TMC428_06 Datasheet, PDF (54/58 Pages) List of Unclassifed Manufacturers – Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces

TMC428 DATASHEET (v. 2.02 / April 26^th, 2006)
54
Revision History
Version
1.00
1.01
1.02
2.00
2.00
2.00
2.01
2.02
2.02
Date
February 23, 2001
March 27, 2001
November 21, 2001
October 2, 2003
November 12, 2003
October 1^st, 2004
October 7^th, 2004
April 21^th, 2006
April 26^th, 2006
Comment
First complete version published in printed form
Version updated based on customer feed back
Version published on www.trinamic.com and TECHlibCD
Changed to font Arial, numbering added to headings, revision history added
additional hints concerning motion parameters units and signed representation and
concerning signal polarities (see section 2.5, page 5),
hint added concerning SPI timing of µC interface section 6.2on page 8,
hint concerning power-on reset initialization values added near Table 7-2 on page 15,
LP bit position corrected @ Table 7-2 on page 15 and Table 8-5 on page 24,
limit parameter a_max_upper_limit similar to a_max_lower_limit added as new sub-
section (see page 17),
interrupt register index (hint within text, section 8.13, page 24) corrected to IDX=%1011,
additional statements concerning the functional difference of stop switch and reference
switch in context of parameter dx_ref_tolerance section 8.15 on page 27, hints
concerning MSB order concerning sending and receiving via the µC SPI interface,
hints concerning the functional difference between stop switch and reference switch,
description concerning latching the position (under control of REF_RnL bit) corrected is
section 8.16 on page 27,
function of the CDGW status bit explained in more detail concerning
datagram_high_word and datagram_low_word (section 9.1 on page 27) and
cover_datagram (section 9.3 on page 28),
correction of maximum value of clk2_div and formula to calculate the datagram
frequency f_datagram[Hz] added to section 9.7 on page 29,
numbering within table of table concerning Table 9-2: Global parameter LSMD (last
stepper motor driver) on page 30 corrected,
Figure 11-1 on page 36 added to outline the driver chain configuration principle,
imaginary example for Stepper Motor Driver Datagram Configuration (see page 38)
changed to real example for the TMC236 / TMC239 / TMC246 / TMC249 family,
section 12.1 (page 41) concerning indexing the wave LUT added,
optional capacitor Copt added to drawing Figure 16-1on page 49,
calculation of the number of steps during acceleration added to section 8.14, Table 18-1
on page 51 temperature ranges completed,
example 'pmulpdiv.c' on page 53 for calculation of p_mul & p_div replaced by a
more efficient one
Changes concerning new company TRINAMIC Motion Control GmbH & Co. KG
One of twice repeated phrase “A write to one of these …” removed within section 9.1 on
page 27, equation “| ramp_div and pulse_div | <= 1” corrected (and replaced by -)
section 8.7.1 on page 17, formula q = p/p' corrected to q = p'/p within section 8.11.
Hints added (section 3, page 5, Table 3-1; section 4, page 6, Figure 4-1, page 6, Table
4-1, page 6; section 14.3, page 47, Figure 14-3) not to use the package DIL20 variant
for new designs - pls. contact our sales via [e-mail] for details concerning last
order etc.; specification of industrial temperature range added to section 3, page 5,
Table 3-1; hexadecimal representation in Table 12-2 on page 40
% 11 01111 0 00000000 00 101100 00 101011 : 44 & 43 : $DE001C1B
corrected to
% 11 01111 0 00000000 00 101100 00 101011 : 44 & 43 : $DE002C2B;
mnemonic for RAM data of code $04 changed from DAC_A_3 to correct DAC_A_4
(Table 11-2, page 38); formula for continuos update frequency (f_cupd_s[Hz]) corrected
(end of section 9.7); high active interrupt status bit (former named nINT) renamed to INT
to avoid confusing caused by the low active interrupt status output signal (still named
SDO_C / nINT), section 6.4, page 11, Table 6-4, page 12, section 6.5, page 13, section
8.13, page 24; hint to an application note "TMC428 – Getting Started" available on
www.trinamic.com added section 13, page 44.
section 1, page 1 DIL20 package option removed from feature list; hint added not to use
the DIL20 package (TMC428-DI20) for new designs (Figure 2-2, page 4); hint added
how to make the SDO_C high impedance (Figure 4, page 9); this version of the data
sheet is published on www.trinamic.com and TECHlibCD
Copyright © 2004-2006, TRINAMIC Motion Control GmbH & Co. KG