TMC2130_LA_17 Datasheet, PDF (3/103 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15)
Table of Contents
1 PRINCIPLES OF OPERATION .........................5
1.1 KEY CONCEPTS ................................................7
1.2 SPI CONTROL INTERFACE ...............................7
1.3 SOFTWARE ......................................................7
1.4 MOVING THE MOTOR ......................................7
1.5 STEALTHCHOP DRIVER.....................................8
1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8
1.7 COOLSTEP – LOAD ADAPTIVE CURRENT
CONTROL ...................................................................... 8
1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9
2 PIN ASSIGNMENTS.........................................10
2.1 PACKAGE OUTLINE ........................................10
2.2 SIGNAL DESCRIPTIONS .................................11
3 SAMPLE CIRCUITS ..........................................13
3.1 STANDARD APPLICATION CIRCUIT ................13
3.2 REDUCED NUMBER OF COMPONENTS.............14
3.3 INTERNAL RDSON SENSING..........................14
3.4 EXTERNAL 5V POWER SUPPLY ......................15
3.5 PRE-REGULATOR FOR REDUCED POWER
DISSIPATION..............................................................16
3.6 5V ONLY SUPPLY..........................................17
3.7 HIGH MOTOR CURRENT.................................18
3.8 DRIVER PROTECTION AND EME CIRCUITRY...20
4 SPI INTERFACE ................................................21
4.1 SPI DATAGRAM STRUCTURE .........................21
4.2 SPI SIGNALS ................................................22
4.3 TIMING .........................................................23
5 REGISTER MAPPING.......................................24
5.1 GENERAL CONFIGURATION REGISTERS ..........25
5.2 VELOCITY DEPENDENT DRIVER FEATURE
CONTROL REGISTER SET.............................................27
5.3 SPI MODE REGISTER ....................................29
5.4 DCSTEP MINIMUM VELOCITY REGISTER.........29
5.5 MOTOR DRIVER REGISTERS ...........................30
6 STEALTHCHOP™ ..............................................39
6.1 TWO MODES FOR CURRENT REGULATION......39
6.2 AUTOMATIC SCALING....................................40
6.3 VELOCITY BASED SCALING............................42
6.4 COMBINING STEALTHCHOP AND SPREADCYCLE
44
6.5 FLAGS IN STEALTHCHOP................................45
6.6 FREEWHEELING AND PASSIVE MOTOR BRAKING
46
7 SPREADCYCLE AND CLASSIC CHOPPER ...47
7.1 SPREADCYCLE CHOPPER ................................48
7.2 CLASSIC CONSTANT OFF TIME CHOPPER.......51
7.3 RANDOM OFF TIME.......................................52
7.4 CHOPSYNC2 FOR QUIET 2-PHASE MOTOR.....53
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8 ANALOG CURRENT CONTROL AIN ............. 54
9 SELECTING SENSE RESISTORS.................... 55
10 INTERNAL SENSE RESISTORS................. 57
11 VELOCITY BASED MODE CONTROL ....... 59
12 DRIVER DIAGNOSTIC FLAGS.................. 61
12.1 TEMPERATURE MEASUREMENT ....................... 61
12.2 SHORT TO GND PROTECTION ....................... 61
12.3 OPEN LOAD DIAGNOSTICS ........................... 61
14 STALLGUARD2 LOAD MEASUREMENT... 62
14.1 TUNING STALLGUARD2 THRESHOLD SGT ..... 63
14.2 STALLGUARD2 UPDATE RATE AND FILTER .... 65
14.3 DETECTING A MOTOR STALL ......................... 65
14.4 LIMITS OF STALLGUARD2 OPERATION .......... 65
15 COOLSTEP OPERATION............................. 66
15.1 USER BENEFITS............................................. 66
15.2 SETTING UP FOR COOLSTEP .......................... 66
15.3 TUNING COOLSTEP........................................ 68
16 STEP/DIR INTERFACE ................................ 69
16.1 TIMING ......................................................... 69
16.2 CHANGING RESOLUTION ............................... 70
16.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION....................................................... 71
17 DIAG OUTPUTS ........................................... 72
18 DCSTEP .......................................................... 73
18.1 USER BENEFITS............................................. 73
18.2 DESIGNING-IN DCSTEP ................................. 73
18.3 DCSTEP WITH STEP/DIR INTERFACE ........... 74
18.4 STALL DETECTION IN DCSTEP MODE ............ 77
19 SINE-WAVE LOOK-UP TABLE................... 78
19.1 USER BENEFITS............................................. 78
19.2 MICROSTEP TABLE ........................................ 78
20 EMERGENCY STOP ...................................... 79
21 DC MOTOR OR SOLENOID ....................... 80
21.1 SOLENOID OPERATION.................................. 80
22 QUICK CONFIGURATION GUIDE............ 81
23 GETTING STARTED..................................... 84
23.1 INITIALIZATION EXAMPLE ............................. 84
24 STANDALONE OPERATION ...................... 85
25 EXTERNAL RESET ........................................ 88
26 CLOCK OSCILLATOR AND INPUT........... 88
26.1 CONSIDERATIONS ON THE FREQUENCY.......... 88
27 ABSOLUTE MAXIMUM RATINGS ............ 89