POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2660 DATASHEET
Universal, cost-effective stepper driver for two-phase bipolar motors with state-of-the-art features.
Integrated MOSFETs for up to 4 A motor current per coil. With Step/Dir Interface and SPI.
A
PPLICATIONS
Textile, Sewing Machines
Factory Automation
Lab Automation
Liquid Handling
Medical
Office Automation
Printer and Scanner
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
Heliostat Controller
CNC Machines
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC2660 driver for two-phase stepper
motors offers an industry-leading feature
set,
including
high-resolution
microstepping, sensorless mechanical load
measurement,
load-adaptive
power
optimization, and low-resonance chopper
operation. Standard SPI™ and STEP/DIR
interfaces
simplify
communication.
Integrated power MOSFETs handle motor
currents up to 2.2A RMS continuously or
2.8A RMS boost current per coil. Integrated
protection and diagnostic features support
robust and reliable operation. High
integration, high energy efficiency and
small form factor enable miniaturized
designs with low external component
count for cost-effective and highly
competitive solutions.
Drive Capability
up to 4A motor current
Voltage
up to 30V DC
Highest Resolution
up to 256 microsteps per full step
Compact Size
10x10mm QFP-44 package
Low Power Dissipation,
very low RDSON & synchronous
rectification
EMI-optimized
programmable slope
Protection & Diagnostics
overcurrent,
overtemperature & undervoltage
short
to
GND,
stallGuard2™
high precision sensorless motor load detection
coolStep™
load dependent current control for energy savings
up to 75%
microPlyer™
microstep
interpolation
smoothness with coarse step inputs.
for
increased
spreadCycle™
high-precision chopper for best current sine
wave form and zero crossing
B
LOCK
D
IAGRAM
+V
M
TMC2660
VCC_IO
Step Multiplier
Half Bridge 1
Half Bridge 1
VSA / B
OA1
OA2
x
Chopper
2 Phase
Stepper
S
N
STEP
DIR
Sine Table
4*256 entry
OB1
Half Bridge 2
Half Bridge 2
OB2
BRA / B
RSA / B
R
SENSE
R
SENSE
CSN
SCK
SDI
SDO
SPI control,
Config & Diags
coolStep™
Protection
& Diagnostics
stallGuard2™
2 x Current
Comparator
2 x DAC
SG_TST
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2660 DATASHEET (Rev. 1.06 / 2017-JUN-15)
2
APPLICATION EXAMPLES: SMALL SIZE – BEST PERFORMANCE
The TMC2660 scores with power density, integrated power MOSFETs, and a versatility that covers a wide
spectrum of applications and motor sizes, all while keeping costs down. Extensive support at the chips,
board, and software levels enables rapid design cycles and fast time-to-market with competitive products.
High energy efficiency from TRINAMIC’s coolStep technology delivers further cost savings in related systems
such as power supplies and cooling.
TMC4210+TMC2660-EVAL E
VALUATION
-
BOARD FOR
1
AXIS
This evaluation board is a development
platform for applications based on the
TMC2660. The board features a USB interface
for communication with the TMCL-IDE control
software running on a PC. The power
MOSFETs of the TMC2660 support drive
currents up to 2.4A RMS and 29V.
The control software provides a user-friendly
GUI for setting control parameters and
visualizing the dynamic response of the
motor.
Motor movement can be controlled through
the Step/Dir interface using inputs from an
external source or signals generated by the
onboard microcontroller acting as a step
generator. Optionally add a motion controller
card between CPU board and TMC2660-EVAL.
Evaluation board system with TMC2660
Top level layout of TMC2660-EVAL
O
RDER
C
ODES
Order code
TMC2660-PA
TMC2660-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
Description
coolStep™ driver with internal MOSFETs, up to 30V DC,
QFP-44 with 12x12 pins
Evaluation board for TMC2660.
