TMC5160-TA [TRINAMIC]
Universal high voltage controller/driver for two-phase bipolar stepper motor.;型号: | TMC5160-TA |
厂家: | TRINAMIC MOTION CONTROL GMBH & CO. KG. |
描述: | Universal high voltage controller/driver for two-phase bipolar stepper motor. 电动机控制 |
文件: | 总133页 (文件大小:2799K) |
中文: | 中文翻译 | 下载: | 下载PDF数据表文档文件 |
POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC5160 DATASHEET
Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet
movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.
APPLICATIONS
Robotics & Industrial Drives
Textile, Sewing Machines
Packing Machines
Factory & Lab Automation
High-speed 3D Printers
Liquid Handling
Medical
Office Automation
CCTV
ATM, Cash Recycler
Pumps and Valves
FEATURES AND BENEFITS
DESCRIPTION
2-phase stepper motors up to 20A coil current (external MOSFETs)
The TMC5160 is a high-power stepper
motor controller and driver IC with serial
communication interfaces. It combines a
flexible ramp generator for automatic
target positioning with industries’ most
advanced stepper motor driver. Using
external transistors, highly dynamic, high
torque drives can be realized. Based on
TRINAMICs sophisticated spreadCycle and
stealthChop choppers, the driver ensures
absolutely noiseless operation combined
with maximum efficiency and best motor
torque. High integration, high energy
efficiency and a small form factor enable
miniaturized and scalable systems for
cost effective solutions. The complete
solution reduces learning curve to a
minimum while giving best performance
in class.
Motion Controller with sixPoint™ramp
Step/Dir Interface with microstep interpolation microPlyer™
Voltage Range 8 … 60V DC
SPI & Single Wire UART
Encoder Interface and 2x Ref.-Switch Input
Highest Resolution 256 microsteps per full step
stealthChop2™ for quiet operation and smooth motion
Resonance Dampening for mid-range resonances
spreadCycle™ highly dynamic motor control chopper
dcStep™ load dependent speed control
stallGuard2™ high precision sensorless motor load detection
coolStep™ current control for energy savings up to 75%
Passive Braking and freewheeling mode
Full Protection & Diagnostics
Compact Size 9x9mm2 TQFP48 package / 8x8mm² QFN
BLOCK DIAGRAM
Step/Dir
Ref. Switches
+VM
1 of 2 full bridges
shown
TMC5160
Reference Switch
Processing
Interrupts
Step Multiplyer
Position
Pulse Output
Motor
CBOOT
UART
Single Wire
SPI to
Master
SPI
Programmable
256 µStep
spreadCycle
MOTION CONTROLLER
with Linear 6 Point
RAMP Generator
CBOOT
UART
Sequencer
MOSFET
Driver
stealthChop
Protection
& Diagnostics
Power
Supply
CLK
Oscillator / Selector
Encoder Unit
ABN
Charge
Pump
stallGuard2 coolStep
dcStep
RSENSE
Diff. Sensing
CLK
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
2
APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE
The TMC5160 scores with complete motion controlling features, powerful external MOSFET driver stages,
and high-quality current regulation. It offers a versatility that covers a wide spectrum of applications from
battery powered, high efficiency systems up to embedded applications with 20A motor current per coil. The
TMC5160 contains the complete intelligence which is required to drive a motor. Receiving target positions
the TMC5160 manages motor movement. Based on TRINAMICs unique features stallGuard2, coolStep,
dcStep, spreadCycle, and stealthChop, the TMC5160 optimizes drive performance. It trades off velocity vs.
motor torque, optimizes energy efficiency, smoothness of the drive, and noiselessness. The small form
factor of the TMC5160 keeps costs down and allows for miniaturized layouts. Extensive support at the chip,
board, and software levels enables rapid design cycles and fast time-to-market with competitive products.
High energy efficiency and reliability deliver cost savings in related systems such as power supplies and
cooling. For smaller designs, the compatible, integrated TMC5130 driver provides 1.4A of motor current.
MINIATURIZED DESIGN FOR ONE STEPPER MOTOR
Ref.
Switches
An ABN encoder interface with scaler unit
and two reference switch inputs are used to
ensure correct motor movement. Automatic
interrupt upon deviation is available.
SPI
High-Level
Interface
M
CPU
TMC5160
Encoder
COMPACT DESIGN FOR MULTIPLE STEPPER MOTORS
An application with 2 stepper motors is
shown. Additionally, the ABN Encoder
interface and two reference switches can be
used for each motor. A single CPU controls
the whole system, as there are no real time
tasks required to move a motor. The CPU-
board and the controller / driver boards are
highly economical and space saving.
SPI or
UART
High-Level
Interface
CPU
TMC5160
M
M
Addr.
Chaining
with UART
TMC5160
Addr.
More TMC5160 or TMC5130 or TMC5072
The TMC5160-EVAL is part of TRINAMICs
universal evaluation board system which
provides a convenient handling of the
hardware as well as a user-friendly
software tool for evaluation. The
TMC5160 evaluation board system
consists
LANDUNGSBRÜCKE
of
three
(base
parts:
board),
ESELSBRÜCKE (connector board including
several test points), and TMC5160-EVAL.
ORDER CODES
Size [mm2]
Order code
Description
TMC5160-TA
stepper controller/driver for external MOSFETs; TQFP48
stepper controller/driver for external MOSFETs; wett. QFN8x8
-T denotes tape on reel packing (xx= TA or WA)
Evaluation board for TMC5160
Baseboard for TMC5160-EVAL and further evaluation boards.
