TMC4210+2660-EVAL_技术文档

MOTION CONTROLLER FOR STEPPER MOTORS

INTEGRATED CIRCUITS

TMC4210 DATASHEET

Low cost 1-Axis Stepper Motor Controller for TMC26x and TMC389 Stepper Driver

SPI Communication Interface for Microcontroller and Step/Direction interface to Driver

APPLICATIONS

CCTV, Security

Antenna Positioning

Heliostat Controller

Battery powered applications

Office Automation

ATM, Cash recycler, POS

Lab Automation

Liquid Handling

Medical

Printer and Scanner

Pumps and Valves

DESCRIPTION

FEATURES AND BENEFITS

The TMC4210 is a 1-axis miniaturized

stepper motor controller with an industry

leading feature set. It controls the motor

via Step/Direction interface. Based on

target positions and velocities - which can

be altered on the fly - it performs all real

time critical tasks autonomously. The

TMC4210 offers high level control functions

for robust and reliable operation. The 4

wire serial peripheral interface allows for

communication with the microcontroller.

1-Axis stepper motor controller

3.3 V or 5 V operation with CMOS / TTL compatible IOs

Serial 4-wire interface for µC with easy-to-use protocol

Step/Direction interface to driver

Clock frequency: up to 32 MHz (can use CPU clock)

Internal position counters 24 bit wide

Microstep frequency up to 1 MHz

Read-out option for all motion parameters

Ramp generator for autonomous positioning / speed control

On-the-fly change of target motion parameters

Low power operation: 1.25 mA at 4 MHz (typ.)

Compact Size: ultra small 16 pin SSOP package

Together with

a

microcontroller the

TMC4210 forms a complete motion control

system. High integration and small form

factor allow for miniaturized designs for

cost-effective and highly competitive

solutions.

Directly controls TMC260, TMC261, TMC262, TMC2660, TMC389,

TMC2100 and TMC2130

BLOCK DIAGRAM

Ref. Switches

Ref. Switch

Processing

CLK

Step/Dir

Pulse

Generation

SPI to

Master

Linear

RAMP Generator

SPI to µC

Step/Dir OUT

SDO to µC

Muliplexed

Output

Interrupt

Controller

24 Bit

Target

Position

Comparator

Position Counter

TMC4210

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

2

APPLICATION EXAMPLE: RELIABLE CONTROL USING STEP/DIR

The TMC4210 scores with its autonomous handling of all real time critical tasks. By offloading the

motion control function to the TMC4210, the stepper motor can be operated reliably with very little

demand for service from the microcontroller. Software only needs to send target positions, and the

TMC4210 generates precisely timed step pulses by hardware. Parameters for the motor can be

changed on the fly while software retains full control. This way, high precision and reliable operation

is achieved while costs are kept down.

TMC4210+TMC2660-EVAL EVALUATION BOARD

This evaluation board is a development

platform for applications based on the

TMC4210 and the TMC2660 stepper motor

driver IC. The board features USB and CAN

interfaces for communication with control

software running on a PC. The power

TMC2660

MOSFETs of the TMC2660 support drive

currents up to 2.8A RMS at 29V.

The control software provides a user-friendly

GUI for setting control parameters and

visualizing the dynamic response of the

motor.

LOGIC OF THE CONTROLLER/DRIVER CHAIN

DIAGNOSTICS

VELOCITY

ACCELERATION

TARGET POSITION

STEP AND DIRECTION

POWER

SIGNALS

CPU

TMC4210

DRIVER

M

HOME & STOP

DIAGNOSTICS

SYSTEM WITH TMC4210 AND TMC2660

Mechanical Feedback or virtual

stop switch

REF_L, REF_R

+V_M

TMC2660

s

T

E

F

S

O

M

VSA / B

OA1

.

l

c

n

i

r

TMC4210

e

v

i

VCC_IO

r

D

Half Bridge 1

Position

counter

Reference switch

processing

2 phase

stepper

motor

N

STEP_IN

DIR_IN

sine table

4*256 entry

OA2

S

chopper

x

OB1

nSCS_C

SCK_C

SDI_C

STEP_OUT

DIR_OUT

Half Bridge 2

Step &

Direction pulse

generation

OB2

SPI to master

Linear RAMP

generator

STEP/DIR

BRA / B

RSA / B

nINT_SDO_C

CSN

SCK

SDI

coolStep™

R_SENSE

SPI control,

Config & diags

SDO

l

o

r

t

n

Interrupt

controller

Position

comparator

2 x current

comparator

o

c

2 x DAC

n

Protection

& diagnostics

o

i

stallGuard2™

t

o

M

CLK

SG_TST

Realtime event trigger

Virtual stop switch

)

*

1K

Motion command SPI

*) Connect 1K resistor to nINT_SDO_C to use

the SPI interface. Another possibility is to use

a tristate output (e.g., 74HC1G125) as shown

below.

User CPU

l

o

r

t

nINT_SDO_C

SDO

System interfacing

n

o

c

m

e

t

s

y

nSCS_C

S

ORDER CODES

Order code

TMC4210-I

TMC4210+2660-EVAL

Description

1-axis Step/Dir motion controller, SSOP16-package

Evaluation board for TMC4210 and TMC2660 chipset

Size

6 x 5 mm²

55 x 85 mm²

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

3

TABLE OF CONTENTS

1

PRINCIPLES OF OPERATION

4

7.3

8.1

HOMING PROCEDURE

STEP/DIR DRIVERS

TIMING

37

38

39

1.1

1.2

1.3

1.4

1.5

KEY CONCEPTS

4

5

6

7

8

9

CONTROL INTERFACES

SOFTWARE VISIBILITY

STEP FREQUENCIES

MOVING THE MOTOR

RUNNING A MOTOR

GETTING STARTED

9.1

9.2

RUNNING A MOTOR WITH START-STOP-SPEED IN

RAMP_MODE

2

GENERAL DEFINITIONS, UNITS, AND

39

NOTATIONS

8

10 ON-CHIP VOLTAGE REGULATOR

11 POWER-ON RESET

40

41

42

2.1

2.2

2.3

2.4

NOTATIONS

SIGNAL POLARITIES

UNITS OF MOTION PARAMETERS

REPRESENTATION OF SIGNED VALUES BY TWO’S

COMPLEMENT

8

12 ABSOLUTE MAXIMUM RATINGS

13 ELECTRICAL CHARACTERISTICS

8

3

PACKAGE

9

13.1

13.2

13.3

POWER DISSIPATION

DC CHARACTERISTICS

TIMING CHARACTERISTICS

42

43

44

3.1

3.2

PACKAGE OUTLINE

SIGNAL DESCRIPTIONS

9

15 PACKAGE MACHANICAL DATA

15.1

45

46

47

48

4

5

SAMPLE CIRCUIT

11

12

DIMENSIONAL DRAWINGS

CONTROL INTERFACE

16 MARKING

5.1

5.2

5.3

BUS SIGNALS

SERIAL PERIPHERAL INTERFACE FOR µC

REGISTER MAPPING

12

17

17 DISCLAIMER

18 ESD SENSITIVE DEVICE

19 TABLE OF FIGURES

20 REVISION HISTORY

21 REFERENCES

6

7

REGISTER DESCRIPTION

18

6.1

6.2

AXIS PARAMETER REGISTERS

GLOBAL PARAMETER REGISTERS

18

34

REFERENCE SWITCH INPUTS

36

7.1

7.2

REFERENCE SWITCH CONFIGURATION, MOT1R 36

TRIPLE SWITCH CONFIGURATION

36

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

4

1 Principles of Operation

POSCOMP

Interrupt Controller

TMC4210

M

U

X

nINT_SDO_C

Step/Dir

to driver

Step

Dir

Serial

µC

Interface

STEPPULS

Generator

Linear RAMP

Generator

nSCS_C

SCK_C

SPI to

µC

Connect for

+3.3V operation

SDI_C

CLK

4-32MHz

TEST

24 Bit

V5 /+5V supply

Power-on

Reset

Voltage

Regulator

Target

Position

Counter

V33

470nF

100nF

GND

Figure 1.1 TMC4210 functional block diagram

The TMC4210 is a 1-axis miniaturized high performance stepper motor controller with an outstanding

cost-performance ratio. It is designed for high volume automotive as well as for demanding industrial

motion control applications. The TMC4210 receives target values for velocity, acceleration, and

positioning from the microcontroller and calculates autonomously step and direction signals for the

stepper motor driver IC. The motion controller is equipped with an SPI host interface with easy-to-use

protocol and with a Step/Dir interface for addressing the stepper motor driver chip.

1.1 Key Concepts

The TMC4210 realizes real time critical tasks autonomously and guarantees for a robust and reliable

drive. These following features contribute toward greater precision, greater efficiency, higher

reliability, and smoother motion in many stepper motor applications.

Interfacing

The TMC4210 provides an SPI interface for communication with the user CPU and a

Step/Dir interface for driver interfacing.

Positioning

The TMC4210 operates the motor based on user specified target positions and

velocities. Modify all motion target parameters on-the-fly during motion.

Programming Every parameter can be changed at any time. The uniform access to any TMC4210

register simplifies application programming. A read-back option for all internal

registers is available.

Microstepping Based on internal position counters the TMC4210 performs up to ±2²³(micro)steps

completely independent from the microcontroller. Via STEP/DIR signals any microstep

resolution can be realized as supported by the driver.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

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1.2 Control Interfaces

1.2.1 Serial µC Interface

Using this interface, the TMC4210 receives target positions, target velocities, and target acceleration

values for the microcontroller. Further, it is used for configuration.

From the software point of view, the TMC4210 provides a set of registers, accessed by the

microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a read-

write selection bit, and data bits to access the registers and the on-chip memory. Each time the

microcontroller sends a datagram to the TMC4210 it simultaneously receives a datagram from the

TMC4210. This simplifies the communication with the TMC4210 and makes programming easy. Most

microcontrollers have an SPI hardware interface, which directly connects to the serial four wire

microcontroller interface of the TMC4210. For microcontrollers without SPI hardware software doing

the serial communication is sufficient and can easily be implemented.

1.2.2 Step/Dir Driver Interface

The TMC4210-I controls the motor position by sending pulses on the STEP signal while indicating the

direction on the DIR signal. A programmable step pulse length and step frequencies up to 1MHz allow

operation at high speed and high microstep resolution. The driver chip converts these signals into the

coil currents which control the position of the motor. The TMC4210-I perfectly fits to the TMC26x smart

power Step/Dir driver family.

SPI

Stepper Motor

Driver incl.

MOSFETs

TMC260/TMC261/

TMC2660

SPI

Step/Dir

High Level

Interface

TMC4210

Motion Controller

µC

M

Figure 1.2 Application example using Step/Dir driver interface

1.3 Software Visibility

From the software point of view the TMC4210 provides a set of registers and on-chip RAM (see Figure

1.1), accessed via the serial µC interface in a uniform way. The serial interface uses a simple protocol

with fixed datagram length for the read- and write-access. These registers are used for initializing the

chip as required by the hardware configuration. Afterwards the motor can be moved by writing target

positions or velocity and acceleration values.

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1.4 Step Frequencies

INITIALIZE THE STEP/DIR INTERFACE!

The Step/Dir interface has to be initialized by writing 1 to en_sd. Refer to chapter 6.2.1.

The desired motor velocity is an important design parameter of an application. Therefore it is

important to understand the limiting factors.

1.4.1 Step Frequencies using the Step/Dir Driver Interface

The step pulses can directly be fed to a Step/Dir driver. The maximum full step rate (fsf_max) depends on

the microstep resolution of the external driver chip.

The TMC4210 microstep rate (µsf) is up to 1/32 of the clock frequency:

f_CLK

µ푠f_푚푎푥

=

32

EXAMPLE FOR FULL STEP FREQUENCY CALCULATION

f_CLK= 16 MHz

µsf_max= 500 kHz

µstep resolution of external driver: 16

500ꢀ푘퐻푧

푓푠푓_푚푎푥

=

= 31.25ꢀ푘퐻푧

16

With a standard motor with 1.8° per full step this results in up to 31.25kHz/200= 156 rotations per

second, which is far above realistic motor velocities for this kind of motor and thus imposes no real

limit on the application.

