TMC222 DATASHEET (V. 1.12 / March 7, 2011)
1
TMC222 – DATASHEET
Micro Stepping Stepper Motor
Controller / Driver with Two Wire Serial Interface
GND
GND
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
26
GND
OA2
OB1
OB1
GND
1
20
TRINAMIC Motion Control GmbH & Co. KG
Waterloohain 5
D – 22769 Hamburg
GERMANY
25
24
23
OA2
TMC 222
QFN32
15
20
21
19
18
9
10
11
12
13
14
15
16
SCL
open
VDD
HW
GND
Top view
1 Features
The TMC222 is a combined micro-stepping stepper motor motion controller and driver with RAM and
OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings.
The TMC222 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 TMC222 forms a complete motion control system. The main benefits
of the TMC222 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)
•
•
Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG
GND
TST
NC
17
TRINAMIC
OB2
OB2
VBAT
VBAT
VBAT
VCP
CPP
CPN
22
2
3
4
www.trinamic.com
TMC222
5
6
7
8
2
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
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 2011
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.
Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
3
Table of Contents
1
2
FEATURES ...................................................................................................................................... 1
GENERAL DESCRIPTION .............................................................................................................. 5
2.1
2.2
2.3
2.4
2.5
2.6
3
4
5
Block Diagramm ........................................................................................................................ 5
Position Controller / Main Control ............................................................................................. 5
Stepper Motor Driver ................................................................................................................. 5
Two Wire Serial Interface.......................................................................................................... 5
Miscellaneous ........................................................................................................................... 6
Pin and Signal Descriptions ...................................................................................................... 6
TYPICAL APPLICATION ................................................................................................................. 7
ORDERING INFORMATION ........................................................................................................... 7
FUNCTIONAL DESCRIPTION ........................................................................................................ 8
5.1
Position Controller and Main Controller .................................................................................... 8
5.1.1
Stepping Modes ................................................................................................................. 8
5.1.2
Velocity Ramp .................................................................................................................... 8
5.1.3
Examples for different Velocity Ramps .............................................................................. 9
5.1.4
Vmax Parameter .............................................................................................................. 10
5.1.5
Vmin Parameter ............................................................................................................... 11
5.1.6
Acceleration Parameter ................................................................................................... 11
5.1.7
Position Ranges ............................................................................................................... 12
5.1.8
Secure Position ................................................................................................................ 12
5.1.9
External Switch ................................................................................................................ 12
5.1.10 Motor Shutdown Management ......................................................................................... 13
5.1.11 Reference Search / Position initialization......................................................................... 14
5.1.12 Temperature Management .............................................................................................. 15
5.1.13 Battery Voltage Management .......................................................................................... 16
5.1.14 Internal handling of commands and flags ........................................................................ 17
5.2
RAM and OTP Memory ........................................................................................................... 19
5.2.1
RAM Registers ................................................................................................................. 19
5.2.2
Status Flags ..................................................................................................................... 20
5.2.3
OTP Memory Structure .................................................................................................... 21
5.3
Stepper Motor Driver ............................................................................................................... 21
5.3.1
Coil current shapes .......................................................................................................... 22
5.3.2
Transition Irun to Ihold ..................................................................................................... 23
5.3.3
Chopper Mechanism ........................................................................................................ 24
6
TWO-WIRE SERIAL INTERFACE................................................................................................. 25
6.1
Physical Layer ......................................................................................................................... 25
6.2
Communication on Two Wire Serial Bus Interface ................................................................. 25
6.3
Physical Address of the circuit ................................................................................................ 26
6.4
Write data to TMC222 ............................................................................................................. 26
6.5
Read data from TMC222 ........................................................................................................ 27
6.6
Timing characteristics of the serial interface ........................................................................... 28
6.7
Application Commands Overview ........................................................................................... 29
6.8
Command Description ............................................................................................................ 30
6.8.1
GetFullStatus1 ................................................................................................................. 30
6.8.2
GetFullStatus2 ................................................................................................................. 31
6.8.3
GetOTPParam ................................................................................................................. 31
6.8.4
GotoSecurePosition ......................................................................................................... 32
6.8.5
HardStop .......................................................................................................................... 32
6.8.6
ResetPosition ................................................................................................................... 32
Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG
4
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
6.8.7
ResetToDefault ................................................................................................................ 33
6.8.8
RunInit .............................................................................................................................. 33
6.8.9
SetMotorParam ................................................................................................................ 34
6.8.10 SetOTPParam .................................................................................................................. 34
6.8.11 SetPosition ....................................................................................................................... 35
6.8.12 SoftStop ........................................................................................................................... 35
6.9
Positioning Task Example ....................................................................................................... 36
7
FREQUENTLY ASKED QUESTIONS ........................................................................................... 38
7.1
7.2
7.3
7.4
8
Using the bus interface............................................................................................................ 38
General problems when getting started .................................................................................. 38
Using the device ...................................................................................................................... 39
Finding the reference position ................................................................................................. 40
PACKAGE OUTLINE ..................................................................................................................... 41
8.1
8.2
SOIC-20 .................................................................................................................................. 41
QFN32 ..................................................................................................................................... 42
9
PACKAGE THERMAL RESISTANCE ........................................................................................... 43
9.1
SOIC-20 Package ................................................................................................................... 43
ELECTRICAL CHARACTERISTICS .......................................................................................... 44
Absolute Maximum Ratings ................................................................................................. 44
Operating Ranges................................................................................................................ 44
DC Parameters .................................................................................................................... 44
AC Parameters .................................................................................................................... 46
10
10.1
10.2
10.3
10.4
REVISION HISTORY ............................................................................................................................. 47
Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG
TMC222 DATASHEET (V. 1.12 / March 7, 2011)
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
TST
Test
PWM
regulator
Y
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 TMC222 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 © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG
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