Connector board for plug-in evaluation board system.
9 x 9
8 x 8
TMC5160-WA
TMC5160-xx-T
TMC5160-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
3
Table of Contents
8.2
CLASSIC CONSTANT OFF TIME CHOPPER ......71
1
PRINCIPLES OF OPERATION .........................5
9
SELECTING SENSE RESISTORS....................73
VELOCITY BASED MODE CONTROL.......75
DIAGNOSTICS AND PROTECTION.........77
1.1
KEY CONCEPTS................................................6
CONTROL INTERFACES.....................................7
SOFTWARE......................................................7
MOVING AND CONTROLLING THE MOTOR........8
AUTOMATIC STANDSTILL POWER DOWN.........8
STEALTHCHOP2 & SPREADCYCLE DRIVER........8
STALLGUARD2 – MECHANICAL LOAD SENSING9
COOLSTEP – LOAD ADAPTIVE CURRENT
1.2
1.3
1.4
1.5
1.6
1.7
1.8
10
11
11.1 TEMPERATURE SENSORS................................77
11.2 SHORT PROTECTION......................................77
11.3 OPEN LOAD DIAGNOSTICS ...........................79
12
RAMP GENERATOR.....................................80
CONTROL......................................................................9
12.1 REAL WORLD UNIT CONVERSION.................80
12.2 MOTION PROFILES........................................81
12.3 VELOCITY THRESHOLDS.................................83
12.4 REFERENCE SWITCHES ..................................84
1.9
DCSTEP – LOAD DEPENDENT SPEED CONTROL..
.....................................................................10
1.10 ENCODER INTERFACE.....................................10
2
3
PIN ASSIGNMENTS.........................................11
13
STALLGUARD2 LOAD MEASUREMENT...86
2.1
2.2
PACKAGE OUTLINE........................................11
SIGNAL DESCRIPTIONS .................................12
13.1 TUNING STALLGUARD2 THRESHOLD SGT .....87
13.2 STALLGUARD2 UPDATE RATE AND FILTER ....89
13.3 DETECTING A MOTOR STALL.........................89
13.4 HOMING WITH STALLGUARD.........................89
13.5 LIMITS OF STALLGUARD2 OPERATION..........89
SAMPLE CIRCUITS..........................................15
3.1
STANDARD APPLICATION CIRCUIT ................15
EXTERNAL GATE VOLTAGE REGULATOR..........16
CHOOSING MOSFETS AND SLOPE................17
TUNING THE MOSFET BRIDGE.....................19
3.2
3.3
3.4
14
COOLSTEP OPERATION.............................90
14.1 USER BENEFITS.............................................90
14.2 SETTING UP FOR COOLSTEP ..........................90
14.3 TUNING COOLSTEP........................................92
4
5
SPI INTERFACE................................................22
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE .........................22
SPI SIGNALS................................................23
TIMING .........................................................24
15
STEP/DIR INTERFACE................................93
15.1 TIMING.........................................................93
15.2 CHANGING RESOLUTION...............................94
15.3 MICROPLYER AND STAND STILL DETECTION .95
UART SINGLE WIRE INTERFACE ................25
5.1
DATAGRAM STRUCTURE.................................25
CRC CALCULATION .......................................27
UART SIGNALS ............................................27
ADDRESSING MULTIPLE SLAVES....................28
5.2
5.3
5.4
16
DIAG OUTPUTS...........................................96
16.1 STEP/DIR MODE.........................................96
16.2 MOTION CONTROLLER MODE........................96
6
7
REGISTER MAPPING.......................................30
17
DCSTEP..........................................................98
6.1
6.2
GENERAL CONFIGURATION REGISTERS ..........31
VELOCITY DEPENDENT DRIVER FEATURE
17.1 USER BENEFITS.............................................98
17.2 DESIGNING-IN DCSTEP.................................98
17.3 DCSTEP INTEGRATION WITH THE MOTION
CONTROLLER..............................................................99
17.4 STALL DETECTION IN DCSTEP MODE ............99
17.5 MEASURING ACTUAL MOTOR VELOCITY IN
DCSTEP OPERATION.................................................100
17.6 DCSTEP WITH STEP/DIR INTERFACE .........101
CONTROL REGISTER SET.............................................37
6.3
6.4
6.5
RAMP GENERATOR REGISTERS.......................39
ENCODER REGISTERS.....................................44
MOTOR DRIVER REGISTERS...........................46
STEALTHCHOP™..............................................56
7.1
AUTOMATIC TUNING.....................................56
STEALTHCHOP OPTIONS................................59
STEALTHCHOP CURRENT REGULATOR.............59
VELOCITY BASED SCALING............................62
COMBINING STEALTHCHOP AND SPREADCYCLE..