Baseboard for TMC2660-EVAL and further evaluation boards
Connector board for plug-in evaluation board system
Size [mm²]
10 x 10
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC2660 DATASHEET (Rev. 1.06 / 2017-JUN-15)
3
T
ABLE OF
C
ONTENTS
1
1.1
1.2
1.3
1.4
2
2.1
2.2
3
4
4.1
4.2
4.3
4.4
5
5.1
6
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
7
7.1
7.2
7.3
7.4
7.5
8
8.1
9
9.1
9.2
10
10.1
10.2
11
11.1
PRINCIPLES OF OPERATION ............... 4
K
EY
C
ONCEPTS
............................................... 4
C
ONTROL
I
NTERFACES
.................................... 5
M
ECHANICAL
L
OAD
S
ENSING
......................... 5
C
URRENT
C
ONTROL
........................................ 5
PIN ASSIGNMENTS ................................. 6
P
ACKAGE
O
UTLINE
......................................... 6
S
IGNAL
D
ESCRIPTIONS
.................................. 6
INTERNAL ARCHITECTURE.................... 8
STALLGUARD2 LOAD MEASUREMENT 9
T
UNING THE STALL
G
UARD
2 T
HRESHOLD
......10
STALL
G
UARD
2 M
EASUREMENT
F
REQUENCY
AND
F
ILTERING
............................................11
D
ETECTING A
M
OTOR
S
TALL
........................11
L
IMITS OF STALL
G
UARD
2 O
PERATION
.........11
COOLSTEP CURRENT CONTROL .........12
T
UNING COOL
S
TEP
.......................................14
SPI INTERFACE ......................................15
B
US
S
IGNALS
...............................................15
B
US
T
IMING
................................................15
B
US
A
RCHITECTURE
.....................................16
R
EGISTER
W
RITE
C
OMMANDS
......................17
D
RIVER
C
ONTROL
R
EGISTER
(DRVCTRL) ....18
C
HOPPER
C
ONTROL
R
EGISTER
(CHOPCONF) ..
...................................................................20
COOL
S
TEP
C
ONTROL
R
EGISTER
(SMARTEN)21
STALL
G
UARD
2 C
ONTROL
R
EGISTER
(SGCSCONF) .............................................22
D
RIVER
C
ONTROL
R
EGISTER
(DRVCONF) ...23
R
EAD
R
ESPONSE
..........................................24
D
EVICE
I
NITIALIZATION
...............................25
STEP/DIR INTERFACE ...........................26
T
IMING
........................................................26
M
ICROSTEP
T
ABLE
.......................................27
C
HANGING
R
ESOLUTION
..............................28
MICRO
P
LYER
S
TEP
I
NTERPOLATOR
...............28
S
TANDSTILL CURRENT REDUCTION
................29
CURRENT SETTING ................................30
S
ENSE
R
ESISTORS
........................................31
CHOPPER OPERATION .........................32
M
ODE
....................................33
C
ONSTANT
O
FF
-T
IME
M
ODE
........................35
POWER MOSFET STAGE ......................37
B
REAK
-B
EFORE
-M
AKE
L
OGIC
........................37
ENN I
NPUT
.................................................37
DIAGNOSTICS AND PROTECTION ...38
S
HORT TO
GND D
ETECTION
........................38
SPREAD
C
YCLE
11.2
11.3
11.4
12
13
13.1
14
14.1
14.2
14.3
14.4
14.5
15
16
16.1
16.2
16.3
17
17.1
17.2
18
19
20
21
O
PEN
-L
OAD
D
ETECTION
.............................. 39
O
VERTEMPERATURE
D
ETECTION
................... 39
U
NDERVOLTAGE
D
ETECTION
......................... 40
POWER SUPPLY SEQUENCING .......... 41
SYSTEM CLOCK ...................................... 41
F
REQUENCY
S
ELECTION
................................ 42
LAYOUT CONSIDERATIONS ............... 43
S
ENSE
R
ESISTORS
........................................ 43
P
OWER
MOSFET O
UTPUTS
......................... 43
P
OWER
S
UPPLY
P
INS
.................................. 43
P
OWER
F
ILTERING
....................................... 43
L
AYOUT
E
XAMPLE
........................................ 44
ABSOLUTE MAXIMUM RATINGS ....... 45
ELECTRICAL CHARACTERISTICS ....... 46
O
PERATIONAL
R
ANGE
.................................. 46
DC
AND
AC S
PECIFICATIONS
...................... 46
T
HERMAL
C
HARACTERISTICS
........................ 49
PACKAGE MECHANICAL DATA .......... 50
D
IMENSIONAL
D
RAWINGS
........................... 50
P
ACKAGE
C
ODE
........................................... 50
DISCLAIMER ........................................... 51
ESD SENSITIVE DEVICE ...................... 51
TABLE OF FIGURES ............................... 52
REVISION HISTORY ............................. 52
www.trinamic.com
TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14)
4
1
Principles of Operation
0A+
High-Level
Interface
µC
S/D
TMC2660
0A-
0B+
0B-
S
N
SPI
TMC429
High-Level
Interface
0A+
S/D
µC
SPI
Motion
Controller
for up to
3 Motors
SPI
TMC2660
0A-
0B+
0B-
S
N
Figure 1.1 Block diagram: applications
The TMC2660 motor driver chip with included MOSFETs is the intelligence and power between a
motion controller and the two phase stepper motor as shown in Figure 1.1. Following power-up, an
embedded microcontroller initializes the driver by sending commands over an SPI bus to write
control parameters and mode bits in the TMC2660. The microcontroller may implement the motion-
control function as shown in the upper part of the figure, or it may send commands to a dedicated
motion controller chip such as TRINAMIC’s TMC429 as shown in the lower part.