A 16 microsteps resolution can be extrapolated to 256 microsteps within the driver when using the

TMC26x 2-phase stepper driver family or the TMC389 3-phase stepper motor driver.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

7

1.5 Moving the Motor

Moving the motor is simple:

-

To move a motor to a new target position, write the target position into the associated register

by sending a datagram to the TMC4210.

-

To move a motor with a new target velocity, write the velocity into the register assigned to the

stepper motor.

1.5.1 Motion Controller Functionality

The ramp generator monitors the motion parameters stored in its registers and calculates velocity

profiles. Based on the actual ramp generator velocity, a pulse generator supplies step pulses to the

motor driver.

1.5.2 Modes of Motion

ramp_mode

For positioning applications the ramp_mode is most suitable. The user sets the

position and the TMC4210 calculates a trapezoidal velocity profile and drives

autonomously to the target position. During motion, the position may be altered

arbitrarily.

velocity_mode

hold_mode

soft_mode

For constant velocity applications the velocity_mode is most suitable. In

velocity_mode, a target velocity is set by the user and the TMC4210 takes into

account user defined limits of velocity and acceleration.

In hold_mode, the user sets target velocities, but the TMC4210 ignores any limits of

velocity and acceleration, to realize arbitrary velocity profiles, controlled completely

by the user.

The soft_mode is similar to the ramp_mode, but the decrease of the velocity during

deceleration is done with a soft, exponentially shaped velocity profile.

1.5.3 Interrupts

The TMC4210 has capabilities to generate interrupts. Interrupts are based on ramp generator

conditions which can be set using an interrupt mask. The interrupt controller (which continuously

monitors reference switches and ramp generator conditions) generates an interrupt if required.

nINT_SDO_C is a low active interrupt signal while nSCS_C is high. If the microcontroller disables the

interrupt during access to the TMC4210 and enables the interrupt otherwise, the multiplexed interrupt

output of the TMC4210 behaves like a dedicated interrupt output. For polling, the TMC4210 sends the

status of the interrupt signal to the microcontroller with each datagram.

1.5.4 Reference Switch Handling

The TMC4210 has a left (REF_L) and a right (REF_R) reference switch input. Further, the TMC4210 is

equipped with a general purpose input (GP_IN).

INITIALIZE THE RIGHT REFERENCE SWITCH!

The right reference switch REF_R has to be initialized by writing 1 to mot1r.

1.5.5 Access to Status and Error Bits

The microcontroller directly controls and monitors the stepper driver. It also needs to take care for

advanced current control, e.g. power down in stand still.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

8

2 General Definitions, Units, and Notations

2.1 Notations

-

Decimal numbers are used as usual without additional identification.

Binary numbers are identified by a prefixed % character.

Hexadecimal numbers are identified by a prefixed $ character.

EXAMPLE

Decimal:

Binary:

42

%101010

Hexadecimal: $2A

TMC4210 DATAGRAMS ARE WRITTEN AS 32 BIT NUMBERS, E.G.:

$1234ABCD = %0001 0010 0011 0100 1010 1011 1100 1101

TWO TO THE POWER OF N

In addition to the basic arithmetic operators (+, -, *, /) the operator two to the power of n is required

at different sections of this data sheet. For better readability instead of 2ⁿthe notation 2^n is used.

2.2 Signal Polarities

External and internal signals are high active per default, but the polarity of some signals is

programmable to be inverted. A pre-fixed lower case n indicates low active signals (e.g. nSCS_C,

nSCS_S). See chapter 6.2, too.

2.3 Units of Motion Parameters

The motion parameters position, velocity, and acceleration are given as integer values within TMC4210

specific units. With a given stepper motor resolution one can calculate physical units for angle,

angular velocity, angular acceleration. (See chapter 6.1.12)

2.4 Representation of Signed Values by Two’s Complement

Motion parameters which have to cover negative and positive motion direction are processed as

signed numbers represented by two’s complement as usual. Limit motion parameters are represented

as unsigned binary numbers.

SIGNED MOTION PARAMETERS ARE:

X_TARGET / X_ACTUAL / V_TARGET / V_ACTUAL / A_ACTUAL / A_THRESHOLD

UNSIGNED MOTION PARAMETERS ARE:

V_MIN / V_MAX / A_MAX

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

9

3 Package

The TMC4210 is qualified for the industrial temperature range. The package is RoHS compilant.

Order code

Package Characteristics

SSOP16 150 mils, 16 pins, plastic package, industrial (-40… +85°C)

JEDEC Drawing

MO-137 (150 mils)

TMC4210-I

3.1 Package Outline

1

2

3

4

5

6

7

8

16

Please refer to the application note

PCB_Guidelines_TRINAMIC_packages

for a practical guideline for all available TRINAMIC

IC packages and PCB footprints. The application

note covers package dimensions, example

footprints and general information on PCB

footprints for these packages. It is available on

www.trinamic.com.

REF_L

GP_IN

REF_R

TEST

n.c.

15

14

13

12

11

10

9

GND

V33

V5

CLK

n.c.

nSCS_C

SCK_C

SDI_C

DIR_OUT

STEP_OUT

nINT_SDO_C

SSOP16 (150 MILS)

Figure 3.1 TMC4210 pin out

3.2 Signal Descriptions

SSOP16 In/Out Description

Reset

-

Internal power-on reset.

No external reset input pin is available.

CLK

nSCS_C

SCK_C

5

6

7

8

9

I

Clock input

Low active SPI chip select input driven from µC

Serial data clock input driven from µC

Serial data input driven from µC

I

SDI_C

I

nINT_SDO_C

O

Serial data output to µC input /

Multiplexed nINTERRUPT output if communication with µC is idle (resp.

nSCS_C = 1)

SDO_C will never be high impedance

n.c.

12, 16

11

-

Leave open

SCK_S

SDO_S

REF_L

O

I

DIR output

10

STEP output

1

Left reference/limit switch input. Pull to GND if not used.

(no internal pull-up resistor)

GP_IN

REF_R

2

3

I

General purpose input. Pull to GND if not used.

(no internal pull-up resistor)

Right reference/limit switch input. Pull to GND if not used.

(no internal pull-up resistor)

V5

13

14

15

4

+5V supply / +3.3V supply

470nF ceramic capacitor pin / +3.3V supply

Ground

V33

GND

TEST

I

Must be connected to GND as close as possible to the chip. No user function.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

10

Attention

-

Preferably, long wires to the reference switch inputs and the general purpose input should be

avoided. For long wires, a low pass filter for spike suppression should be provided (refer the

TMC4210 evaluation board schematic as example).

-

All inputs are Schmitt-Trigger. Unused inputs (REF_L, REF_R, and GP_IN) need to be connected to

ground. Unused reference switch inputs have to be connected to ground, too.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

11

4 Sample Circuit

This application example shows how to connect the TMC4210 motion controller with the processor

and one out of TRINAMICs TMC260, TMC261, and TMC2660 stepper motor driver chips. These stepper

motor driver chips have integrated MOSFETs. The TMC262 needs external power transistors.

General purpose input

Reference Switch Inputs

active high

GP_IN

REF_L

REF_R

CLK

1K

Output SDO_C

will nerver be

high impedance

TMC4210-I

SDO_C

STEP_OUT

DIR_OUT

SDI_C

SCK_C

nSCS_C

V33

STEP

DIR

V5

TEST GND

TMC260

TMC261

TMC2660

SDO

SDI

SCK

CSN

100nF

Motor

1K

10K

+5V

CLK

MISO

MOSI

SCK

µC

CSn_0

CSn_1

Figure 4.1 TMC4210 application environment with TMC260, TMC261 or TMC2660.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

12

5 Control Interface

The communication takes place via a four wire serial interface and 32 bit datagrams of fixed length.

RESPONSIBILITIES ARE DEFINED AS FOLLOWS:

-

The microcontroller is the master of the TMC4210. It initializes the motion controller and sets

target values for velocity, acceleration, and positioning.

The TMC4210 is the master of the stepper motor driver. The motion controller calculates, e.g.,

ramp profiles for positioning. It sends step and direction signals to the stepper motor driver.

The microcontroller initializes the stepper motor driver. Further, the microcontroller can read out

status and error flags and thus make the diagnostics.

AUTOMATIC POWER-ON RESET:

-

The TMC4210 cannot be accessed before the power-on reset is completed and the clock is stable.

All register bits are initialized with 0 during power-on reset, except the Step/Dir clock pre-devider

STPDIV_4210 that is initialized with 15.

5.1 Bus Signals

Signal Description

TMC4210

SCK_C

SDI_C

SDO_C

nSCS_C

Microcontroller

Bus clock input

Serial data input

Serial data output

Chip select input

5.2 Serial Peripheral Interface for µC

The serial microcontroller interface of the TMC4210 acts as a 32 bit shift register.

COMMUNICATION BETWEEN µC AND THE TMC4210

1. The serial µC interface shifts serial data into SDI_C with each rising edge of the clock signal

SCK_C.

2. Then, it copies the content of the 32 bit shift register into a buffer register with the rising

edge of the selection signal nSCS_C.

3. The serial interface of the TMC4210 immediately sends back data read from registers or read

from internal RAM via the signal SDO_C.

4. The signal SDO_C can be sampled with the rising edge of SCK_C. SDO_C becomes valid at

least four CLK clock cycles after SCK_C becomes low as outlined in the timing diagram.

5.2.1 Timing

A complete serial datagram frame has a fixed length of 32 bit. Because of on-the-fly processing of the

input data stream, the serial µC interface of the TMC4210 requires the serial data clock signal SCK_C to

have a minimum low / high time of three clock cycles. The SPI signals from the µC interface may be

asynchronous to the clock signal CLK of the TMC4210.

If the microcontroller and the TMC4210 work on different clock domains that run asynchronously by

the timing of the SPI interface of the microcontroller should be made conservative in the way that

the length of one SPI clock cycle equals 8 or more clock cycles of the TMC4210 clock CLK.

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13

t_CLK

t_DATAGRAMuC

t_SUCSC

t_HDCSC

t_SCKCL

t_SCKCH

t_HDCSC

t_SUCSC

CLK

nSCS_C

SCK_C

SDI_C

t_SD

sdi_c_bit#31

t_SD

sdi_c_bit#30 . . . sdi_c_bit#1

t_SD

sdi_c_bit#0

sdo_c_bit#0

SDOZ_C

sdo_c_bit#31

sdo_c_bit#30 ... sdo_c_bit#1

SDO_C

(for TMC429-I)

nINT

sdo_c_bit#30 ... sdo_c_bit#1

t_PD

nINT

t_IS

t_SI

30 x sampled SDI_C

1 x SDI_C sampled

one full 32 bit datagram

Figure 5.1 Timing diagram of the serial µC interface

EXPLANATORY NOTES

-

While the data transmission from the microcontroller to the TMC4210 is idle, the low active serial

chip select input nSCS_C and also the serial data clock signal SCK_C are set to high.

While the signal nSCS_C is high, the TMC4210 assigns the status of the internal low active

interrupt signal nINT to the serial data output SDO_C.

The data signal SDI_C driven by the microcontroller has to be valid at the rising edge of the

serial data clock input SCK_C. The maximum duration of the serial data clock period is unlimited.

While the µC interface of the TMC4210 is idle, the SDO_C signal is the (active low) interrupt status

nINT of the integrated interrupt controller of the TMC4210. The timing of the multiplexed

interrupt status signal nINT is characterized by the parameters t_ISand t_SI(see chapter 13.3).

The following SPI clock frequencies are recommended in order to avoid possible issues concerning

the SPI frequency between microcontroller and TMC4210:

- For fCLK = 16MHz an upper SPI clock frequency of 1MHz is recommended.

- For fCLK = 32MHz an upper SPI clock frequency of 2MHz is recommended.

PROCEDURE OF DATA TRANSMISSION

1. The signal nSCS_C has to be high for at least three clock cycles before starting a datagram

transmission. To initiate a transmission, the signal nSCS_C has to be set to low.