.....................................................................63
FLAGS IN STEALTHCHOP................................65
FREEWHEELING AND PASSIVE BRAKING........65
7.2
7.3
7.4
7.5
18
SINE-WAVE LOOK-UP TABLE.................104
18.1 USER BENEFITS...........................................104
18.2 MICROSTEP TABLE......................................104
19
20
EMERGENCY STOP....................................105
7.6
7.7
ABN INCREMENTAL ENCODER
INTERFACE...............................................................106
8
SPREADCYCLE AND CLASSIC CHOPPER...67
8.1 SPREADCYCLE CHOPPER ................................68
20.1 ENCODER TIMING .......................................107
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
4
20.2 SETTING THE ENCODER TO MATCH MOTOR
RESOLUTION............................................................ 107
20.3 CLOSING THE LOOP.................................... 108
29
30
LAYOUT CONSIDERATIONS...................124
29.1 EXPOSED DIE PAD......................................124
29.2 WIRING GND............................................124
29.3 WIRING BRIDGE SUPPLY............................124
29.4 SUPPLY FILTERING......................................124
29.5 LAYOUT EXAMPLE .......................................125
21
DC MOTOR OR SOLENOID .................... 109
21.1 SOLENOID OPERATION............................... 109
QUICK CONFIGURATION GUIDE......... 110
GETTING STARTED.................................. 115
23.1 INITIALIZATION EXAMPLES......................... 115
STANDALONE OPERATION.................... 116
EXTERNAL RESET...................................... 118
CLOCK OSCILLATOR AND INPUT........ 118
22
23
PACKAGE MECHANICAL DATA..............127
30.1 DIMENSIONAL DRAWINGS TQFP48-EP.....127
30.2 DIMENSIONAL DRAWINGS QFN-WA.........129
30.3 PACKAGE CODES.........................................130
24
25
26
31
32
33
34
35
36
DESIGN PHILOSOPHY.............................131
DISCLAIMER...............................................131
ESD SENSITIVE DEVICE..........................131
TABLE OF FIGURES..................................132
REVISION HISTORY.................................133
REFERENCES ...............................................133
26.1 USING THE INTERNAL CLOCK...................... 118
26.2 USING AN EXTERNAL CLOCK....................... 118
27
28
ABSOLUTE MAXIMUM RATINGS.......... 119
ELECTRICAL CHARACTERISTICS.......... 119
28.1 OPERATIONAL RANGE ................................ 119
28.2 DC AND TIMING CHARACTERISTICS ........... 120
28.3 THERMAL CHARACTERISTICS....................... 122
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
5
1 Principles of Operation
The TMC5160 motion controller and driver chip is an intelligent power component interfacing between
CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No
software is required to control the motor – just provide target positions. The TMC5160 offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The sixPoint ramp generator of the TMC5160 uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the
TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents.
THE TMC5160 OFFERS THREE BASIC MODES OF OPERATION:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5160. No software is required to control the
motor – just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion. Tie SD_MODE high.
MODE 3: Simple Step & Direction Driver
The TMC5160 positions the motor based on step & direction signals. The microPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.
+VM
22n
100V
100n
16V
100n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
HB2
CB1
TMC5160
470n
charge pump
HS
HS
11.5V Voltage
regulator
Ref. switch
processing
100n
2.2µ
2.2µ
5V Voltage
regulator
HB1
BMB1
RG
RG
2R2
&
o
Step &
Direction pulse
generation
p
VCC
e
h
r
t
t
o
linear 6 point
RAMP generator
S
l
o
BMB2
LB1
o
c
p
470n
h
r
C
l
a
e
t
s
r
e
l
LS
LS
v
o
r
t
i
RG
RG
d
n
o
c
t
o
n
o
CSN
SCK
SDI
m
i
LB2
t
o
M
SRBH
SPI interface
47R
47R
spreadCycle &
stealthChop
Chopper
RS
N
stepper
motor
SDO
SRBL
programmable
sine table
4*256 entry
e
c
S
a
Control register
set
f
r
x
e
t
n
I
+VM
CB
DIAG / INT out
and
Stepper driver
CA2
DIAG1/SWP
DIAG0/SWN
B.Dwersteg,
©
Protection
TRINAMIC 2014
Single wire
interface
& diagnostics
HA2
CA1
470n
HS
HS
CB
RG
HA1
BMA1
coolStep™
RG
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
stallGuard2™
BMA2
LA1
dcStep™
+VIO
LS
LS
3.3V or 5V
I/O voltage
RG
RG
LA2
100n
Encoder
unit
SRAH
47R
47R
mode selection
A
B
N
RS
SRAL
pd
pd
pd
Encoder input /
dcStep control in S/D
mode
+VIO
Both GND: UART mode
+VIO
opt. driver enable
Figure 1.1 TMC5160 basic application block diagram (motion controller)
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
6
+VM
22n
100V
100n
16V
100n
CE
+VM
VSA
CB2
CB
CB
HB2
CB1
TMC5160
470n
charge pump
HS
HS
12VOUT
5VOUT
11.5V Voltage
regulator
step multiplier
microPlyer™
100n
2.2µ
2.2µ
5V Voltage
regulator
HB1
BMB1
RG
RG
Standstill
current
reduction
2R2
&
p
e
h
r
l
c
C
h
t
VCC
y
C
d
a
BMB2
LB1
e
r
s
470n
p
s
o
i
e
c
a
f
l
r
a
e
t
e
t
r
n
e
LS
LS
I
v
RG
RG
d
r
o
t
o
CSN
SCK
SDI
m
LB2
SRBH
SPI interface
47R
47R
spreadCycle &
stealthChop
Chopper
RS
N
stepper
motor
SDO
SRBL
programmable
sine table
4*256 entry
S
Control register
set
x
+VM
CB
DIAG / INT out
and
Single wire
interface
Stepper driver
CA2
DIAG1
DIAG0
B.Dwersteg,
©
Protection
TRINAMIC 2014
& diagnostics
HA2
CA1
470n
HS
HS
CB
RG
HA1
BMA1
coolStep™