The motion controller can control the motor position by sending pulses on the STEP signal while
indicating the direction on the DIR signal. The TMC2660 has a microstep counter and sine table to
convert these signals into the coil currents which control the position of the motor. If the
microcontroller implements the motion-control function, it can write values for the coil currents
directly to the TMC2660 over the SPI interface, in which case the STEP/DIR interface may be disabled.
This mode of operation requires software to track the motor position and reference a sine table to
calculate the coil currents.
To optimize power consumption and heat dissipation, software may also adjust coolStep and
stallGuard2 parameters in real-time, for example to implement different tradeoffs between speed and
power consumption in different modes of operation.
The motion control function is a hard real-time task which may be a burden to implement reliably
alongside other tasks on the embedded microcontroller. By offloading the motion-control function to
the TMC429, up to three motors can be operated reliably with very little demand for service from the
microcontroller. Software only needs to send target positions, and the TMC429 generates precisely
timed step pulses. Software retains full control over both the TMC2660 and TMC429 through the SPI
bus.
1.1
Key Concepts
The TMC2660 motor driver implements several advanced features which are exclusive to TRINAMIC
products. These features contribute toward greater precision, greater energy efficiency, higher
reliability, smoother motion, and cooler operation in many stepper motor applications.
stallGuard2™
coolStep™
spreadCycle™
microPlyer™
High-precision load measurement using the back EMF on the coils
Load-adaptive current control which reduces energy consumption by as much as
75%
High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm
Microstep interpolator for obtaining increased smoothness of microstepping over a
STEP/DIR interface
www.trinamic.com
TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14)
5
In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to
detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2
Control Interfaces
There are two control interfaces from the motion controller to the motor driver: the SPI serial
interface and the STEP/DIR interface. The SPI interface is used to write control information to the chip
and read back status information. This interface must be used to initialize parameters and modes
necessary to enable driving the motor. This interface may also be used for directly setting the currents
flowing through the motor coils, as an alternative to stepping the motor using the STEP and DIR
signals, so the motor can be controlled through the SPI interface alone.
The STEP/DIR interface is a traditional motor control interface available for adapting existing designs
to use TRINAMIC motor drivers. Using only the SPI interface requires slightly more CPU overhead to
look up the sine tables and send out new current values for the coils.
1.2.1 SPI Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave, another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC2660 slave always consists of sending one 20-bit
command word and receiving one 20-bit status word.
The SPI command rate typically corresponds to the microstep rate at low velocities. At high velocities,
the rate may be limited by CPU bandwidth to 10-100 thousand commands per second, so the
application may need to change to fullstep resolution.
1.2.2 STEP/DIR Interface
The STEP/DIR interface is enabled by default. Active edges on the STEP input can be rising edges or
both rising and falling edges, as controlled by another mode bit (DEDGE). Using both edges cuts the
toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as
optically isolated interfaces.
On each active edge, the state sampled from the DIR input determines whether to step forward or
back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256
microsteps per fullstep. During microstepping, a step impulse with a low state on DIR increases the
microstep counter and a high decreases the counter by an amount controlled by the microstep
resolution. An internal table translates the counter value into the sine and cosine values which
control the motor current for microstepping.
1.3
Mechanical Load Sensing
The TMC2660 provides stallGuard2 high-resolution load measurement for determining the mechanical
load on the motor by measuring the back EMF. In addition to detecting when a motor stalls, this
feature can be used for homing to a mechanical stop without a limit switch or proximity detector. The
coolStep power-saving mechanism uses stallGuard2 to reduce the motor current to the minimum
motor current required to meet the actual load placed on the motor.
1.4
Current Control
Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes
are available: a traditional constant off-time mode and the new spreadCycle mode. spreadCycle mode
offers smoother operation and greater power efficiency over a wide range of speed and load.
www.trinamic.com
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