2. Three clock cycles later the serial data clock may go low.

3. The most significant bit (MSB) of a 32 bit wide datagram comes first and the least significant

bit (LSB) is transmitted as the last one.

4. A data transmission is finished by setting nSCS_C high three or more CLK cycles after the last

rising SCK_C slope.

5. So, nSCS_C and SCK_C change in opposite order from low to high at the end of a data

transmission as these signals change from high to low at the beginning.

In contrast to most other SPI compatible devices, the serial data output SDO_C of the TMC4210-I is

always driven. It will never be high impedance Z. If high impedance is required for the SDO_C

connected to the microcontroller, it can be realized using a single gate 74HCT1G125.

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14

TIMING CHARACTERISTICS OF THE SERIAL MICROCONTROLLER INTERFACE

Symbol

tSUCSC

tHDCSC

tSCKCL

tSCKCH

tSD

Parameter

Min

Typ

Max

Unit

Setup Clocks for nSCS_C

Hold Clocks for nSCS_C

Serial Clock Low

3

CLK periods



3



Serial Clock High



3.5

SDO_C valid after SCK_C low

2.5

tIS

nINTERRUPT status valid after 2.5

nSCS_C low

tSI

SDO_C valid after nSCS_C high

Datagram Length

4.5



CLK periods

tDAMAGRAMuC

fCLK

3+3+32*6= 198

Datagram Length

12.375

0

µs

MHz

ns



32



Clock Frequency

tCLK

Clock Period tCLK = 1 / fCLK

31.25

tPD

CLK-rising-edge-to-Output

Propagation Delay

5

ns

5.2.2 Datagram Structure

The µC communicates with the TMC4210 via the four wire serial interface. Each datagram sent to the

TMC4210 via the pin SDI_C and each datagram received from the TMC4210 via the pin SDO_C is 32 bits

long.

The first bit sent is the most significant bit (MSB) sdi_c_bit#31. The last bit sent is the least significant

bit (LSB) sdi_c_bit#0 (see Figure 5.1). During the reception of a datagram, the TMC4210 immediately

sends back a datagram of the same length to the microcontroller. This return datagram consists of

requested read data in the lower 24 datagram bits and status bits in the higher 8 datagram bits. A

read request is distinguished from a write request by the read/not write datagram bit (RW).

5.2.2.1 Datagrams Sent to the TMC4210

The datagrams sent to the TMC4210 are assorted in four groups of bits:

RRS

ADDRESS

RW

The register RAM select (RRS) bit selects either registers or the on-chip RAM.

Address bits address memory within the register set or within the RAM area.

The read / not write (RW) bit distinguishes between read access and write access:

read: RW = 1 / write RW = 0.

DATA

Data bits are only for write access. For read access these bits are not used (don’t

care) and should be set to 0.

32 BIT DATAGRAM SENT FROM µC TO THE TMC4210 VIA PIN SDI_C

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

DATA

NOTE

-

Different internal registers of the TMC4210 have different lengths. For some registers only a

subset of 24 data bits is used.

-

Unused data bits should be set to 0.

Some addresses select a couple of registers mapped together into the 24 data bit space.

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5.2.2.2 Datagrams Received by µC from the TMC4210

The datagrams received by the µC from the TMC4210 contain two groups of bits:

STATUS BITS The status bits, sent back with each datagram, comprehend the most important

internal status bits of the TMC4210 and the settings of the reference switches

Data bits are only for write access.

DATA BITS

The most significant bit MSB is received first; the least significant bit LSB is received last. The TMC4210

only sends datagrams on demand.

32 BIT DATAGRAM SENT BACK FROM THE TMC4210 TO µC VIA PIN SDO_C

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

STATUS BITS

DATA BITS

-

STATUS INFORMATION BITS

INT

The status bit INT is the internal high active interrupt controller status output

signal. Handling of interrupt conditions without using interrupt techniques is

possible by polling this status bit.

The interrupt signal is available multiplexed with the SPI read back data at the

nINT_SDO_C pin of the TMC4210. The pin nINT_SDO_C may additionally be

connected to an interrupt input of the microcontroller. Do not set SDO_INT=1

because this setting disables the SPI output.

Since the SDO_C / nINT output on TMC4210-I is multiplexed, the microcontroller

has to disable its interrupt input while it sends a datagram to the TMC4210. The

SDO_C signal driven by the TMC4210 alternates during datagram transmission.

R_L

The status bit R_L represents the state of the left reference switch input (r_l).

r_r is visible here only, while mot1R has not yet been set.

R_R

GP_IN

The GP_IN status bit represents the setting of the general purpose input. Refer

to chapter 6.1.10.2, too.

xEQt1

The status bit xEQt1 indicates for the stepper motor, if it has reached its target

position.

The status bits r_r, r_l, and gp_in and the bit xEQt1 can trigger an interrupt or enable simple polling

techniques. See chapter 5.3, register 01 1110 for accessing the input bits.

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5.2.3 Simple Datagram Examples

The % prefix – normally indicating binary representation in this data sheet – is omitted for the

following datagram examples. Assuming, one would like to write (RW=0) to a register (RRS=0) at the

address %001101 the following data word %0000 0000 0000 0001 0010 0011, one would have to send

the following 32 bit datagram

00011010000000000000000100100011

to the TMC4210. With inactive interrupt (INT=0), no cover datagram waiting (CDGW=0), all reference

switches inactive (RS3=0, RS2=0, RS1=0), and all stepper motors at target position (xEQt3=1, xEQt2=1,

xEQt1=1) the status bits would be %10010101 the TMC4210 would send back the 32 bit datagram:

10010101000000000000000000000000

To read (RW=1) back the register written before, one would have to send the 32 bit datagram

00011011000000000000000000000000

to the TMC4210 and the TMC4210 would reply with the datagram

10010101000000000000000100100011.

Write (RW=0) access to on-chip RAM (RRS=1) to an address %111111 occurs similar to register access,

but with RRS=1. To write two 6 bit data words %100001 and %100011 to successive pair-wise RAM

addresses %1111110 and %1111111 (%100001 to %1111110 and %100011 to %1111111) which are

commonly addressed by one datagram, one would have to send the datagram

11111110000000000010001100100001.

To read (rw=1) from that on-chip memory address, one would have to send the datagram

11111111000000000000000000000000.

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5.3 Register Mapping

All register bits are initialized with 0 during power on reset, except the step pulse length setting that

is initialized with 15. During power-up, the on-chip RAM of the TMC4210 is initialized internally and

the chip does not send any datagrams to the stepper motor driver.

CHANGING TARGET POSITION OR TARGET VELOCITY

The stepper motor is controlled directly by writing motion parameters into associated registers. Only

one register write access is necessary for changing a target motion parameter. Thus the

microcontroller has to send one 32 bit datagram to the TMC4210 for altering the target position or the

target velocity of the stepper motor.

READ AND WRITE

Read and write access is selected by the RW bit (sdi_c_bit#24) of the datagram sent from the µC to

the TMC4210. The on-chip configuration RAM and the registers are writeable with read-back option.

Some addresses are read-only. Write access (RW=0) to some of those read-only registers triggers

additional functions, explained in detail later.

TMC4210 REGISTER MAPPING

32 BIT DATAGRAM SENT FROM µC TO THE TMC4210 VIA PIN SDI_C

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

DATA

SMDA

IDX

0 0 0 0

0 0 0 1

0 0 1 0

0 0 1 1

0 1 0 0

0 1 0 1

0 1 1 0

0 0 0 1 1 1

1 0 0 1

1 0 1 0

1 0 1 1

1 1 0 0

1 1 0 1

1 1 1 0

1 1 1 1

JDX

STEPPER MOTOR REGISTER SET (SMDA=00)

X_TARGET

X_ACTUAL

V_MIN

V_MAX

V_TARGET

V_ACTUAL

A_MAX

A_ACTUAL

1

PMUL

REF_CONF

INTERRUPT_MASK

PULSE_DIV RAMP_DIV

DX_REF_TOLERANCE

PDIV

R_M

lp

INTERRUPF_FLAGS

0

X_LATCHED

USTEP_COUNT_4210

GLOBAL PARAMETER REGISTERS (SMDA=11)

IF_CONFIGURATION_4210

0 1 0 0

0 1 0 1

0 1 1 0

1 0 0 0

1 0 0 1

1 1 1 0

POS_COMP_4210

POS_COMP_INT_4210

M

I

POWER-DOWN

TYPE_VERSION (= $429101 for TMC4210, read-only)

1 1

gp

_in

r_l r_r

-

STPDIV_4210

0 0 0 0 0 0 00

1 1 1 1

0

0 0 0 0 0

SMDA

R_ M

Stepper motor driver address

r_l, r_r, gp_in Left switch / right switch / general

purpose input (read out)

RAMP_MODE mask

I

Interrupt

Unused bits

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6 Register Description

The TMC4210 provides axis parameter registers and global parameter registers.

6.1 Axis Parameter Registers

The registers hold binary coded numbers. Some are unsigned (positive) numbers, some are signed

numbers in two’s complement, and some are control bits or single flags. The functionality of different

registers depends on the RAMP_MODE (refer to chapter 6.1.10).

OVERVIEW AXIS PARAMETER REGISTER MAPPING

REGISTER

R / W TYPE

DESCRIPTION

X_TARGET

R/W

24 bit

unsigned

24 bit

unsigned

11 bit

unsigned

11 bit

This register holds the current target position in units of

microsteps.

The current position of each stepper motor is available by read

out of this register.

This register holds the absolute velocity value at or below which

the stepper motor can be stopped abruptly.

This parameter sets the maximum motor velocity.

R/W*²

R/W

X_ACTUAL

V_MIN

V_MAX

R/W

unsigned

V_TARGET

V_ACTUAL

A_MAX

R/W

12 bit signed The V_TARGET register holds the current target velocity. The use

of V_TARGET depends on the chosen mode of operation.

12 bit signed This read-only register holds the current velocity of the stepper

motor.

R*¹

R/W

11 bit

This register defines the absolute value of the desired

acceleration for velocity_mode and ramp_mode (resp. soft_mode)

with a value range from 0 to 2047.

unsigned

A_ACTUAL

R

11 bit

unsigned

1+7 bit

4 bit

The actual acceleration can be read out by the microcontroller

from the A_ACTUAL read-only register.

These values form a floating point number with PMUL as

mantissa and PDIV as exponent. PMUL and PDIV are used for

calculating the deceleration ramp.

PMUL

PDIV

R/W

unsigned

RAMP_MODE

REF_CONF

lp

R/W

R

2 bit

4 bit

1 bit

The two bits RAMP_MODE (R_M) select one of the four possible

modes of operation.

The configuration bits REF_CONF select the behavior of the

reference switches.

The bit called lp (latched position) is a read only status bit.

The TMC4210 provides one interrupt register of eight flags for

the stepper motor.

The parameter RAMP_DIV scales the acceleration parameter

A_MAX.

The pulse generator clock – defining the maximum step pulse

rate – is determined by the parameter PULSE_DIV. The parameter

PULSE_DIV scales the velocity parameters.

INTERRUPT_MASK

INTERRUPT_FLAGS

RAMP_DIV

R/W

8 bit

4 bit

2 bit

PULSE_DIV

DX_REF_TOLERANCE

X_LATCHED

R/W

R

12 bit

DX_REF_TOLERANCE excludes a motion range to allow motion

near the reference position.

This read-only register stores the actual position X_ACTUAL upon

a change of the reference switch state.

24 bit

unsigned

USTEP_COUNT_4210

R/W

8 bit

The read-write register USTEP_COUNT_4210 holds the actual

microstep pointer of the internal sequencer.

1

*

in hold_mode only, this register is a read-write register.

2

before overwriting X_ACTUAL choose velocity_mode or hold_mode. Refer to chapter 6.1.2.

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6.1.1 X_TARGET (IDX=%0000)

This register holds the current target position in units of microsteps.

UNIT OF TARGET POSITION

The unit of the target position depends on the setting of the associated microstep resolution register

usrs.

POSITIONING

-

If the difference X_TARGET to X_ACTUAL is not zero and R_M = ramp_mode or soft_mode, the

TMC4210 moves the stepper motor in the direction of X_TARGET in order to position X_ACTUAL to

X_TARGET. Usually X_TARGET is modified to start a positioning.

