POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC260 & TMC261 DATASHEET
Universal, cost-effective stepper drivers for two-phase bipolar motors with state-of-the-art features.
Integrated MOSFETs for up to 2 A motor currents 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 TMC260 and TMC261 drivers for two-
phase stepper motors offer 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 2A 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 2A motor current
Highest Voltage
up to 60V DC (TMC261) or 40V DC (TMC260)
Highest Resolution
up to 256 microsteps per full step
Compact Size
10x10mm QFP-44 package
Low Power
rectification
Dissipation,
low
RDSON
&
synchronous
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
TMC260 / TMC261
VCC_IO
Step Multiplier
Half Bridge 1
Half Bridge 1
VSA / B
OA1
OA2
2 Phase
Stepper
S
N
STEP
DIR
Sine Table
4*256 entry
x
Chopper
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
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
2
APPLICATION EXAMPLES: SMALL SIZE
–
BEST PERFORMANCE
The TMC260 and the TMC261 score 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.
TMCM-6110
FOR UP TO
6
STEPPER
M
OTORS
The TMCM-6110 is a compact stepper motor
controller / driver
standalone
board.
It
supports up to 6 bipolar stepper motors with
up to 1.1A RMS coil current. The TMC260 has
been tested successfully for 2A peak (1,4A
RMS) on this module.
The TMCM-6110 features an embedded
microcontroller with USB, CAN and RS485
interfaces for communication.
Layout for up to six stepper motors
All
cooling requirements are satisfied by
passive convection cooling.
TMC429+TMC26
X
EVAL
E
VALUATION
&
DEVELOPMENT PLATFORM
This evaluation board is a development
platform for applications based on the
TMC260, TMC261, and TMC262.
Supply voltages are 8… 40V DC (TMC260) and
8… 60V DC (TMC261 and TMC262).
The
board
features
an
embedded
microcontroller with USB and RS232 interfaces
for communication. The control software
provides a user-friendly GUI for setting control
parameters and visualizing the dynamic
responses of the motors.
Motor movements can be controlled through
the step/direction interface using inputs from
an external source or signals generated by the
TMC429 motion controller acting as a step
generator.
Layout for Evaluation
O
RDER
C
ODES
Order code
TMC260-PA
TMC261-PA
TMC429+26x-EVAL
Description
coolStep™ driver with internal MOSFETs, up to 40V DC,
QFP-44 with 12x12 pins
coolStep™ driver with internal MOSFETs, up to 60V DC,
QFP-44 with 12x12 pins
Chipset evaluation board for TMC429, TMC260, TMC261,
TMC262, and TMC424.
Size
10 x 10 mm
2
10 x 10 mm
2
16 x 10 cm
2
www.trinamic.com
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
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
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
11.1
11.2
11.3
11.4
12
13
13.1
15
15.1
15.2
15.3
15.4
16
17
17.1
17.2
17.3
18
18.1
18.2
19
20
21
22
23
S
HORT TO
GND D
ETECTION
........................ 38
O
PEN
-L
OAD
D
ETECTION
.............................. 39
O
VERTEMPERATURE
D
ETECTION
................... 39
U
NDERVOLTAGE
D
ETECTION
......................... 40
POWER SUPPLY SEQUENCING .......... 41
SYSTEM CLOCK ...................................... 42
F
REQUENCY
S
ELECTION
................................ 42
LAYOUT CONSIDERATIONS ............... 43
S
ENSE
R
ESISTORS
........................................ 43
P
OWER
MOSFET O
UTPUTS
......................... 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 ............................. 53
REFERENCES ............................................ 53
5
COOLSTEP LOAD-ADAPTIVE CURRENT
CONTROL 12
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
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
SPREAD
C
YCLE
www.trinamic.com
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
4
1
Principles of Operation
0A+
High-Level
Interface
µC
S/D
TMC260
TMC261
0A-
0B+
0B-
S
N
SPI
TMC429
High-Level
Interface
0A+
S/D
µC
SPI
Motion
Controller
for up to
3 Motors
SPI
TMC260
TMC261
0A-
0B+
0B-
S
N
Figure 1.1 applications block diagram
The TMC260 and the TMC261 motor driver chips with included MOSFETs are 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 TMC260/TMC261. 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 TMC260/TMC261 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 TMC260/261 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 TMC260/TMC261 and TMC429 through the
SPI bus.
1.1
Key Concepts
The TMC260 and TMC261 motor drivers implement 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
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
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 TMC260 or TMC261 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 TMC260 and TMC261 provide 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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