TMC424 Datasheet – (V1.04 / 2015-JUL-01)
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TMC424 – Datasheet
Serial Triple Incremental
Encoder Interface
EXT_RES
NSCS429
SDO429
NSCS
NINT
SDO
SCK
SDI
ENC_INV
VCORE
VCCI
GND
100
GND
1
76
75
GND
VCC
ENC1_A
ENC1_B
ENC1_N
ENC2_A
ENC2_B
ENC2_N
GND
ENC3_A
ENC3_B
GND
VCORE
GND
VCCI
TRINAMIC Motion Control GmbH & Co. KG
Waterloohain 5
D – 22769 Hamburg
GERMANY
WWW.TRINAMIC.COM
ENC3_N
VCORE
TMC424
TQFP-100 Package
CLK
STEP1
VCORE
VCCI
DIR1
STEP2
DIR2
STEP3
DIR3
VCC
GND
25
26
50
VCC
TRST
TDO
VCC
51
GND
SDO_D
SDI_D
SCK_D
NSCS_D
REF0
REF1
REF2
STOPR0
STOPR1
STOPR2
STOPL0
STOPL1
STOPL2
TDI
GND
VCORE
VCCI
TMS
TCK
TMC424 Main Features
The TMC424 is a triple incremental encoder input chip, which interfaces to any SPI
TM
compatible
controller. The TMC424 can especially be used in conjunction with the TMC429 triple stepper motor
controller to provide position verification or stabilization using some additional software. It integrates
24 bit counters for each encoder to provide a high position resolution without CPU interaction. Further
it allows dynamic resolution adaptation to allow direct comparison of encoder counters with motors
using a different micro step resolution. All encoder counters can be latched synchronously, or
whenever a null channel event occurs, providing a position on strobe holding function. The TMC424
also provides a step / direction output with programmable signal shaping for the TMC429 as an
optional function. A multiplexer function is also integrated for the TMC429 reference switches. All
functions can also be used in conjunction.
Applications
Stepper Motor Position Verification
Position Maintenance
Incremental Encoder Interface Readout
Step / Direction conversion for TMC429 systems
Features
Supports 2 and 3 channel incremental encoders with a wide range of resolutions
Allows step / direction signal extraction from TMC429 output data stream
Programmable pulse shaping for step / direction interface
24 bit integrated position resolution
Programmable prescaler for Incremental Encoder Interface
4-times evaluation of encoder signals
Fast 32 bit SPI
TM
interface
Can share SPI
TM
interface with TMC429 and supplies separate interrupt output
Integrates Reference Switch Multiplexers
Package: TQ100
Note: SPI is Trademark of Motorola, Inc.
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
VCC
TMC424 Datasheet – (V1.04 / 2015-JUL-01)
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Revision History
Version
1.0
1.01
1.02
1.03
1.04
Comment
Derived from TMC423 rebirth datasheet V1.4
Added Pin12 (GND) to Table 1
Added internal Pull-Up/-Down
resistors to Table 1
Updated to TMC429 and TMC26x
Warning hint for chamfered corner in IC
package is not pin 1 reference
Date
June 24, 2010
October 14, 2010
February 1, 2011
June 30, 2011
2015-JUN-01
Name
SL
SL
SL
SL
BD
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
TMC424 Datasheet – (V1.04 / 2015-JUL-01)
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Table of Contents
1
Pinout .............................................................................................................................................................................. 5
1.1
Pin Description ..................................................................................................................................................... 6
1.2
Recommended Operating Conditions ............................................................................................................ 7
1.3
Electrical Characteristics ..................................................................................................................................... 7
Block Diagram ............................................................................................................................................................... 8
Application Environment ............................................................................................................................................ 9
3.1
Application Description ...................................................................................................................................... 9
3.1.1 Application with TMC26x Stepper Motor Driver (SPI controlled) ..................................................... 9
3.1.2 Application with Step/Direction controlled TMC26x ............................................................................ 9
3.2
Application Examples........................................................................................................................................ 10
3.2.1 Application with TMC6x Stepper Motor Driver .................................................................................... 10
3.2.2 Application with Step/Direction Power Stage ..................................................................................... 10
Dynamic Resolution Adaptation............................................................................................................................. 11
Serial Peripheral Interface (SPI) with 32-bit Register ...................................................................................... 12
5.1
Description and Specification......................................................................................................................... 12
5.2
32-bit SPI Datagram Structure ....................................................................................................................... 13
5.3
SPI 32-bit Datagram Specification ................................................................................................................ 13
5.3.1 Overview ........................................................................................................................................................ 13
Incremental Encoder ................................................................................................................................................. 14
Configuration Datagrams ......................................................................................................................................... 15
7.1
Encoder Interface Prescaler and Null Event Configuration.................................................................... 15
7.2