-

The condition | X_TARGET – X_ACTUAL | < 2²³must be satisfied for motion into correct direction.

Target position X_TARGET and current position X_ACTUAL may be altered on the fly.

To move from one position to another, the ramp generator of the TMC4210 automatically

generates ramp profiles in consideration of the velocity limits V_MIN and V_MAX and acceleration

limit A_MAX.

The registers X_TARGET, X_ACTUAL, V_MIN, V_MAX, and A_MAX are initialized with zero after power up.

6.1.2 X_ACTUAL (IDX=%0001)

The current position of the stepper motor is available by read out of the registers called X_ACTUAL.

The actual position can be overwritten by the microcontroller. This feature is important for the

reference switch position calibration controlled by the microcontroller.

UNIT OF CURRENT POSITION

The unit of the target position depends on the setting of the associated microstep resolution register

usrs.

Attention

Before overwriting X_ACTUAL choose velocity_mode or hold_mode.

If X_ACTUAL is overwritten in ramp_mode or soft_mode the motor directly drives to X_TARGET.

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6.1.3 V_MIN (IDX=%0010)

This register holds the absolute velocity value at or below which the stepper motor can be stopped

abruptly.

UNIT OF VELOCITY

The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,

V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 6.1.12 for details) and depends

on the clock frequency of the TMC4210.

DECELERATION

-

The parameter V_MIN is relevant for deceleration while reaching a target position. V_MIN should

be set greater than zero.

This control value allows reaching the target position faster because the stepper motor is not

slowed down below V_MIN before the target is reached.

Due to the finite numerical representation of integral relations the target position cannot be

reached exactly, if the calculated velocity is less than one, before the target is reached. Setting

V_MIN to at least one assures reaching each target position exactly.

v(t)

-

A

X

-

_

A

M

X

_

A

Δv

_

A

M

X

A

M

A

Δv

_

X

A

t

Δt₀₁

t₂

t₃t₄

t₅

t₆

t₇t₈

t₀

t₁

Δt₅₆

acceleration

constant velocity

deceleration

acceleration deceleration

Figure 6.1 Velocity ramp parameters and velocity profiles

6.1.4 V_MAX (IDX=%0011)

This parameter sets the maximum motor velocity. The absolute value of the velocity will not exceed

this limit, except if the limit V_MAX is changed during motion to a value below the current velocity.

UNIT OF VELOCITY

The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,

V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 6.1.12 for details) and depends

on the clock frequency of the TMC4210.

HOMING PROCEDURE

To set target position X_TARGET and current position X_ACTUAL to an equivalent value (e.g. to set

both to zero at a reference point) the stepper motor should be stopped first and the parameter V_MAX

should be set to zero to hold the stepper motor at rest before writing into the register X_TARGET and

X_ACTUAL.

Attention

Before overwriting X_ACTUAL choose velocity_mode or hold_mode.

If X_ACTUAL is overwritten in ramp_mode or soft_mode the motor directly drives to X_TARGET.

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6.1.5 V_TARGET (IDX=%0100)

The use of V_TARGET depends on the chosen mode of operation:

Mode of operation

Functionality of V_TARGET

ramp_mode

The V_TARGET register holds the current target velocity calculated internally

by the ramp generator.

velocity_mode

A target velocity can be written into the V_TARGET register. The stepper

motor accelerates until it reaches the specified target velocity. The velocity is

changed according to the motion parameter limits if the register V_TARGET is

changed.

hold_mode

soft_mode

The register V_TARGET is ignored.

The V_TARGET register holds the current target velocity calculated internally

by the ramp generator.

UNIT OF VELOCITY

The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,

V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see chapter 6.1.12 for details) and

depends on the clock frequency of the TMC4210.

6.1.6 V_ACTUAL (IDX=%0101)

This read-only register holds the current velocity of the associated stepper motor. Internally, the ramp

generator of the TMC4210 processes with 20 bits while only 12 bits (the most significant bits) can be

read out as V_ACTUAL.

In hold_mode only, this register is a read-write register. Writing zero to the register V_ACTUAL

immediately stops the associated stepper motor, because hidden bits are set to zero with each write

access to the register V_ACTUAL. In hold_mode motion parameters are ignored and the

microcontroller has the full control to generate a ramp. The TMC4210 only handles the microstepping

and datagram generation for the associated stepper motor.

UNIT

The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,

V_TARGET, and V_ACTUAL) is defined by the parameter PULSE_DIV (see chapter 6.1.12 for details) and

depends on the clock frequency of the TMC4210.

An actual velocity of zero read out by the microcontroller means that the current velocity is in an

interval between zero and one. Therefore the actual velocity should not be used to detect a stop of

the stepper motor. It is advised to detect the target_reached flag instead.

6.1.7 A_MAX (IDX=%0110)

This register defines the absolute value of the desired acceleration for velocity_mode and ramp_mode

(resp. soft_mode) with a value range from 0 to 2047.

Note

The motion controller cannot stop the stepper motor if A_MAX is set to zero on the fly because

afterwards the velocity cannot be changed automatically any more.

UNIT

The unit of the acceleration is change of step frequency per time unit divided by 256. The scale of

acceleration parameters (A_MAX, A_ACTUAL, and A_THRESHOLD) is defined by the parameter RAMP_DIV

(see section 6.1.12) and depends on the clock frequency of the TMC4210.

6.1.7.1 A_MAX in ramp_mode

As long as RAMP_DIV  PULSE_DIV – 1 is valid, any value of A_MAX within its range (0… 2047) is

allowed and there exists a valid pair {PMUL, PDIV} for each A_MAX. The reason is that the acceleration

scaling determined by RAMP_DIV is compatible with the step velocity scaling determined by

PULSE_DIV. A large RAMP_DIV stands for low acceleration and a large PULSE_DIV stands for low

velocity. Low acceleration is compatible with low speed and high speed as well, but high acceleration

is more compatible with high speed.

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Changing one parameter out of the triple {A_MAX, RAMP_DIV, PULSE_DIV} requires re-calculation of the

parameter pair {PMUL, PDIV} to update the associated register. For description of the parameters PMUL

and PDIV see section 6.1.9.

6.1.7.1.1 Deceleration in ramp_mode and soft_mode

If RAMP_DIV and PULSE_DIV differ more than one while deceleration in ramp_mode or soft_mode the

parameter A_MAX needs to have a lower limit (>1) and an upper limit (<2047). The reason is that the

deceleration ramp is internally limited to 2¹⁹steps (respectively microsteps).

THE LOWER LIMIT OF A_MAX IS GIVEN BY

퐴_푀퐴푋_{퐿푂푊퐸푅_퐿퐼ꢁ퐼푇}= 2^{(푅ꢂꢁ푃_퐷퐼푉−푃푈퐿푆퐸_퐷퐼푉−ꢃ)}

ꢄꢅ48

-

With V_MAX set to

( 1448) or lower the A_MAX_{LOWER_LIMIT}is half of this value.

ꢄ

If RAMP_DIV – PULSE_DIV – 1  0 the limit A_MAX_{LOWER_LIMIT}is 1 and the parameter A_MAX may be

set to 1.

THE UPPER LIMIT OF A_MAX IS GIVEN BY

퐴_푀퐴푋_{푈푃푃퐸푅_퐿퐼ꢁ퐼푇}= 2^{(푅ꢂꢁ푃_퐷퐼푉−푃푈퐿푆퐸_퐷퐼푉+ꢃꢄ)}- 1

-

If RAMP_DIV – PULSE_DIV + 1  0 the A_MAX_UPPER_LIMIT is > 2048 and the parameter A_MAX

might be set to any value up to 2047.

CONDITIONS

The parameter A_MAX must not be set below A_MAX_{LOWER_LIMIT}except A_MAX is set to 0. The condition

A_MAX  A_MAX_{LOWER_LIMIT}as well as A_MAX  A_MAX_{UPPER_LIMIT}must be satisfied to reach any target

position without oscillations. If that condition is not satisfied, oscillations around a target position

may occur.

6.1.8 A_ACTUAL (IDX=%0111)

The actual acceleration can be read out by the microcontroller from the A_ACTUAL read-only register.

The actual acceleration is used to select scale factors for the coil currents. It is updated with each

clock. The returned value A_ACTUAL is smoothed to avoid oscillations of the readout value. Thus,

returned A_ACTUAL values should not be used directly for precise calculations.

UNIT

The unit of the acceleration is change of step frequency per time unit divided by 256. The scale of

acceleration parameters (A_MAX, A_ACTUAL, and A_THRESHOLD) is defined by the parameter RAMP_DIV

(see section 6.1.12) and depends on the clock frequency of the TMC4210.

6.1.9 PMUL & PDIV (IDX=%1001)

In ramp mode, the TMC4210 uses an internal algorithm to calculate the deceleration ramp on the fly.

This algorithm requires an additional proportionality factor P which allows the TMC4210 to calculate

the velocity required for stopping in time to exactly reach the target position without overshooting.

This calculation is done for each ramp step. The result of this calculation can be read in the register

V_TARGET. Whenever V_TARGET falls below the actual velocity, the TMC4210 decelerates. As there is a

large range of acceleration and velocity values, p is stored in a floating point representation, using

the registers PMUL (mantissa) and PDIV (exponent).

Using the proportionality factor P target positions are quickly reached without overshooting. The

proportionality factor primarily depends on the acceleration limit A_MAX and on the two clock divider

parameters PULSE_DIV and RAMP_DIV. These two separate clock divider parameters (set to the same

value for most applications) provide an extremely wide dynamic range for acceleration and velocity.

PULSE_DIV and RAMP_DIV allow reaching very high velocities with very low acceleration.

Changing one parameter out of the triple {A_MAX, RAMP_DIV, PULSE_DIV} requires re-calculation of the

parameter pair {PMUL, PDIV} to update the associated register.

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6.1.9.1 Calculation of the Proportionality Factor p

The representation of the proportionality factor p by the two parameters PMUL and PDIV is a floating

point representation.

NOTATIONS

Registers are PMUL and PDIV.

Operating values are P_MULand P_DIV.

CALCULATE P AS FOLLOWS:

ꢆ_ꢁ푈퐿

푝 =

ꢆ_퐷퐼푉

with

P_MUL= 128… 255 representing a factor of 1.000 to 1.992 (=1+127/128)

P_DIV= {2³, 2⁴, 2⁵… 2¹⁴, 2¹⁵, 2¹⁶}

P_MULranges from 128 to 255. P_DIVis a power of two with a range from 8 to 65536. Values of p less

than 128 can be achieved by increasing P_DIV.

The TMC4210 does not directly store the P_DIVparameter. The motion controller stores PDIV with

ꢆ_퐷퐼푉= 2^{ꢇ+푃퐷퐼푉}

NOTE

-

Setting the factor p too small will result in a slow approach to the target position.

Setting the factor p too large will cause overshooting and even oscillations around the target

position.

-

The parameters PMUL and PDIV share the address IDX=%1001. The MSB of PMUL is fixed set to 1

and cannot be changed. This way, PMUL represents a mantissa in the range 1.000 (%1000 0000)

to 1.992 (%1111 1111).

PMUL

PDIV

V_MIN

V_MAX

A_MAX

X_TARGET

V_TARGET

V_ACTUAL

Target Position

Calculation

Velocity Ramp

Generator

(Micro-) Step pulses

Puls Generator

X_ACTUAL

clk32

RAMP_DIV

PULSE_DIV

clk

CLOCK_DIV32

Figure 6.2 Target position calculation, ramp generator, and pulse generator

6.1.9.1.1 Calculation of p for a Given Acceleration

p and the fitting PMUL and PDIV values can be calculated by the microcontroller. Optionally a pair of

matching values of A_MAX, PMUL and PDIV can be stored into the microcontroller memory. The

acceleration limit is a stepper motor parameter which is fixed in most applications. If the acceleration

limit has to be changed nevertheless, the microcontroller can calculate a pair of PMUL and PDIV on

demand for each new acceleration limit A_MAX with RAMP_DIV and PULSE_DIV. Also, pre-calculated

pairs of PMUL and PDIV read from a table can be sufficient.

