TMC2660-PA Datasheet, PDF (3/52 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC2660 DATASHEET (Rev. 1.05 / 2016-JUL-14)
TABLE OF CONTENTS
1
PRINCIPLES OF OPERATION ...............4
1.1 KEY CONCEPTS...............................................4
1.2 CONTROL INTERFACES....................................5
1.3 MECHANICAL LOAD SENSING.........................5
1.4 CURRENT CONTROL ........................................5
2
PIN ASSIGNMENTS.................................6
2.1 PACKAGE OUTLINE.........................................6
2.2 SIGNAL DESCRIPTIONS ..................................6
3
INTERNAL ARCHITECTURE....................8
4
STALLGUARD2 LOAD MEASUREMENT9
4.1
4.2
4.3
4.4
5
TUNING THE STALLGUARD2 THRESHOLD ......10
STALLGUARD2 MEASUREMENT FREQUENCY
AND FILTERING............................................11
DETECTING A MOTOR STALL ........................11
LIMITS OF STALLGUARD2 OPERATION .........11
COOLSTEP CURRENT CONTROL .........12
5.1
6
TUNING COOLSTEP.......................................14
SPI INTERFACE ......................................15
6.1 BUS SIGNALS...............................................15
6.2 BUS TIMING ................................................15
6.3 BUS ARCHITECTURE .....................................16
6.4 REGISTER WRITE COMMANDS......................17
6.5 DRIVER CONTROL REGISTER (DRVCTRL) ....18
6.6 CHOPPER CONTROL REGISTER (CHOPCONF) ..
................................................................... 20
6.7 COOLSTEP CONTROL REGISTER (SMARTEN)21
6.8 STALLGUARD2 CONTROL REGISTER
(SGCSCONF) .............................................22
6.9 DRIVER CONTROL REGISTER (DRVCONF) ...23
6.10 READ RESPONSE ..........................................24
6.11 DEVICE INITIALIZATION...............................25
7
STEP/DIR INTERFACE...........................26
7.1 TIMING ........................................................26
7.2 MICROSTEP TABLE .......................................27
7.3 CHANGING RESOLUTION ..............................28
7.4 MICROPLYER STEP INTERPOLATOR ...............28
7.5 STANDSTILL CURRENT REDUCTION................29
8
CURRENT SETTING................................30
8.1 SENSE RESISTORS ........................................31
9
CHOPPER OPERATION .........................32
9.1 SPREADCYCLE MODE ....................................33
9.2 CONSTANT OFF-TIME MODE ........................35
10
POWER MOSFET STAGE ......................37
10.1
10.2
11
BREAK-BEFORE-MAKE LOGIC........................37
ENN INPUT .................................................37
DIAGNOSTICS AND PROTECTION ...38
11.1 SHORT TO GND DETECTION ........................38
www.trinamic.com
3
11.2
11.3
11.4
12
13
13.1
14
14.1
14.2
14.3
14.4
14.5
15
16
16.1
16.2
16.3
17
17.1
17.2
18
19
20
21
OPEN-LOAD DETECTION .............................. 39
OVERTEMPERATURE DETECTION ................... 39
UNDERVOLTAGE DETECTION.........................40
POWER SUPPLY SEQUENCING .......... 41
SYSTEM CLOCK ...................................... 41
FREQUENCY SELECTION................................42
LAYOUT CONSIDERATIONS ............... 43
SENSE RESISTORS........................................43
POWER MOSFET OUTPUTS.........................43
POWER SUPPLY PINS .................................. 43
POWER FILTERING.......................................43
LAYOUT EXAMPLE ........................................ 44
ABSOLUTE MAXIMUM RATINGS.......45
ELECTRICAL CHARACTERISTICS .......46
OPERATIONAL RANGE .................................. 46
DC AND AC SPECIFICATIONS......................46
THERMAL CHARACTERISTICS ........................ 49
PACKAGE MECHANICAL DATA .......... 50
DIMENSIONAL DRAWINGS...........................50
PACKAGE CODE ........................................... 50
DISCLAIMER ........................................... 51
ESD SENSITIVE DEVICE ...................... 51
TABLE OF FIGURES...............................52
REVISION HISTORY ............................. 52