Encoder Interface Hold Register Operation................................................................................................ 16
7.3
Timer Logic Step Pulse Length and Delay ................................................................................................. 17
7.4
Control Register and Interrupt Control ....................................................................................................... 17
7.5
N-Channel Read Back ........................................................................................................................................ 17
SPI-Protocol for Interface with 6-bit Register .................................................................................................... 18
8.1
Step and Direction Pulse conversion ........................................................................................................... 18
Package dimensions .................................................................................................................................................. 19
2
3
4
5
6
7
8
9
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
TMC424 Datasheet – (V1.04 / 2015-JUL-01)
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List of Figures
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
Figure
1: Pinout TMC424 ..................................................................................................................................................... 5
2: Block diagram of the TMC424 .......................................................................................................................... 8
3: Application Environment................................................................................................................................... 9
4: Example for Application with SPI controlled TMC26x Stepper Motor Driver ................................... 10
5: Example for Application with Step/Direction Power Stage .................................................................. 10
6: TMC424 Application .......................................................................................................................................... 11
7: Timing diagram of the Serial Interface ...................................................................................................... 12
8: Structure 32-Bit Interface ................................................................................................................................ 13
9: Overview TMC424 Registers ........................................................................................................................... 13
10: Encoder Output and Evaluation .................................................................................................................. 14
11: Crosstalk on Encoder Wire ........................................................................................................................... 14
12: Step Direction conversion ............................................................................................................................ 18
13: 100-Pin TQFP Top View ................................................................................................................................. 19
14: 100-Pin TQFP Side View ................................................................................................................................ 19
15: 100-Pin TQFP Side View Detail A................................................................................................................ 19
List of Tables
Table
Table
Table
Table
Table
Table
Table
Table
Table
Table
Table
Table
Table
1: TMC424 Pinout ....................................................................................................................................................... 6
2: Operating Conditions ........................................................................................................................................... 7
3: Operating Conditions ........................................................................................................................................... 7
4: Prescaler factors for different motors and encoders ................................................................................ 11
5: Interrupt Flags ..................................................................................................................................................... 13
6: SPI Datagram Prescaler ..................................................................................................................................... 16
7: SPI Datagram Hold Register ............................................................................................................................ 16
8: SPI Datagram Step-/Dir logic ........................................................................................................................... 17
9: SPI Datagram Control Register ....................................................................................................................... 17
10: N-Channel Read Back Register ...................................................................................................................... 17
11: SPI Datagram Step / Direction Converter .................................................................................................. 18
12: Datagram example and RAM contents for three step-direction drivers............................................ 18
13: TQFP Dimensions .............................................................................................................................................. 20
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
TMC424 Datasheet – (V1.04 / 2015-JUL-01)
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1 Pinout
EXT_RES
NSCS429
SDO429
NSCS
NINT
SDO
SCK
SDI
ENC_INV
VCORE
VCCI
GND
100
GND
1
76
75
GND
VCC
ENC1_A
ENC1_B
ENC1_N
ENC2_A
ENC2_B
ENC2_N
GND
ENC3_A
ENC3_B
GND
ENC3_N
VCORE
VCORE
GND
VCCI
TMC424
TQFP-100 Package
CLK
STEP1
VCORE
VCCI
DIR1
STEP2
DIR2
STEP3
DIR3
VCC
GND
25
26
50
VCC
TRST
TDO
VCC
51
GND
SDO_D
SDI_D
SCK_D
NSCS_D
TDI
REF0
REF1
REF2
STOPR0
STOPR1
STOPR2
STOPL0
STOPL1
STOPL2
GND
VCORE
VCCI
TMS
TCK
Figure 1: Pinout TMC424
Copyright © 2011 TRINAMIC Motion Control GmbH & Co. KG
VCC
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