6.1.9.2 Calculation of PMUL and PDIV

A pair of PMUL and PDIV has to be calculated for each provided acceleration limit A_MAX. Note, that

there may be more than one valid pair of PMUL and PDIV for a given A_MAX acceleration limit.

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CONSIDERATIONS FOR THE CALCULATION OF PMUL AND PDIV

-

To accelerate, the ramp generator accumulates the acceleration value to the actual velocity with

each time step.

-

The absolute value V_MAX of the velocity internally is represented by 11+8=19 bits, while only the

most significant 11 bits and the sign are used as input for the step pulse generator. So, there are

2¹¹=2048 values possible for specifying a velocity within a range of 0 to 2047.

The ramp generator accumulates 1/256*A_MAX with each time step to the actual velocity value

V_ACTUAL during acceleration phases. This accumulation uses 8 bits for decimals. So, the

acceleration from a velocity V_ACTUAL=0 to the maximum possible velocity V_MAX=2047 spans

over 2048*256 / A_MAX pulse generator clock pulses.

-

Within the acceleration phase the pulse generator generates S = ½ * 2048* 256 / A_MAX * T steps

for the (micro) step unit.

The parameter T is the clock divider ratio: T = 2^RAMP_DIV/ 2^PULSE_DIV= 2^{RAMP_DIV– PULSE_DIV}

During the acceleration, the velocity has to be increased until the velocity limit V_MAX is reached or

deceleration is required in order to exactly reach the target position. The TMC4210 automatically

determines the deceleration position in ramp_mode and decelerates. This calculation uses the

difference between current position and target position and the proportionality parameter p, which

has to be p = 2048 / S.

The following formula results:

20ꢈꢉ

푝 =

1

256

퐴_ꢁꢂꢋ

ꢊ ∗ 20ꢈꢉ ∗

2

ꢌ ∗ 2^{푅ꢂꢁ푃_퐷퐼푉−푃푈퐿푆퐸_퐷퐼푉}

This can be simplified to

퐴_푀퐴푋

12ꢉ ∗ 2^{푅ꢂꢁ푃_퐷퐼푉−푃푈퐿푆퐸_퐷퐼푉}

푝 =

HINTS

-

To avoid overshooting, the parameter PMUL should be made approximately 1% smaller than

calculated. Alternatively set p reduced by an amount of 1%.

-

If the proportionality parameter p is too small, the target position will be reached slower,

because the slow down ramp starts earlier. The target position is approached with minimal

velocity V_MIN, whenever the internally calculated target velocity becomes less than V_MIN.

With a good parameter p the minimal velocity V_MIN is reached a couple of steps before the

target position.

With parameter p set a little bit too large and a small V_MIN overshooting of one step

(respectively one microstep) may occur. A decrement of the parameter PMUL avoids this one-step

overshooting.

-

v(t)

V_MAX

p

g

t

o

d

l

a

r

g

e

v

V_MIN

t₀

t₁

t₂

Figure 6.3 Proportionality parameter p and outline of velocity profile(s)

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

25

6.1.9.2.1 Choosing a Pair of PMUL and PDIV

The calculation is based on the formula

ꢆ_ꢁ푈퐿

ꢆ_퐷퐼푉

ꢆ푀ꢍꢎ

2^{ꢇ+푃퐷퐼푉}

푝 =

=

CALCULATIONS

1. To represent the parameter p choose a pair of PMUL and PDIV which approximates p.

2. Value range for PMUL:

3. Value range for PDIV:

128… 255

one out of {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13} (representing P_DIV

one out of {8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384, 32786, 65536})

4. Try all 128 * 14 = 1792 possible pairs of PMUL and PDIV with a program and choose a matching

pair.

5. To find a pair, calculate for each pair of PMUL and PDIV

ꢂ_ꢁꢂꢋ

ꢏꢐꢑꢒ_ꢓꢔꢕꢖꢒꢗꢘꢙꢚ_ꢓꢔꢕ

푝 =

and

ꢃꢄ8∗ꢄ

푃

푃ꢁ푈퐿

ꢛꢜꢒꢓꢔꢕ

ꢑꢗꢘ

푝^′=

=

and

푃

ꢄ

ꢓꢔꢕ

푝^′

푝

푞 =

6. Select one of the pairs satisfying the condition 0.95 < q < 1.0. The value q interpreted as a

function q(a_max, ramp_div, pulse_div, pmul, pdiv) gives the quality criterion required.

Although q = 1.0 indicates that the chosen P_MUL and P_DIV perfectly represent the desired p factor

for a given A_MAX, overshooting could result because of finite numerical precision. On the other hand

in case of high resolution microstepping, overshooting of one microstep is negligible in most

applications.

To avoid overshooting, use P_MUL-1 instead of the selected P_MUL or select a pair (P_MUL, P_DIV)

with q = 0.99.

6.1.9.2.2 Optimized Calculation of PMUL and PDIV

The calculation of the parameters PMUL and PDIV can be simplified using the expression

ꢂ_ꢁꢂꢋ

ꢏꢐꢑꢒ_ꢓꢔꢕꢖꢒꢗꢘꢙꢚ_ꢓꢔꢕ

ꢆ푀ꢍꢎ = 푝 ∗ 2^ꢇ∗ 2^푃퐷퐼푉

with

푝 =

ꢃꢄ8∗ꢄ

To avoid overshooting, use

푝_{푟푒푑푢푐푒푑}= 푝 ∗ (1 ꢝ 푝_{푟푒푑푢푐푡푖표푛}[%]) with p_reduction approximately 1%

This results in:

ꢆ푀ꢍꢎ = 푝_{푟푒푑푢푐푒푑}∗ 2^ꢇ∗ 2^푃퐷퐼푉= 0.99 ∗ 푝 ∗ 2^ꢇ∗ 2^푃퐷퐼푉

PMUL becomes a function of the parameter PDIV. To find a valid pair {PMUL, PDIV} choose one out of

14 pairs for PDIV = {0, 1, 2, 3, ..., 13} with PMUL within the valid range 128  PMUL  255.

The C language example pmulpdiv.c can be found on www.trinamic.com. The source code can directly

be copied from the PDF datasheet file.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

26

6.1.9.2.3 Calculation Example: PMUL and PDIV

/* PROGRAM EXAMPLE ‘pmulpdiv.c’ : How to Calculate p_mul & p_div for the TMC4210 */

#include <math.h>

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

void CalcPMulPDiv(int a_max, int ramp_div, int pulse_div, float p_reduction,

int *p_mul, int *p_div, double *PIdeal, double *PBest, double *PRedu )

{

int

pdiv, pmul, pm, pd ;

double p_ideal, p_best, p, p_reduced;

pm=-1; pd=-1; // -1 indicates : no valid pair found

p_ideal

p

= a_max / (pow(2, ramp_div-pulse_div)*128.0);

= a_max / ( 128.0 * pow(2, ramp_div-pulse_div) );

p_reduced = p * ( 1.0 – p_reduction );

for (pdiv=0; pdiv<=13; pdiv++)

{

pmul = (int)(p_reduced * 8.0 * pow(2, pdiv)) – 128;

if ( (0 <= pmul) && (pmul <= 127) )

{

pm = pmul + 128;

pd = pdiv;

}

*p_mul = pm;

*p_div = pd;

p_best = ((double)(pm)) / ((double)pow(2,pd+3));

*PIdeal = p_ideal;

*PBest = p_best;

*PRedu = p_reduced;

}

int main(int argc, char **argv)

{

int a_max=0, ramp_div=0, pulse_div=0, p_mul, p_div,

a_max_lower_limit=0, a_max_upper_limit=0;

double pideal, pbest, predu;

float p_reduction=0.0;

char **argp;

if (argc>1)

{

while (argv++, argc--)

{

argp = argv + 1;

if (*argp==NULL) break;

if ( (!strcmp(*argv,”-a”)) ) sscanf(*argp,”%d”,&a_max);

else if ( (!strcmp(*argv,”-r”)) ) sscanf(*argp,”%d”,&ramp_div);

else if ( (!strcmp(*argv,”-p”)) ) sscanf(*argp,”%d”,&pulse_div);

else if ( (!strcmp(*argv,”-pr”))) sscanf(*argp,”%f”,&p_reduction);

}

else

{

fprintf(stderr,”\n USAGE : pmulpdiv –a <a_max> -r <ramp_div> -p <pulse_div> -pr <0.00 .. 0.10>\n”

EXAMPLE : pmulpdiv –a 10 –r 3 –p 3 –pr 0.05\n”);

“

return 1;

}

printf(“\n\n a_max=%d\tramp_div=%d\tpulse_div=%d\tp_reduction=%f\n\n”,

a_max, ramp_div, pulse_div, p_reduction);

CalcPMulPDiv(a_max, ramp_div, pulse_div, p_reduction, &p_mul, &p_div, &pideal, &pbest, &predu );

printf(“ p_mul = %3.3d\n p_div = %3d\n\n p_ideal = %f\n p_best = %f\n p_redu = %f\n\n”,

p_mul, p_div, pideal, pbest, predu);

a_max_lower_limit = (int)pow(2,(ramp_div-pulse_div-1));

printf(“\n a_max_lower_limit = %d”,a_max_lower_limit);

if (a_max < a_max_lower_limit) printf(“

[WARNING: a_max < a_max_lower_limit]”);

a_max_upper_limit = ((int)pow(2,(12+(ramp_div-pulse_div)))) -1;

printf(“\n a_max_upper_limit = %d”,a_max_upper_limit);

if (a_max > a_max_upper_limit) printf(“

[WARNING: a_max > a_max_upper_limit]”);

printf(“\n\n”);

return 0;

}

/* -------------------------------------------------------------------------- */

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27

6.1.10 lp, RAMP_MODE, and REF_CONF (IDX=%1010)

The configuration words REF_CONF and RAMP_MODE are accessed via a common address.

LP, RAMP_MODE, AND REF_CONF

Bit or Register

Function

RAMP_MODE

The two bits RAMP_MODE (R_M) select one of the four possible stepping

modes.

lp

The bit called lp (latched position) is a read only status bit.

The configuration bits REF_CONF select the behavior of the reference switches.

REF_CONF

6.1.10.1 RAMP_MODE Register

TMC4210 MOTION MODES

RAMP_MODE bits

Mode

Function

Default mode for positioning applications with trapezoidal

ramp. This mode is provided as default mode for positioning

tasks.

%00

ramp_mode

Similar to ramp_mode, but with soft target position

approaching. The target position is approached with

exponentially reduced velocity. This feature can be useful for

applications where vibrations at the target position have to be

minimized.

%01

soft_mode

Mode for velocity control applications, change of velocities with

linear ramps. This mode is for applications, where stepper

motors have to be driven precisely with constant velocity.

The velocity is controlled by the microcontroller, motion

parameter limits are ignored. This mode is provided for motion

control applications, where the ramp generation is completely

controlled by the microcontroller.

%10

%11

velocity_mode

hold_mode

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28

6.1.10.2 The REF_CONF Register and the lp Read-Only Status Bit

A reference switch can be used as an automatic stop switch. The reference switch indicates the

reference position within a given tolerance. The automatic stop function of the switches can be

enabled or disabled. Also a reference tolerance range (see register DX_REF_TOLERANCE, chapter 0) can

be programmed to allow motion within the reference switch active range during homing.

When a reference switch is triggered, the actual position can be stored automatically. This allows a

precise determination of the reference point. It is initiated by writing a dummy value to the register

X_LATCHED (see chapter 6.1.14). The read-only status bit lp (latch position waiting) indicates that the

next change of the selected reference switch will trigger latching the position X_ACTUAL. The lp bit is

automatically reset after position latching.