RG
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
stallGuard2™
BMA2
LA1
dcStep™
+VIO
LS
LS
3.3V or 5V
I/O voltage
RG
RG
LA2
100n
SRAH
47R
47R
mode selection
RS
SRAL
pd
pd
pd
+VIO +VIO
dcStep control
opt. driver enable
Figure 1.2 TMC5160 STEP/DIR application diagram
+VM
22n
100V
100n
16V
100n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
HB2
CB1
HB1
TMC5160
n
470n
charge pump
HS
HS
11.5V Voltage
regulator
step multiplier
microPlyer™
100n
2.2µ
2.2µ
5V Voltage
regulator
RG
RG
Standstill
current
reduction
2R2
BMB1
BMB2
LB1
&
p
v
e
h
r
l
c
C
VCC
o
i
t
y
C
d
a
f
r
r
a
u
e
e
g
r
s
i
f
470n
p
n
I
s
o
i
o
C
e
c
h
t
l
a
a
e
t
r
e
t
n
LS
LS
RG
RG
d
r
CFG0
CFG1
CFG2
CFG3
CFG4
CFG5
CFG6
o
t
o
Microstep Resolution
8 / 16 / 32 / 64
m
LB2
SRBH
47R
spreadCycle &
stealthChop
Chopper
Configuration
interface
(GND or VCC_IO
level)
Run Current Setting
16 / 18 / 20 / 22 /
24 / 26 / 28 / 31
RS
N
stepper
motor
SRBL
Control register
set (default
values)
programmable
sine table
4*256 entry
S
x
pd
pd
47R
+VM
CB
Stepper driver
CA2
spreadCycle (GND) /
stealthChop (VCC_IO)
Current Reduction
Enable (VCC_IO)
& diagnostics
B.Dwersteg,
©
Protection
TRINAMIC 2014
HA2
CA1
B.Dwersteg,
©
470n
HS
HS
TRINAMIC 2014
CB
RG
DIAG1
DIAG0
HA1
BMA1
Index pulse
Driver error
RG
Status out
(open drain)
OTP
opt. ext. clock
12-16MHz
BMA2
LA1
CLK_IN
LS
LS
RG
RG
+VIO
3.3V or 5V
I/O voltage
VCC_IO
LA2
SRAH
100n
47R
47R
mode selection
RS
SRAL
pd
+VIO
Standalone mode
dcStep control
opt. driver enable
Figure 1.3 TMC5160 standalone driver application diagram
1.1 Key Concepts
The TMC5160 implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and
cooler operation in many stepper motor applications.
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
7
stealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor. Allows faster motor acceleration and deceleration than
stealthChop™ and extends stealthChop to low stand still motor currents.
spreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean
current wave. Low noise, low resonance and low vibration chopper.
dcStep™
Load dependent speed control. The motor moves as fast as possible and never loses
a step.
stallGuard2™
coolStep™
Sensorless stall detection and mechanical load measurement.
Load-adaptive current control reducing energy consumption by as much as 75%.
microPlyer™
Microstep interpolator for obtaining full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
The TMC5160 supports both, an SPI interface and a UART based single wire interface with CRC
checking. Additionally, a standalone mode is provided for pure STEP/DIR operation without use of the
serial interface. Selection of the actual interface is done via the configuration pins SPI_MODE and
SD_MODE, which can be hardwired to GND or VCC_IO depending on the desired interface.
1.2.1 SPI Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC5160 slave always consists of sending one 40-bit
command word and receiving one 40-bit status word.
The SPI command rate typically is a few commands per complete motor motion.
1.2.2 UART Interface
The single wire interface allows differential operation similar to RS485 (using SWP and SWN) or single
wire interfacing (leaving open SWN). It can be driven by any standard UART. No baud rate
configuration is required.
1.3 Software
From a software point of view the TMC5160 is a peripheral with a number of control and status
registers. Most of them can either be written only or read only. Some of the registers allow both read
and write access. In case read-modify-write access is desired for a write only register, a shadow
register can be realized in master software.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
8
1.4 Moving and Controlling the Motor
1.4.1 Integrated Motion Controller
The integrated 32 bit motion controller automatically drives the motor to target positions, or
accelerates to target velocities. All motion parameters can be changed on the fly. The motion
controller recalculates immediately. A minimum set of configuration data consists of acceleration and
deceleration values and the maximum motion velocity. A start and stop velocity is supported as well
as a second acceleration and deceleration setting. The integrated motion controller supports
immediate reaction to mechanical reference switches and to the sensorless stall detection stallGuard2.
Benefits are:
Flexible ramp programming
Efficient use of motor torque for acceleration and deceleration allows higher machine throughput
Immediate reaction to stop and stall conditions
1.4.2 STEP/DIR Interface
The motor can optionally be controlled by a step and direction input. In this case, the motion
controller remains unused. Active edges on the STEP input can be rising edges or both rising and
falling edges as controlled by another mode bit (dedge). Using both edges cuts the toggle rate of the
STEP signal in half, which is useful for communication over slow interfaces such as optically isolated
interfaces. On each active edge, the state sampled from the DIR input determines whether to step
forward or back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128,
or 256 microsteps per fullstep. A step impulse with a low state on DIR increases the microstep
counter and a high decreases the counter by an amount controlled by the microstep resolution. An
internal table translates the counter value into the sine and cosine values which control the motor
current for microstepping.
