TMC260-PA Datasheet, PDF (52/53 Pages) TRINAMIC Motion Control GmbH & Co. KG. – POWER DRIVER FOR STEPPER MOTORS

TMC260/A and TMC261 DATASHEET (Rev. 2.10 / 2016-JUL-14)
52
21 Table of Figures
Figure 1.1 applications block diagram............................................................................................................................ 4
Figure 2.1 TMC260/261 pin assignments. ....................................................................................................................... 6
Figure 3.1 TMC260 and TMC261 block diagram ............................................................................................................ 8
Figure 4.1 stallGuard2 load measurement SG as a function of load .................................................................... 9
Figure 4.2 Linear interpolation for optimizing SGT with changes in velocity.................................................. 10
Figure 5.1 Energy efficiency example with coolStep................................................................................................ 12
Figure 5.2 coolStep adapts motor current to the load............................................................................................ 13
Figure 6.1 SPI Timing ........................................................................................................................................................ 15
Figure 6.2 Interfaces to a TMC429 motion controller chip and a TMC260 or TMC261 motor driver.......... 16
Figure 7.1 STEP and DIR timing. .................................................................................................................................... 26
Figure 7.2 Internal microstep table showing the first quarter of the sine wave. .......................................... 27
Figure 7.3 microPlyer microstep interpolation with rising STEP frequency. ..................................................... 28
Figure 8.1 Sense resistor grounding and protection components ...................................................................... 31
Figure 9.1 Chopper phases. ............................................................................................................................................. 32
Figure 9.2 spreadCycle chopper mode showing the coil current during a chopper cycle ........................... 34
Figure 9.3 Constant off-time chopper with offset showing the coil current during two cycles, ............... 35
Figure 9.4 Zero crossing with correction using sine wave offset. ....................................................................... 35
Figure 11.1 Short to GND detection timing. ............................................................................................................... 38
Figure 11.2 Undervoltage reset timing ......................................................................................................................... 40
Figure 13.1 Start-up requirements of CLK input ........................................................................................................ 42
Figure 15.1 Layout example for TMC260 and TMC261 .............................................................................................. 44
Figure 17.1 One TMC260 operating at 1.4A RMS (2A peak), other TMC260 devices at 1.1A RMS ................ 49
Figure 18.1 Dimensional drawings (PQFP44) .............................................................................................................. 50
www.trinamic.com