Motor

Left switch

Right switch

Traveller

x_left

x_right

x_traveler

x₁

x₂

x₃

x₄

Negative direction

Positive direction

Mechanical inaccuracy of switches

(switching hysteresis)

DX_REF_TOLERANCE

Figure 6.4 Left switch and right switch for reference search and automatic stop function

The bits contained in the REF_CONF register control the semantic and the actions of the reference/stop

switch modes for interrupt generation as explained later. The stepper motor stops if the

reference/stop switch becomes active. This mechanism reacts only to the switch which corresponds to

the actual motion direction, e.g. the right switch when moving to a more positive position. The

configuration bits named disable_stop_l respectively disable_stop_r disable these automatic stop

functions. If the bit soft_stop is set, the motor stops with linear ramp as determined by A_MAX.

REFERENCE SWITCH CONFIGURATION BITS REF_CONF AND LP STATUS BIT

REF_CONF mnemonic

Function

0 :

The motor will be stopped when the velocity is negative

(V_ACTUAL < 0) and the left reference switch becomes active.

Left reference switch is disabled as an automatic stop switch.

Stops the motor if the velocity is positive (V_ACTUAL > 0) and the

right reference switch becomes active.

disable_stop_l

1 :

0 :

disable_stop_r

soft_stop

1 :

0 :

Right reference switch is disabled as an automatic stop switch.

Stopping takes place immediately; motion parameter limits are

ignored.

1 :

Stopping takes place in consideration of motion parameter limits;

stops with linear ramp.

The bit ref_RnL (reference switch Right not Left) defines which

switch will be used as the reference switch.

The definition of the reference switch by the configuration bit

ref_RnL has no effect on the stop function of the reference

switches if disable_stop_l = 0 respectively disable_stop_r = 0.

The left reference switch controls reference switch functions.

The right (not left) reference switch controls reference switch

functions.

ref_RnL

0 :

1 :

0 :

1 :

This is the power-on default of the lp (latched position waiting)

bit.

X_LATCHED has been initialized by a write access to latch the

position on a change of the reference switch. It is set to 0 after a

position has been latched.

lp

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

29

ATTENTION

Per default there is only one switch available: REF_L is configured as left reference switch. For

configuring REF_R as right switch, it is necessary to set the mot1r bit in the STEPPER MOTOR GLOBAL

PARAMETER REGISTER to 1. Please refer to chapter 6.2.1.5 for further information.

There is a functional difference between reference switches and stop switches. Reference switches are

used to determine a reference position for the stepper motor. Stop switches are used for automatic

stopping the motor when reaching a limit. The signals of switches are processed via the inputs REF_L

and REF_R. They might be used as automatic stop switches, reference switches, or both.

32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

DATA

REF_CONF

RAMP_

MODE

lp

0 0 1 0 1 0

0

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30

6.1.11 INTERRUPT_MASK & INTERRUPT_FLAGS (IDX=%1011)

The TMC4210 provides one interrupt register of eight flags for the stepper motor.

Interrupt bits are named int_<mnemonic>. The interrupt out nINT_SDO_C is set active low and the

interrupt status bit int is set active high if at least one interrupt flag of the motor becomes set. If the

interrupt status is inactive, nINT is high (1) and int is low (0).

SETTING MASKS AND FLAGS

-

An interrupt flag is set to 1 if its assigned interrupt condition occurs.

Each interrupt bit can either be enabled or disabled (1/0) individually by an associated interrupt

mask bit named mask_<mnemonic>.

-

Interrupt flags are reset to 0 by a write access (RW=0) to their interrupt register address

(IDX=%1011). Write 1 at the position of the bit to clear the flag. Writing a 0 to the corresponding

position leaves the interrupt flag untouched.

Interrupt flags are forced to 0 if the corresponding mask bit is disabled (0).

INTERRUPT FLAGS

int_<mnemonic>

Function

int_pos_end

If a target position is reached while the interrupt mask mask_pos_end is 1,

the bit is set to 1.

int_ref_wrong

Reference switch signal was active outside the reference switch tolerance

range (defined by the DX_REF_TOLERANCE register).

The switches processed via the inputs REF_L and REF_R can be used as stop

switches for automatic motion limiting, as reference switches, and for both. If

a reference switch becomes active out of the reference switch tolerance range

the interrupt flag int_ref_wrong is set if the interrupt mask bit

mask_ref_wrong is set.

int_ref_miss

int_stop

The interrupt flag int_ref_miss is set if the reference switch is inactive at the 0

position and the mask mask_ref_miss is enabled.

The int_stop flag is set, if the reference switch has forced a stop during

motion and if the interrupt mask mask_stop is set.

int_stop_left_low

High to low transition of left reference switch. The int_stop_left_low flag is

set if the reference switch changes from high to low and if the interrupt mask

bit mask_stop_left_low is set.

int_stop_right_low

int_stop_left_high

int_stop_right_high

High to low transition of right reference switch. The int_stop_right_low flag is

set if the reference switch changes from high to low and if the interrupt mask

bit mask_stop_right_low is set.

Low to high transition of left reference switch. The int_stop_left_high flag

indicates that the left reference switch input changes from low to high if the

mask bit mask_stop_left_high is set.

Low to high transition of right reference switch. The int_stop_right_high flag

indicates that the right reference switch input changes from low to high if

the mask bit mask_stop_right_high is set.

INTERRUPT MASK BIT

mask_<mnemonic>

Function

mask_pos_end

mask_ref_wrong

mask_ref_miss

1: mask enabled; 0: mask disabled.

mask_stop

mask_stop_left_low

mask_stop_right_low

mask_stop_left_high

mask_stop_right_high 1: mask enabled; 0: mask disabled.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

31

32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

1 0 1 1

DATA

INTERRUPT_MASK

INTERRUPT_FLAGS

0 0

0

The interrupt status is mapped to the most significant bit (31) of each datagram sent back to the µC

and it is only available at the nINT_SDO_C pin of the TMC4210 if the pin nSCS_C is high.

De-multiplexing of the multiplexed interrupt status signal at the pin nINT_SDO_C can be done using

additional hardware. It is not necessary if the microcontroller always disables its interrupt while it

sends a datagram to the TMC4210.

6.1.12 PULSE_DIV & RAMP_DIV (IDX=%1100)

The frequency of the external clock signal (pin CLK) is divided by 32 (see Figure 6.2). This clock drives

two programmable clock dividers: RAMP_DIV for the ramp generator and PULSE_DIV for the pulse

generator.

RAMP_DIV and PULSE_DIV allow a division of 1/32 f_CLKby the following value settings:

value

division by

0

1

2

4

3

8

4

16

5

32

6

64

7

8

9

10

11

12

13

128 256 512 1024 2048 4096 8192

PULSE_DIV

RAMP_DIV

The pulse generator clock – defining the maximum step pulse rate – is determined by

the parameter PULSE_DIV. The parameter PULSE_DIV scales the velocity parameters.

The parameter RAMP_DIV scales the acceleration parameter A_MAX.

6.1.12.1 Calculating the Step Pulse Rate R

[

]

푓

퐻푍 ∗ 푣ꢟ푙ꢠꢡꢢꢣ푦

퐶퐿퐾

[

]

ꢞ 퐻푧 =

2^{푃푈퐿푆퐸_퐷퐼푉}∗ 20ꢈꢉ ∗ 32

where

f_CLK[Hz] is the frequency of the external clock signal.

velocity is in range 0 to 2047 and represents parameters V_MIN, V_MAX, and absolute values of

V_TARGET and V_ACTUAL.

The pulse generator of the TMC4210 generates one step pulse with each 1/(32*2^PULSE_DIV) clock

pulse with a given theoretical velocity setting of 2048. [Attention: Range ±2047]

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32

The full step frequency R_FSis given by

[

]

ꢞ 퐻푍

[

]

ꢞ_퐹푆퐻푧 =

2^푈푆푅푆

The change R in the pulse rate per time unit is given by

[

]

[ ]

퐻푍 ∗ 퐴_푀퐴푋

퐶퐿퐾

푓

퐶퐿퐾

퐻푍 ∗ 푓

[

]

∆ꢞ 퐻푧/푠 =

2^{푃푈퐿푆퐸_퐷퐼푉+푅ꢂꢁ푃_퐷퐼푉+ꢄꢤ}

where

R:

29:

32

pulse frequency change per second (acceleration)

the constant is derived form 2²⁹= 2⁵* 2⁵* 2⁸* 2¹¹= 32*32*256*2048.

comes from fixed clock pre-dividers,

256

2048

comes from the velocity accumulation clock pre-divider, and

comes from the velocity accumulation clock divider programmed by A_MAX. The parameter

A_MAX is in range 0 to 2047.

The change of fullstep frequency R_FSin the pulse rate per time unit is given by

[

]

ꢞ 퐻푍

[

]

ꢞ_퐹푆퐻푧 =

2^푈푆푅푆

The angular velocity of a stepper motor can be calculated based on the full step frequency R_FS[Hz] for

a given number of full steps per rotation. Similarly, the angular acceleration of a stepper motor can

be calculated based on the change of the full step frequency per second R_FS[Hz].

6.1.12.2 Calculating the Number of Steps During Linear Acceleration

1

푣^ꢄ

ꢦ

ꢥ =

∗

2

where

S = number of steps

a = linear acceleration

v = velocity

With v = R[Hz] and a = R[Hz/s] one gets:

1

2

푣^ꢄ

2^{푅ꢂꢁ푃_퐷퐼푉}

ꢥ =

∗

÷ 2^ꢇ

퐴_ꢁꢂꢋ2^{푃푈퐿푆퐸_퐷퐼푉}

The number of full steps S_FSduring linear acceleration is given by

ꢥ

2^푢ꢧ푟ꢧ

ꢥ_퐹푆

=

Changing PULSE_DIV in velocity_mode or in hold_mode might force an internal microstep (with

microstep resolution defined by usrs) depending on the actual microstep position. This behavior can

be observed especially when the motor is at rest. In ramp_mode this does not occur.

PULSE_DIV should only be changed in ramp_mode!

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6.1.13 DX_REF_TOLERANCE (IDX=%1101)

Generally, the switch inputs REF_L and REF_R can be used as stop switches for automatic motion

limiting and as reference switches defining a reference position for the stepper motor. To allow the

motor to drive near the reference point, it is possible to exclude a motion range of steps from the

stop switch function.

The parameter DX_REF_TOLERANCE disables automatic stopping by a switch around the origin (see

Figure 6.4). To use the DX_REF_TOLERANCE far from the origin, the actual position has to be adapted,

e.g. by setting it to zero in the center of the tolerance range. Additionally, the parameter

DX_REF_TOLERANCE affects interrupt conditions as described before (section 6.1.11).

6.1.14 X_LATCHED (IDX=%1110)

This read-only register stores the actual position X_ACTUAL upon a change of the reference switch

state. The reference switch is defined by the bit ref_RnL of the configuration register 6.2.1.5. Writing a

dummy value to the (read-only) register X_LATCHED initializes the position storage mechanism. The

actual position is saved with the next rising edge or falling edge signal of the reference switch

depending on the actual motion direction of the stepper motor. The actual position is latched when

the switch defined as the reference switch by the ref_RnL bit changes (see chapter 1.5.4). The status

bit lp signals, if latching of a position is pending. This way, a precise reference is available for

homing.

An event at the reference switch associated to the actual motion direction takes effect only during

motion (when V_ACTUAL  0).

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6.2 Global Parameter Registers

The registers addressed by RRS=0 with SMDA=%11 are global common parameter registers. To

emphasize this difference, the address label JDX is used as index name instead of IDX (see overview

in chapter 5.3).

OVERVIEW GLOBAL PARAMETER REGISTER MAPPING

REGISTER

DESCRIPTION

IF_CONFIGURATION_4210 This register is used for configuration of

-

the reference switch inputs

the Step/Dir interface

the association of the position compare output signal to one stepper motor

STEPPER MOTOR GLOBAL This register holds configuration bits for the stepper motor driver chain and defines

PARAMETER REGISTER

-

timing

reference switch adjustments

6.2.1 IF_CONFIGURATION_4210 (JDX=%0100)

The register IF_CONFIGURATION_4210 is the interface configuration register for the TMC4210. It is used

for configuration of

-

the reference inputs

the interrupt output

the Step/Dir interface

INTERFACE CONFIGURATION REGISTER CONTROL BITS

IF_CONFIGURATION_4210 Function

inv_ref

Invert common polarity for all reference switches. If this bit is set, a low level

on the input signals an active reference switch.

step_half

Toggle on each step pulse (this halfs the step frequency, both pulse edges

represent steps). step_half reduces the required step pulse bandwidth and is

useful if for low-bandwidth optocouplers. This function can be used for the

TMC262 stepper driver.

inv_stp

inv_dir

Invert step pulse polarity. This configuration can be used for adaption of the

step polarity to external driver stage.