1.5 Automatic Standstill Power Down
An automatic current reduction drastically reduces application power dissipation and cooling
requirements. Modify stand still current, delay time and decay via register settings. Automatic
freewheeling and passive motor braking are provided as an option for stand still. Passive braking
reduces motor standstill power consumption to zero, while still providing effective dampening and
braking! An option for faster detection of standstill is provided for both, ramp generator and STEP/DIR
operation.
STEP
Standstill flag
(stst)
CURRENT
IRUN
IHOLD
t
standstill delay TPOWERDOWN IHOLDDELAY
2^20 / 2^18 clocks power down power down
RMS motor current trace
(faststandstill)
delay time
ramp time
Figure 1.4 Automatic Motor Current Power Down
1.6 stealthChop2 & spreadCycle Driver
stealthChop is a voltage chopper based principle. It especially guarantees that the motor is absolutely
quiet in standstill and in slow motion, except for noise generated by ball bearings. Unlike other
voltage mode choppers, stealthChop2 does not require any configuration. It automatically learns the
best settings during the first motion after power up and further optimizes the settings in subsequent
motions. An initial homing sequence is sufficient for learning. Optionally, initial learning parameters
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
9
can be pre-configured via the interface. stealthChop2 allows high motor dynamics, by reacting at once
to a change of motor velocity.
For highest dynamic applications, spreadCycle is an option to stealthChop2. It can be enabled via
input pin (standalone mode) or via SPI or UART interface. stealthChop2 and spreadCycle may even be
used in a combined configuration for the best of both worlds: stealthChop2 for no-noise stand still,
silent and smooth performance, spreadCycle at higher velocity for high dynamics and highest peak
velocity at low vibration.
spreadCycle is an advanced cycle-by-cycle chopper mode. It offers smooth operation and good
resonance dampening over a wide range of speed and load. The spreadCycle chopper scheme
automatically integrates and tunes fast decay cycles to guarantee smooth zero crossing performance.
Benefits of using stealthChop2:
-
-
-
-
Significantly improved microstepping with low cost motors
Motor runs smooth and quiet
Absolutely no standby noise
Reduced mechanical resonance yields improved torque
1.7 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
1.8 coolStep – Load Adaptive Current Control
coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement
information to adjust the motor current to the minimum amount required in the actual load situation.
This saves energy and keeps the components cool.
Benefits are:
-
-
-
-
Energy efficiency
Motor generates less heat
Less or no cooling
power consumption decreased up to 75%
improved mechanical precision
improved reliability
Use of smaller motor
less torque reserve required → cheaper motor does the job
Figure 1.5 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to
standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example.
0,9
Efficiency with coolStep
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,1
0
Efficiency with 50% torque reserve
Efficiency
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.5 Energy efficiency with coolStep (example)
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1.9 dcStep – Load Dependent Speed Control
dcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If the
mechanical load on the motor increases to the stalling load, the motor automatically decreases
velocity so that it can still drive the load. With this feature, the motor will never stall. In addition to
the increased torque at a lower velocity, dynamic inertia will allow the motor to overcome mechanical
overloads by decelerating. dcStep directly integrates with the ramp generator, so that the target
position will be reached, even if the motor velocity needs to be decreased due to increased
mechanical load. A dynamic range of up to factor 10 or more can be covered by dcStep without any
step loss. By optimizing the motion velocity in high load situations, this feature further enhances
overall system efficiency.
Benefits are:
-
-
-
-
-
-
Motor does not loose steps in overload conditions
Application works as fast as possible
Highest possible acceleration automatically
Highest energy efficiency at speed limit
Highest possible motor torque using fullstep drive
Cheaper motor does the job
1.10 Encoder Interface
The TMC5160 provides an encoder interface for external incremental encoders. The encoder provides
automatic checking for step loss and can be used for homing of the motion controller (alternatively to
reference switches). A programmable prescaler allows the adaptation of the encoder resolution to the
motor resolution. A 32 bit encoder counter is provided.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
11
2 Pin Assignments
2.1 Package Outline
36
35
34
33
32
31
30
29
28
27
26
25
1
HB1
HA2
2
CB1
CA2
3
12VOUT
VCP
4
VSA
VS
5
5VOUT
CPI
6
TMC5160-TA
GNDA
CPO
7
SRAL
GNDD
TQFP-48
8
SRAH
VCC
9
SRBH
DRV_ENN
DIAG1_SWP
DIAG0_SWN
ENCN_DCO_CFG6
10
SRBL
PAD = GNDD, GNDP
11
12
TST_MODE
CLK
Figure 2.1 TMC5160-TA package and pinning TQFP-EP 48 (7x7mm² body, 9x9mm² with leads)
37
36
35
BMB1
HB1
1
2
3
BMA2
HA2
CB1
CA2
34
33
32
12VOUT
VSA
4
5
VCP
VS
B. DweTrstMegC, T5RI1NA6M0IC-W201A2
QFN56 8mm x 8mm
0.5 pitch
CPI
31
30
29
28
27
26
6
7
5VOUT
GNDA
SRAL
SRAH
SRBH
SRBL
CPO
VCC
8
DRV_ENN
DIAG1_SWP
DIAG0_SWN
ENCN_DCO_CFG6
9
10
11
PAD = GNDD, GNDP
Figure 2.2 TMC5160-WA package and pinning QFN-WA (8x8mm²)
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12
2.2 Signal Descriptions
Pin
TQFP QFN
Type Function
High side gate driver output.
