TMC236_1 Datasheet, PDF (9/27 Pages) TRINAMIC Motion Control GmbH & Co. KG. – High current, low power dissipation microstep stepper motor driver with protection / diagnostics and SPI Interface

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30)
9
Control via the SPI Interface
The SPI data word sets the current and polarity for both coils. By applying consecutive values,
describing a sine and a cosine wave, the motor can be driven in microsteps. Every microstep is
initiated by its own telegram. Please refer to the description of the analog mode for details on the
waveforms required. The SPI interface timing is described in the timing section. We recommend the
TMC428 to automatically generate the required telegrams and motor ramps for up to three motors.
Serial data word transmitted to TMC236
(MSB transmitted first)
Bit Name Function
11 MDA mixed decay enable phase A
10 CA3 current bridge A.3
9 CA2 current bridge A.2
8 CA1 current bridge A.1
7 CA0 current bridge A.0
6 PHA polarity bridge A
5 MDB mixed decay enable phase B
4 CB3 current bridge B.3
3 CB2 current bridge B.2
2 CB1 current bridge B.1
1 CB0 current bridge B.0
0 PHB polarity bridge B
Remark
“1” = mixed decay
MSB
LSB
“0” = current flow from OA1 to OA2
“1” = mixed decay
MSB
LSB
“0” = current flow from OB1 to OB2
Serial data word transmitted from TMC236
(MSB transmitted first)
Bit Name Function
Remark
11 0
always “0”
10 0
always “0”
90
always “0”
81
always “1”
7 OT
overtemperature
“1” = chip off due to overtemperature
6 OTPW temperature prewarning
“1” = prewarning temperature exceeded
5 UV
driver undervoltage
“1” = undervoltage on VS
4 OCHS overcurrent high side
3 PWM cycles with overcurrent within 63 PWM cycles
3 OLB open load bridge B
no PWM switch off for 14 oscillator cycles
2 OLA open load bridge A
no PWM switch off for 14 oscillator cycles
1 OCB overcurrent bridge B low side 3 PWM cycles with overcurrent within 63 PWM cycles
0 OCA overcurrent bridge A low side 3 PWM cycles with overcurrent within 63 PWM cycles
Copyright © 2004, TRINAMIC Motion Control GmbH & Co KG