Invert step pulse polarity. This is for adaption to external driver stages.

Alternatively, this can be used as a shaft bit to adjust the direction of motion

for the motor, but do not use this as a direction bit because it has no effect

on the internal handling of signs (X_ACTUAL, V_ACTUAL…).

en_sd

Enable the Step/Dir interface by setting this bit to 1 (EN_SD=1).

Note: The step pulse timing (length) must be compatible with both, the

desired step frequency and the external drivers’ requirements. The step pulse

timing is determined by the 4 LSBs of STPDIV_4210.

32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210

3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

0 1 0 0

DATA

IF_CONFIGURATION_4210

1 1

0

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

35

INITIALIZE THE STEP/DIR INTERFACE!

Enable the Step/Dir interface by setting en_sd=1!

After power-on, the output signals are logic high until they become configured for step/direction.

6.2.1.1 POS_COMP_4210 (JDX=%0101)

POS_COMP_4210 defines a position, which becomes compared to the motor position.

6.2.1.2 POS_COMP_INT_4210 (JDX=%0110)

The position compare interrupt mask (M) and interrupt flag (I) register hold the mask and interrupt

concerning the position compare function of the TMC4210.

6.2.1.3 POWER_DOWN (JDX=%1000)

A write to the register address POWER_DOWN sets the TMC4210 into the power down mode until it

detects a falling edge at the pin nSCS_C. During power down, all internal clocks are stopped. All

outputs remain stable, and all register contents are preserved.

6.2.1.4 TYPE_AND_VERSION_4210 (JDX=%1001)

Read only register that gives type und version of the design.

6.2.1.5 REFERENCE_SWITCHES (JDX=%1110)

The current state of the reference switches can be read out with this register. Per default

configuration, only the left reference switch is active (mot1r=0).

INITIALIZE THE RIGHT REFERENCE SWITCH!

For using both reference switches, write 1 to mot1r.

If it is desired to invert the polarity of the reference switches, the bit inv_ref of the

IF_CONFIGURATION_4210 register can be set. This allows matching normally open contacts or

normally closed contacts.

6.2.2 STEPPER MOTOR GLOBAL PARAMETER REGISTER (JDX=%1111)

This register holds different configuration bits for the stepper motor driver chain. The absolute

address (RRS & ADDRESS) of the stepper motor global parameter register is %01111110 = $7E.

STEPPER MOTOR GLOBAL PARAMETER CONTROL

Register

Function

STPDIV_4210

The timing of the Step/Dir interface is controlled by four LSBs. Please refer to

chapter 8.1 for the calculation of Step/Dir timing.

mot1r

Set mot1r to 1 for a left and a right swicht. In case switches are not to be

used, pull the related pins to GND. Refer to chapter 7.1.

32 BIT DATAGRAM SENT FROM A µC TO THE TMC4210

1 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0

0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0

ADDRESS

DATA

0

00

0 1 1 1 1 1 1

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

36

7 Reference Switch Inputs

7.1 Reference Switch Configuration, mot1r

mot1r is for configuring the reference switches of the TMC4210. Per default, mot1r=0.

REFERENCE INPUTS DEPENDING ON CONFIGURATION BITS

mot1r

left switch

right switch

0

1

REF_L

-

REF_R

7.2 Triple Switch Configuration

The programmable tolerance range around the reference switch position is useful for a triple switch

configuration, as outlined in Figure 7.1. In this configuration two switches are used as automatic stop

switches and one additional switch is used as the reference switch between the left stop switch and

the right stop switch. The left stop switch and the reference switch are connected in series. In order

to use the reference switch, program a tolerance range into the register DX_REF_TOLERANCE. This

disables the automatic stop within the tolerance range of the reference switch. The homing procedure

can use the right switch to make sure, that the reference switch is found properly. The TMC4210 can

automatically check the correct position of the driver whenever the reference switch is passed.

Motor

Reference switch

Left stop switch

Right stop switch

traveller

x'

left

x

right

0

x'

1

x'

x

4

2

traveler

1

2

3

Negative

direction

Positive

direction

DX_REF_TOLERANCE

Figure 7.1 Triple switch configuration left stop switch – reference switch – right stop switch

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

37

7.3 Homing Procedure

In order to home the drive, the reference switch position x_refmust be determined after each power on

(see Figure 7.2).

PROCEED AS FOLLOWS:

1. Due to mechanical inaccuracy of switches, the reference switch is active within the following

range: x₁< x_ref< x₂, where x₁and x₂may vary. If the traveler is within the range x1 < xtraveler < x2 at

the start of the homing procedure, it is necessary to leave this range, because the associated

reference switch is active. A dummy write access to X_LATCHED initializes the position latch

register.

2. With the traveler within the range x₂< x_traveler< x_maxand the register X_LATCHED initialized, the

position x₂can simply be determined by motion with a target position X_TARGET set to –x_max.

3. When reaching position x₂the position is latched automatically.

4. With stop switch enabled, the stepper motor automatically stops if the position x₂is reached.

5. Now, set the DX_REF_TOLERANCE in order to allow motion within the active reference switch

range x₁< x_ref< x₂and to move the traveler to a position x_traveler< x₁if desired.

6. Afterwards initialize the register X_LATCHED again to latch the position x₁by a motion to a

target position x_traveler< x₁.

7. When the positions x₁and x₂are determined the reference position x_ref= (x₁+ x₂) / 2 can be set.

Finally, one should move to the target position X_TARGET = x_refand set X_TARGET := 0 and

X_ACTUAL := 0 when reached.

Motor

reference

switch

traveller

x

ref

dx

x

dx

x

max

1

2

traveler

Negative

direction

Positive

direction

mechanical inaccuracy of switches

(switching hysteresis)

DX_REF_TOLERANCE

Figure 7.2 Reference search

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

38

8 Step/Dir Drivers

Step/Dir drivers contain an internal sequencer. The Step/Dir interface is a simple and universal

interface for real time motion control. All additional control functions like current control have to be

provided by the microcontroller directly communicating to the driver.

The Step/Dir mode is enabled if the control bit en_sd (enable Step/Dir) of the IF_CONFIGURATION_4210

register is set to 1.

8.1 Timing

The timing of the Step/Dir interface should be adapted to the requirements of the driver and the

transmission line. The minimum pulse width may be limited.

The timing of the Step/Dir interface is controlled by four LSBs named STPDIV_4210.

For a given clock frequency f_CLK[MHz] of the TMC4210, the length t_STEP[µs] of a step pulse is

1 ꢨ ꢥꢩꢆꢪꢫꢬ_ꢈ210

ꢣ_{푆푇퐸푃[휇ꢧ]}= 16 ∗

푓

퐶퐿퐾[ꢁꢭꢮ]

-

For a clock frequency f_CLK[MHz] of 16MHz the step pulse length can be programmed in integer

multiple of 1µs by STPDIV_4210.

The STPDIV_4210 has to be set compatible to the upper step frequency f_STEP= 1/t_STEPwhich is

used.

The first step pulse after a change of direction is delayed by t_DIR2STPwhich is equal to t_STEPto

avoid setup time violations of the Step/Dir power stage.

MAXIMUM STEP FREQUENCIES

Generally, the maximum step pulse frequency is f_{STEP_MAX}[MHz] = f_CLK[MHz] / 32.

For a clock frequency f_CLK[MHz] = 16 MHz the maximum step pulse frequency f_{STEP_MAX}is 500kHz.

For a clock frequency f_CLK[MHz] = 32 MHz the maximum step pulse frequency f_{STEP_MAX}is 1MHz.

t_DIR2STP= t_STEP

DIR

STP

t_STEP

Figure 8.1 Step/Dir timing (en_sd = 1; step_half = 0)

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

39

9 Running a Motor

9.1 Getting Started

For starting a motor proceed as follows:

1. Set en_sd to 1 to enable the Step/Dir interface to the driver IC.

2. Set the velocity parameters V_MIN and V_MAX.

3. Set the clock pre-dividers PULSE_DIV and RAMP_DIV.

4. Set A_MAX with a valid pair of PMUL and PDIV.

5. Choose the ramp mode with RAMP_MODE register.

6. Choose the reference switch configuration. Set mot1r to 1 for a left and a right reference

switch. If this bit is not set and the right switch is not to be used, pull REF_R to GND.

7. Now, the TMC4210 runs a motor if you write either X_TARGET or V_TARGET, depending on the

choice of the ramp mode.

9.2 Running a Motor with Start-Stop-Speed in ramp_mode

The TMC4210 has an integrated automatic start-stop-speed mechanism. This can easily be realized by a

simple command sequence. To start and stop with a speed V_START_STOP different from zero, one

has to proceed as follows:

1. Set V_MIN := V_START_STOP.

2. Set ramp_mode.

3. Set X_TARGET to desired target position.

4. Set V_ACTUAL immediately with correct sign for V_ACTUAL to +V_MIN resp. –V_MIN, depending

on the direction of positioning.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

40

10 On-Chip Voltage Regulator

The on-chip voltage regulator delivers a 3.3 V supply for the chip core. The TMC4210 provides two

operational modes to operate in 5 V or in 3.3 V environments. For both operational modes one resp.

two external capacitors are required. Please keep all connections as short as possible!

OPERATIONAL MODE

Operational mode

Necessary additional hardware

- An external 100nF ceramic capacitor (CBLOCK) has to be connected

between pin V5 and ground.

- An external 470nF ceramic capacitor has to be connected between the

V33 pin and ground.

5 V

An external 100nF ceramic capacitor is necessary only between pin V33 and

ground.

3.3 V

CHARACTERISTICS OF THE ON-CHIP VOLTAGE REGULATOR

Symbol Parameter Conditions

VDD5REG Supply voltage vdd5 5 V Operational Mode

Block capacitor Operational Mode, x7r ceramic

capacitor

Min

4.5

Typ Max

Unit

V

nF

5

5.5

CBLOCK

5

V

100

VDD3REG

ICCNLREG

tSREG

Supply voltage vdd3 3.3 V Operational Mode

Current consumption No load

2.9

3.3

50

3.6

100

20

V

µA

µs

Startup time

No external capacitor connected

tSREGC

TDRFT

Startup time

Temperature drift

C_load = 470 nF

150

300

µs

ppm /

°C

VRIPPLE

CREG

Ripple on vdd3

With ripple over 50 mV the input

thresholds may differ from that specified

in the data sheet

Use x7r ceramic capacitors on pin 33. 33

Using an external capacitor with capacity

other than typical, the ripple should be

measured on pin v33 to be sure that

requirements are satisfied.

100

mV

External capacitor

470

nF

pF

COPT

Optional capacitor

Optional parallel capacitor for additional

reduction of high frequency ripple, c0g

ceramic, unnecessary in most cases

3.3V Operation (CMOS)

5V Operation (TTL)

REF_L

REF_R

GP_IN

REF_R

GP_IN

nSCS_C

SDI_C

STEP_OUT

DIR_OUT

nSCS_C

SDI_C

STEP_OUT

DIR_OUT

TMC4210

SCK_C

CLK

nINT_SDO_C

TEST GND

nINT_SDO_C

V33

V5

V33

V5

TEST GND

Copt

470 nF^*

100 nF^*

+3.3V

100 nF^*

+ 5V

* Capacitors should be placed as close as possible to the chip.

GND and TEST have to be connected to ground as close as possible to the chip.

In most cases the optional capacitor Copt is not necessary.

Figure 10.1 3 V operation (CMOS) vs. 5 V operation (TTL)

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

41

11 Power-On Reset

The TMC4210 is equipped with a static and dynamic reset with an internal hysteresis. The chip

performs an automatic reset during power-on. If the power supply voltage falls below the threshold

V_ON, an automatic power-on reset is performed. The power-on reset time t_RESPORdepends on the

power-up time of the on-chip voltage regulator.