Bootstrap capacitor positive connection.
HB1
CB1
1
2
2
3
Output of internal 11.5V gate voltage regulator and supply pin
of low side gate drivers. Attach 2.2µF to 10µF ceramic
capacitor to GND plane near to pin for best performance. Use
at least 10 times more capacity than for bootstrap capacitors.
In case an external gate voltage supply is available, tie VSA
and 12VOUT to the external supply.
12VOUT
VSA
3
4
4
5
Analog supply voltage for 11.5V and 5V regulator. Normally
tied to VS. Provide a 100nF filtering capacitor.
Output of internal 5V regulator. Attach 2.2µF to 10µF ceramic
capacitor to GNDA near to pin for best performance. Output
for VCC supply of the chip.
5VOUT
GNDA
SRAL
5
6
7
6
7
8
Analog GND. Connect to GND plane near pin.
Sense resistor GND connection for phase A. Connect to the
GND side of the sense resistor in order to compensate for
voltage drop on the GND interconnection.
Sense resistor for phase A. Connect to the upper side of the
sense resistor. A Kelvin connection is preferred with high
motor currents. Symmetrical RC-Filtering may be added for
SRAL and SRAH to eliminate high frequency switching spikes
from other drives or switching of coil B.
Sense resistor for phase B. Connect to the upper side of the
sense resistor. A Kelvin connection is preferred with high
motor currents. Symmetrical RC-Filtering may be added for
SRBL and SRBH to eliminate high frequency switching spikes
from other drives or switching of coil A.
AI
AI
SRAH
SRBH
8
9
9
10
AI
Sense resistor GND connection for phase B. Connect to the
GND side of the sense resistor in order to compensate for
voltage drop on the GND interconnection.
SRBL
10
11
12
11
12
13
AI
DI
DI
TST_MODE
CLK
Test mode input. Tie to GND using short wire.
CLK input. Tie to GND using short wire for internal clock or
supply external clock. Internal clock-fail over circuit protects
against loss of external clock signal.
SPI chip select input (negative active) (SPI_MODE=1) or
Configuration input (SPI_MODE=0)
SPI serial clock input (SPI_MODE=1) or
CSN_CFG3
SCK_CFG2
13
14
14
15
DI
DI
Configuration input (SPI_MODE=0)
SPI data input (SPI_MODE=1) or
SDI_CFG1
SDO_CFG0
15
16
16
17
DI
Configuration input (SPI_MODE=0) or
Next address input (NAI) for single wire interface.
SPI data output (tristate) (SPI_MODE=1) or
Configuration input (SPI_MODE=0) or
DIO
Next address output (NAO) for single wire interface.
Left reference input (for internal ramp generator) or
STEP input when (SD_MODE=1).
Right reference input (for internal ramp generator) or
DIR input (SD_MODE=1).
REFL_STEP
REFR_DIR
17
18
18
19
DI
DI
19,
30
20
25,
Pad
20
Digital GND. Connect to GND plane near pin.
GNDD
VCC_IO
3.3V to 5V IO supply voltage for all digital pins.
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13
Pin
TQFP QFN
Type Function
Mode selection input. When tied low, the internal ramp
generator generates step pulses. When tied high, the STEP/DIR
inputs control the driver. SD_MODE=0 and SPI_MODE=0 enable
UART operation.
Mode selection input. When tied low with SD_MODE=1, the
chip is in standalone mode and pins have their CFG functions.
When tied high, the SPI interface is enabled. Integrated pull
down resistor.
SD_MODE
21
22
21
22
DI
DI
(pd)
SPI_MODE
Encoder B-channel input (when using internal ramp generator)
or
dcStep enable input (SD_MODE=1, SPI_MODE=1) – leave open
or tie to GND for normal operation in this mode (no dcStep).
Configuration input (SPI_MODE=0)
ENCB_DCEN_
CFG4
DI
(pd)
23
23
Encoder A-channel input (when using internal ramp generator)
or
dcStep gating input for axis synchronization (SD_MODE=1,
SPI_MODE=1) or
Configuration input (SPI_MODE=0)
Encoder N-channel input (SD_MODE=0) or
dcStep ready output (SD_MODE=1).
ENCA_DCIN_
CFG5
DI
(pd)
24
25
24
26
ENCN_DCO_
CFG6
DIO
With SD_MODE=0, pull to GND or VCC_IO, if the pin is not used
for an encoder.
Diagnostics output DIAG0.
Interrupt or STEP output for motion controller (SD_MODE=0,
SPI_MODE=1).
Use external pullup resistor with 47k or less in open drain
mode.
DIO
(pu+
pd)
DIAG0_SWN
DIAG1_SWP
26
27
27
28
Single wire I/O (negative) (only with SD_MODE=0 and
SPI_MODE=0)
Diagnostics output DIAG1.
Position compare or DIR output for motion controller
(SD_MODE=0, SPI_MODE=1).
Use external pullup resistor with 47k or less in open drain
mode.
DIO
(pd)
Single wire I/O (positive) (only with SD_MODE=0 and
SPI_MODE=0)
Enable input. The power stage becomes switched off (all
motor outputs floating) when this pin becomes driven to a
high level.
