S

CSN

SDI

SDO

TMC23x / TMC24x

SCK

CSN

SDI

SDO

TMC23x / TMC24x

SCK

SCK_C

SDO_C

SDI_S

470

Note:

output SDO_C will

nerver be high impedance

+5 V

100 nF

10K

SM#3

SM#2

SM#1

Figure 2-1: TMC428 application environment with TMC428 in SSOP16 package

TMC428 DATASHEET (v. 2.02 / April 26 , 2006)

REF1

REF2

REF3

nSCS3

nSCS2

nSCS_C

nSCS_S

MOSI

µC

SCK

MISO

CLK

SDI_C

TMC428-PI24 /

TMC428-DI20

nSCS

SDO_S

SDI

Driver

w/o SDO

SCK

SDI

nSCS

Driver

w/o SDO

SCK

SDI

nSCS

Driver

w/o SDO

SCK

SDO

SCK_C

SDO_C

CLK V33

V5 V5

TEST GND GND

SCK_S

SDI_S

470 nF

10K

Note:

output SDO_C will

nerver be high impedance

+5 V

SM#3

SM#2

SM#1

Figure 2-2: Usage of drivers without serial data output (SDO) with TMC428 in larger packages

(*the

DI20 package variant is not recommended for new designs)

2.1

Step Frequencies

The maximum SPI data rate is the clock frequency divided by 16. The maximum step frequency

depends on the total length of the datagrams sent to the SPI stepper motor driver chain. At a clock

frequency of 16 MHz, with a daisy chain of three SPI stepper motor drivers of 16 bit datagram length

each, the maximum

full step

frequency is 16 MHz / 16 / ( 3 * 16 ). This is approximately 20 kHz and

that is much higher than needed for typical stepper motors. But, the micro step rate may be higher,

even if the stepper motor driver does not see all micro steps due to SPI data rate limit, as long as the

number of skipped micro steps is less than a full step. In this respect, one should remember, that at

high step rates– respectively pulse rates –the differences between micro stepping and full step

excitation vanishes.

2.2

Modes of Motion

The TMC428 has four different modes of motion, programmable individually for each stepper motor,

named RAMPMODE, SOFTMODE, VELOCITYMODE, and HOLDMODE. For positioning applications

the RAMPMODE is most suitable, whereas for constant velocity applications the VELOCITYMODE is.

In RAMPMODE, the user just sets the position and the TMC428 calculates a trapezoidal velocity profile

and drives autonomously to the target position. During motion, the position may be altered arbitrarily.

The SOFTMODE is similar to the RAMPMODE, but the decrease of the velocity during deceleration is

done with a soft, exponentially shaped velocity profile. In VELOCITYMODE, a target velocity is set by

the user and the TMC428 takes into account user defined limits of velocity and acceleration. In

HOLDMODE, the user sets target velocities, but the TMC428 ignores any limits of velocity and

acceleration, to realize arbitrary velocity profiles, controlled completely by the user. The TMC428 has

capabilities to generate interrupts depending on different stepper motor conditions chosen by an

interrupt mask. However, status bits sent back automatically to the microcontroller each time it sends

data to the TMC428 are sufficient for polling techniques.

The TMC428 provides different modes for reference switch handling. In the default reference switch

mode, the three reference switch inputs (REF1,

REF2, REF3)

are defined as left side reference

switches, one for each stepper motor. In another mode, the 1 reference input (REF1) is defined as left

reference switch input of motor number one, the 2 reference input (REF2) is defined as left reference

switch input of motor number two, and the 3 reference input (REF3) is defined as right reference

switch of stepper motor number one. In that mode, there is no reference switch input available for

stepper motor three. With an external multiplexer 74HC157 any stepper motor may have a left and a

right reference switch.