CHARACTERISTICS OF THE ON-CHIP POWER-ON-RESET

Symbol

VDD

Temp

V_OP

V_OFF

V_ON

Parameter

Power supply range

Temperature

Reset ON/OFF hysteresis

Reset OFF

Reset ON

Min

3.0

-55

Typ

3.3

25

Max

3.6

Unit

V

°C

V

125

0.80

2.85

2.70

5.52

1.58

1.49

2.14

2.13

1.98

3.31

t_RESPOR

Reset time of on-chip power-on-reset

µs

Static

Dynamic

V_OFF

V_ON

V_OP

0

V_OFF

V_ON

V_OP

0

t_RESPOR

Figure 11.1 Operating principle of the power-on-reset

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

42

12 Absolute Maximum Ratings

The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near

more than one maximum rating at a time for extended periods shall be avoided by application

design.

Symbol Parameter

Conditions

Min

Max

Unit

V_DD3

DC supply voltage

Voltage at Pin V33 in 3.3V

mode

-0.3

3.6

V

V_I3

DC input voltage,

3.3 V I/Os

DC output voltage,

3.3 V I/Os

-0.3

V_DD3+ 0.3

V

V_O3

V_DD5

V_I5

DC supply voltage

DC input voltage,

5V I/Os

DC output voltage,

5V I/Os

Voltage at Pin V5

Continuous DC Voltage

-0.3

5.5

V

V_DD5+ 0.3,

5.5 max

V_DD5+ 0.3,

5.5 max

2000

V_O5

Continuous DC Voltage

-0.3

V

V_ESD

ESD voltage

PAD cells are designed to

resist ESD voltages

according to Human Body

Model according to MIL-

STD-883, with R_C= 1 – 10

M, R_D= 1.5 K, and C_S=

100 pF, but it cannot be

guaranteed.

TEMP_D2

TEMP_D3

TEMP_D4

TSG

Ambient air temperature Industrial / consumer type

range

Ambient air temperature Automotive type

range

Ambient air temperature Industrial type

range

Storage temperature

-40

-55

-40

-60

+85

°C

+125

+105

+150

13 Electrical Characteristics

13.1 Power Dissipation

General DC characteristics

Symbol Parameter

I_SC32MHZSupply current

I_SC16MHZSupply current

I_SC8MHZ4210Supply current

Conditions

Min

Typ

15

5

Max

Unit

f = 32 MHz at Tc = 25°C

f = 16 MHz at Tc = 25°C

f = 8 MHz at Tc = 25°C

(IOs driven)

mA

10

5

I_SC4MHZ

I_PDN25C

Supply current

Power down current

f = 4 MHz at Tc = 25°C

Power down mode at

Tc = 25°C, 5V supply

1.25

70

2.5

150

mA

µA

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

43

13.2 DC Characteristics

DC characteristics contain the spread of values guaranteed within the specified supply voltage range

unless otherwise specified. A device with typical values will not leave Min/Max range within the full

temperature range.

General DC characteristics

Symbol Parameter

Conditions

Min

Typ

Max

Unit

ILC

CIN

LIL

Input leakage current

Input capacitance

Input with pull up

-10

10

µA

pF

µA

7

-30

V_IN= 0V

-110

-5

DC characteristics for 3.3V supply mode

Symbol Parameter

Conditions

Min

Typ

Max

Unit

V_DD3

V_I3

V_IL3

V_IH3

V_LTH3

DC supply voltage

DC input voltage

Low level input voltage

High level input voltage Pin TEST only

Low level input voltage All inputs except TEST

threshold

3.0

0

3.3

3.6

V_DD3

0.3 x V_DD3

V_DD3+ 0.3

1.2

V

Pin TEST only

0.7 x V_DD3

0.9

V_HTH3

V_HYS3

High level input voltage All inputs except TEST

threshold

Schmitt-Trigger

hysteresis

Low level output voltage I_OL= 0.3 mA

1.5

0.4

1.9

0.7

0.1

V

V_OL3

V_OH3

V

High

level

output I_OH= 0.3 mA

V_DD3–0.1

V_DD3–0.4

voltage

V_OL3

V_OH3

Low level output voltage I_OL= 2 mA

0.4

High

level

output I_OH= 2 mA

V

voltage

Ripple on V_DD3has to be taken into account when measuring thresholds and hysteresis.

DC characteristics for 5V supply mode

Symbol Parameter

Conditions

Min

Typ

Max

Unit

V_DD5

V_I5

V_IL5

V_IH5

V_LTH5

DC supply voltage

DC input voltage

Low level input voltage

High level input voltage Pin TEST only

Low level input voltage

threshold

4.5

0

5

5.5

V_DD5

0.3 x V_DD5

V_DD5+ 0.3

1.2

V

Pin TEST only

0.7 x _VDD5

0.9

All inputs except TEST,

V_DD5=5V

V_HTH5

V_HYS5

High level input voltage All inputs except TEST,

1.5

0.4

1.9

0.7

0.1

V

threshold

V_DD5=5V

Schmitt-Trigger

hysteresis

Low level output voltage I_OL= 0.3 mA

V_OL5

V_OH5

V

High

level

output I_OH= 0.3 mA

V_DD5–0.1

V_DD5–0.4

voltage

V_OL5

V_OH5

Low level output voltage I_OL= 4 mA

0.4

High

level

output I_OH= 4 mA

V

voltage

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

44

13.3 Timing Characteristics

General timing parameters (TMC4210 with EMI optimized output drivers)

Symbol Parameter

Conditions

f_CLK= 1 / t_CLK

Rising edge to rising

edge of CLK

Min

0

31.25

Typ

16

Max

32



Unit

MHz

ns

f_CLK

t_CLK

Operation frequency

Clock period

t_{CLK_L}

t_{CLK_H}

t_{RISE_I}

Clock time low

Clock time high

Input signal rise time

12.5

0.5

ns



10% to 90% except TEST

t_{FALL_I}

Input signal fall time

90% to 10% except TEST

0.5

ns



t_{RISE_O_4210}Output signal rise time

t_{FALL_O_4210}Output signal fall time

10% to 90%

90% to 10%

Relative to falling clock

edge at CLK

Relative to falling clock

edge at CLK

50% of rising edge of

the clock CLK to the 50%

of the output

7

ns

t_SU

Setup time

1

t_HD

Hold time

ns

t_{PD_4210}

Propagation delay time

10

t_CLK

t_{CLK_H}

t_{CLK_L}

50%

CLK

t_RISE

t_SU

90%

50%

10%

OUTPUT

t_FALL

t_HD

t_PD

Figure 13.1 General timing parameters

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

45

15 Package Machanical Data

15.1 Dimensional Drawings

Attention: Drawings not to scale.

S

TOP VIEW

h x 45°

8

7 6

5

3

4

2

1

LEAD (SIDE VIEW)

b

b₁

E

H

c₁

c

WITH PLATING

BASE METAL

9 10 11 12 13 14 15 16

e

N=16

B

h x 45°

C

A₂

A



L

D

A

1

SIDE VIEW

END VIEW

Figure 15.1 Dimensional drawings SSOP16, 150 MILS, 0.635mm (0.025 inch) pitch

DIMENSIONS OF PACKAGE SSOP16, 150 MILS

Dimensions in MILLIMETERS

Dimensions in INCHES

Symbol

Min

1.55

0.10

1.40

0.20

0.18

0.20

0.19

4.80

Typ

1.63

0.15

1.47

Max

1.73

0.25

1.55

0.30

0.28

0.25

0.23

0.31

0.25

4.98

Min

0.061

0.004

0.055

0.008

0.007

0.008

0.0075

0.189

Typ

Max

0.068

0.0098

0.061

0.012

0.011

0.010

0.009

0.012

0.0098

0.196

A

0.064

0.006

0.058

A1

A2

b

b

c

c

B

C

D

E

e

H

h

L

0.25

0.010

0.20

0.25

0.20

0.008

0.010

0.008

4.93

3.91 best case

0.635 best case

6.02 best case

0.33

0.194

0.154 best case

0.025 best case

0.237 best case

0.013

0.25

0.41

0.89

0.010

0.016

0.035

0.635

0.025

N

S

16

0.114

16

0.0045

0.051

0.178

0.0020

0.0070



0

5

8

0

5

8

15.1.1 Package Code

Device

Package

Temperature range

Code/ Marking

TMC4210-I

TMC4210

SSOP16 (RoHS)

-40° to +105°C

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

46

16 Marking

PRODUCT NAME

TMC4210-I

Package

SSOP16 – 150 MILS

Date code

Lot number identifier

Logo

WWYY (week WW and year YY)

LLLL

No

TMC4210-I

Trinamic

WWYYLLLL

Zoomed Size

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

47

17 Disclaimer

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in

life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co.

KG. Life support systems are equipment intended to support or sustain life, and whose failure to

perform, when properly used in accordance with instructions provided, can be reasonably expected to

result in personal injury or death.

Information given in this data sheet is believed to be accurate and reliable. However no responsibility

is assumed for the consequences of its use nor for any infringement of patents or other rights of

third parties which may result from its use.

Specifications are subject to change without notice.

All trademarks used are property of their respective owners.

18 ESD Sensitive Device

The TMC4210 is an ESD-sensitive CMOS device and sensitive to electrostatic discharge. Take special

care to use adequate grounding of personnel and machines in manual handling. After soldering the

devices to the board, ESD requirements are more relaxed. Failure to do so can result in defects or

decreased reliability.

PAD cells are designed to resist ESD voltages corresponding to Human Body Model (MIL-STD-883, with

R_C= 1 – 10 M, R_D= 1.5 K, and C_S= 100 pF).

Note: In a modern SMD manufacturing process, ESD voltages well below 100V are standard. A major

source for ESD is hot-plugging the motor during operation.

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TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)

48

19 Table of Figures

Figure 1.1 TMC4210 functional block diagram .............................................................................................................4

Figure 1.2 Application example using Step/Dir driver interface.............................................................................5

Figure 3.1 TMC4210 pin out...............................................................................................................................................9

Figure 4.1 TMC4210 application environment with TMC260, TMC261 or TMC2660..........................................11

Figure 5.1 Timing diagram of the serial µC interface..............................................................................................13

Figure 6.1 Velocity ramp parameters and velocity profiles....................................................................................20

Figure 6.2 Target position calculation, ramp generator, and pulse generator.................................................23

Figure 6.3 Proportionality parameter p and outline of velocity profile(s).........................................................24

Figure 6.4 Left switch and right switch for reference search and automatic stop function .......................28

Figure 7.1 Triple switch configuration left stop switch – reference switch – right stop switch................36

Figure 7.2 Reference search.............................................................................................................................................37

Figure 8.1 Step/Dir timing (en_sd = 1; step_half = 0)...............................................................................................38

Figure 10.1 3 V operation (CMOS) vs. 5 V operation (TTL) .....................................................................................40

Figure 11.1 Operating principle of the power-on-reset...........................................................................................41

Figure 13.1 General timing parameters........................................................................................................................44

Figure 15.1 Dimensional drawings SSOP16, 150 MILS, 0.635mm (0.025 inch) pitch.......................................45

20 Revision History

Version Date

Author

SD – Sonja Dwersteg

Description

BD – Bernhard Dwersteg

1.00

1.01

2013-SEP-09

SD

-

TMC4210 Datasheet Rev. 1.00 based on TMC429 Datasheet

Chapter 6.2 and 6.2.1 corrected.

Description of status information bits in chapter 5.2.2.2

corrected. Do not set SDO_INT=1 because this disables

the SPI output.

2014-OCT-10

2015-JUN-03

1.03

BD

-

Update SPI status

21 References

[TMC4210+2660-EVAL] TMC4210+2660-EVAL Manual / Evaluation board for S/D

www.trinamic.com


型号：	TMC4210+2660-EVAL
厂家：	TRINAMIC MOTION CONTROL GMBH & CO. KG.
描述：	MOTION CONTROLLER FOR STEPPER MOTORS
文件：	总48页 (文件大小：1110K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

TMC4210+2660-EVAL [TRINAMIC]

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