5V supply input for digital circuitry within chip. Provide 100nF
or bigger capacitor to GND (GND plane) near pin. Shall be
supplied by 5VOUT. A 2.2 or 3.3 Ohm resistor is recommended
for decoupling noise from 5VOUT. When using an external
supply, make sure, that VCC comes up before or in parallel to
5VOUT or VCC_IO, whichever comes up later!
Charge pump capacitor output.
DRV_ENN
VCC
28
29
29
30
DI
CPO
CPI
31
32
31
32
Charge pump capacitor input. Tie to CPO using 22nF 100V
capacitor.
Motor supply voltage. Provide filtering capacity near pin with
short loop to GND plane. Must be tied to the positive bridge
supply voltage.
VS
33
33
VCP
CA2
HA2
34
35
36
34
35
36
Charge pump voltage. Tie to VS using 100nF capacitor.
Bootstrap capacitor positive connection.
High side gate driver output.
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14
Pin
TQFP QFN
Type Function
Bridge Center and bootstrap capacitor negative connection.
BMA2
LA2
LA1
BMA1
HA1
CA1
CB2
HB2
BMB2
LB2
LB1
37
38
39
40
41
42
43
44
45
46
47
48
37
38
39
40
41
42
43
44
45
46
47
1
Low side gate driver output.
Low side gate driver output.
Bridge Center and bootstrap capacitor negative connection.
High side gate driver output.
Bootstrap capacitor positive connection.
Bootstrap capacitor positive connection.
High side gate driver output.
Bridge Center and bootstrap capacitor negative connection.
Low side gate driver output.
Low side gate driver output.
BMB1
Bridge Center and bootstrap capacitor negative connection.
Connect the exposed die pad to a GND plane. Provide as many
as possible vias for heat transfer to GND plane. Serves as GND
pin for the low side gate drivers. Ensure low loop inductivity
to sense resistor GND.
Exposed die
pad
-
-
*(pd) denominates a pin with pulldown resistor
* All digital pins DI, DIO and DO use VCC_IO level and contain protection diodes to GND and VCC_IO
* All digital inputs DI and DIO have internal Schmitt-Triggers
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
15
3 Sample Circuits
The following sample circuits show the required external components in different operation and
supply modes. The connection of the bus interface and further digital signals are left out for clarity.
3.1 Standard Application Circuit
+VM
Optional use lower
voltage down to 12V
22n
100V
100n
16V
100n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
HB2
CB1
470n
charge pump
HS
HS
11.5V Voltage
regulator
reference switch
processing
100n
2.2µ
2.2µ
5V Voltage
regulator
HB1
BMB1
RG
RG
2R2
VCC
BMB2
LB1
470n
TMC5160
LS
LS
RG
RG
CSN
SCK
SDI
LB2
SRBH
SPI interface
47R
47R
RS
N
stepper
motor
SDO
SRBL
S
Controller
Chopper
+VM
CB
DIAG / INT out
and
Single wire
interface
CA2
B.Dwersteg, ©
TRINAMIC 2014
DIAG1/SWP
DIAG0/SWN
HA2
CA1
470n
HS
HS
CB
RG
HA1
BMA1
RG
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
BMA2
LA1
+VIO
LS
LS
Keep inductivity of the fat
interconnections as small
as possible to avoid
3.3V or 5V
I/O voltage
RG
RG
LA2
100n
undershoot of BM <-5V!
Encoder
unit
B
SRAH
47R
47R
Use low inductivity SMD
type, e.g. 1210 or 2512
mode selection
A
N
RS
SRAL
resistor for RS
!
pd
pd
pd
Bootstrap capacitors CB
:
220nF for MOSFETs with QG<20nC, 470nF for larger QG
Slope control resistors RG: Adapt to MOSFET to yield slopes of roughly
100ns. Slope must be slower than bulk diode recovery time.
Encoder input /
dcStep control in S/D
mode
+VIO
Both GND: UART mode
+VIO
opt. driver enable
Figure 3.1 Standard application circuit
The standard application circuit uses a minimum set of additional components. Eight MOSFETs are
selected for the desired current, voltage and package type. Two sense resistors set the motor coil
current. See chapter 9 to choose the right value for sense resistors. Use low ESR capacitors for
filtering the power supply. A minimum capacity of 100µF per ampere of coil current near to the power
bridge is recommended for best performance. The capacitors need to cope with the current ripple
caused by chopper operation. Current ripple in the supply capacitors also depends on the power
supply internal resistance and cable length. VCC_IO can be supplied from 5VOUT, or from an external
source, e.g. a 3.3V regulator. In order to minimize linear voltage regulator power dissipation of the
internal 5V and 11.5V voltage regulators in applications where VM is high, a different (lower) supply
voltage should be used for VSA (see chapter 0).
Basic layout hints
Place sense resistors and all filter capacitors as close as possible to the power MOSFETs. Place the
TMC5160 near to the MOSFETs and use short interconnection lines in order to minimize parasitic trace
inductance. Use a solid common GND for all GND, GNDA and GNDD connections, also for sense
resistor GND. Connect 5VOUT filtering capacitor directly to 5VOUT and GNDA pin. See layout hints for
more details. Low ESR electrolytic capacitors are recommended for VS filtering.
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16
Attention
In case VSA is supplied by a different voltage source, make sure that VSA does not drop out during
motor operation. The motor driver should be disabled in case VSA becomes switched off before VS.