Many serial stepper motor drivers provide different status bits (driver active, inactive, ...) and error bits

(short to ground, wire open, ...). To have access to those error bits, datagrams with a total length up to

48 bits sent back from the stepper motor driver chain to the TMC428 are buffered within two 24 bit

wide registers. The microcontroller has direct access to these registers. Although, the TMC428

provides datagrams with up to 64 bits, only the last 48 bits sent back from the driver chain are buffered

for read out by the microcontroller. This is because buffering of 3 times 16 bits is sufficient for a chain

of three stepper motor drivers (see Figure 2-1, page 3) and most other drivers sending back up to 16

bits. For a chain of three TMC236 / TMC239 / TMC246 / TMC249 all status bits are accessible. From

TMC428 DATASHEET (v. 2.02 / April 26 , 2006)

the software point of view, the TMC428 provides a set of registers, accessed by a microcontroller (µC)

via a serial interface in an uniform way. Each datagram contains address bits, a read-write selection

bit, and data bits, to access the registers and the on-chip memory. Each time, the µC sends a

datagram to the TMC428, it simultaneously receives a datagram from the TMC428. This simplifies the

communication with the TMC428 and makes the programming easy. Most microcontrollers have an

SPI hardware interface, which directly connects to the serial four wire microcontroller interface of the

hardware, a software doing the serial communication is

TMC428. For microcontrollers without SPI

completely sufficient and can easily be implemented.

2.3

Notation of Number Systems & Notation of Two to the Power of n

Decimal numbers are used as usual without additional identification. Binary numbers are identified by a

prefixed % character. Hexadecimal numbers are identified by a prefixed $ character. So, for example

the decimal number 42 in the decimal system is written as %101010 in the binary number system, and

it is written as $2A in the hexadecimal number system. With this, TMC428 datagrams are written as 32

bit numbers (e.g. $1234ABCD = %00010010001101001010101111001101). In addition to the basic

arithmetic operators (+, -, *, /) the operator

two to the power of n

is required at different sections of this

data sheet. For better readability instead of 2 the notation 2^n is used.

2.4

Signal Polarities

Per default, signals– external and internal –are high active, but the polarity of some signals is

programmable to be inverted. A pre-fixed lower case ‘n’ indicates low active signals (e.g. nSCS_C,

nSCS_S). For example the polarity of nSCS_S can be inverted by programming, but also the polarity of

datagram bits can be inverted by programming (see section 9, page 27).

2.5

Units of Motion Parameters

Motion parameters position, velocity, and acceleration are given as integer values within TMC428

specific units. Section 8.14 page 26 explains, how to calculate steps, steps per second, steps per

second square from given TMC428 integer values. With a given stepper motor resolution one can

calculate physical units for angle, angular velocity, angular acceleration.

2.6

Representation of Signed Values by Two’s Complement

Those motion parameters that have to cover negative and positive motion direction as well, are

processed as signed numbers represented by two’s complement as usual. Signed motion parameters

are x_target, x_actual, v_target, v_actual, a_actual. Limit motion parameters as v_min, v_max, a_max,

a_threshold, are represented as unsigned binary numbers.

2.7

Tables of Contents

A table of contents, a table of figures, and a table of tables are located at the end of the data sheet.

3 Package Variants

The TMC428 is available in three different package variants, qualified for the industrial temperature

range. An additional variant is available for the automotive temperature range. The package outlines

and dimensions are included within this data sheet (page 45-47.)

part number

TMC428-I

TMC428-A

TMC428-PI24

TMC428-DI20

Package

SSOP16 – 150 mils, 16 pins, plastic package, industrial (-40°C ... +85°C)

SSOP16 – 150 mils, 16 pins, plastic package, automotive (-40°C ... +125°C)

SOP24 – 300 mils, 24 pins, plastic package, industrial (-40°C ... +85°C)

DIL20 – 300 mils, 20 pins, plastic package, industrial (-40°C ... +85°C)

[This

package variant is not recommended for new designs]

JEDEC Drawing

MO-137 (150 mils)

MS-013 (300 mils)

MS-001 (300 mils)

Table 3-1: TMC428 package variants

TMC428-PI24相似产品对比

	TMC428-PI24	TMC428	TMC428-DI20	TMC428-I	TMC428_06
描述	Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces	Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces	Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces	Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces	Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces

TMC428-PI24

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