Hard switching edges on VSA might result in bridge cross-conduction otherwise. It is safest to derive
VSA voltage from VS supply.
3.2 External Gate Voltage Regulator
At high supply voltages like 48V, the internal gate voltage regulator and the internal 5V regulator
have considerable power dissipation, especially with high MOSFET gate charges, high chopper
frequency or high system clock frequency >12MHz. A good thermal coupling of the heat slug to the
system PCB GND plane is required to dissipate heat. Still, the thermal thresholds will be lowered
significantly by self-heating. To reduce power dissipation, supply an external gate driver voltage to the
TMC5160. Figure 3.2 shows the required connection. The internal gate voltage regulator becomes
disabled in this constellation. 12V +/-1V are recommended for best results.
12V Gate Voltage
+VG
VSA
12VOUT
5VOUT
11.5V Voltage
regulator
2.2µ
5V Voltage
regulator
2.2µ
2R2
VCC
470n
Figure 3.2 External gate voltage supply
Hint
With MOSFETs above 50nC of total gate charge, chopper frequency >40kHz, or at clock frequency
>12MHz, it is recommended to use a VSA supply not higher than 40V.
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17
3.3 Choosing MOSFETs and Slope
The selection of power MOSFETs depends on a number of factors, like package size, on-resistance,
voltage rating and supplier. It is not true, that larger, lower RDSon MOSFETs will always be better, as
a larger device also has higher capacitances and may add more ringing in trace inductance and power
dissipation in the gate drive circuitry. Adapt the MOSFETs to the required motor voltage (adding 5-10V
of reserve to the peak supply voltage) and to the desired maximum current, in a way that resistive
power dissipation still is low for the thermal capabilities of the chosen MOSFET package. The TMC5160
drives the MOSFET gates with roughly 10V, so normal, 10V specified types are sufficient. Logic level
FETs (4.5V specified RDSon) will also work, but may be more critical with regard to bridge cross-
conduction due to lower VGS(th)
.
The gate drive current and MOSFET gate resistors RG (optional) determine switching behavior and
should basically be adapted to the MOSFET gate-drain charge (Miller charge). Figure 3.3 shows the
influence of the Miller charge on the switching event. Figure 3.4 additionally shows the switching
events in different load situations (load pulling the output up or down), and the required bridge
brake-before-make time.
The following table shall serve as a thumb rule for programming the MOSFET driver current
(DRVSTRENGTH setting) and the selection of gate resistors:
MOSFET MILLER CHARGE VS. DRVSTRENGTH AND RG
Miller Charge
[nC] (typ.)
<10
10…20
20…40
DRVSTRENGTH
setting
0
0 or 1
1 or 2
2 or 3
3
Value of RG [Ω]
≤ 15
≤ 10
≤ 7.5
≤ 5
40…60
>60
≤ 2.7
The TMC5160 provides increased gate-off drive current to avoid bridge cross-conduction induced by
high dV/dt. This protection will be less efficient with gate resistors exceeding the values given in the
table. Therefore, for larger values of RG, a parallel diode may be required to ensure keeping the
MOSFET safely off during switching events.
MOSFET gate charge vs. switching event
10
8
25
VM
20
15
10
5
6
4
2
0
0
25
0
5
10
QMILLER
15
20
QG – Total gate charge (nC)
Figure 3.3 Miller charge determines switching slope
Hints
-
-
Choose modern MOSFETs with fast and soft recovery bulk diode and low reverse recovery charge.
A small, SMD MOSFET package allows compacter routing and reduces parasitic inductance effects.
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18
V12VOUT
Miller plateau
Lx
0V
VVM
Output
slope
Output
slope
BMx
0V
-1.2V
VVM+V12VOUT
VVM
Hx
0V
VCX-VBMx
Miller plateau
Hx-
BMx
0V
tBBM
tBBM
tBBM
Effective break-before-make time
Load pulling BMx down
Load pulling BMx up
Figure 3.4 Slopes, Miller plateau and blank time
The following DRV_CONF parameters allow adapting the driver to the MOSFET bridge:
Parameter
Description
Setting Comment
BBMTIME
Break-before-make time setting to ensure non- 0…24
overlapping switching of high-side and low-side
MOSFETs. BBMTIME allows fine tuning of times in
increments shorter than a clock period.
time[ns]
100ns*32/(32-BBMTIME)
Ensure ~30% headroom
Reset Default: 0
0: off
For higher times, use BBMCLKS.
BBMCLKS
Like BBMTIME, but in multiple of a clock cycle.
The longer setting rules (BBMTIME vs. BBMCLKS).
0…15
Reset Default: OTP 4 or 2
DRV_
STRENGTH
Selection of gate driver current. Adapts the gate 0…3
driver current to the gate charge of the external
MOSFETs.
Reset Default = 2
FILT_ISENSE Filter time constant of sense amplifier to suppress 0…3
ringing and coupling from second coil operation
Hint: Increase setting if motor chopper noise
occurs due to cross-coupling of both coils.
(Reset Default = %00)
00: ~100ns (reset default)
01: ~200ns
10: ~300ns
11: ~400ns
DRV_CONF Parameters
Use the lowest gate driver strength setting DRVSTRENGTH giving favorable switching slopes, before
increasing the value of the gate series resistors. A slope time of nominal 40ns to 80ns is absolutely
sufficient and will normally be covered by the shortest possible Break-Before-Make time setting
(BBMTIME=0, BBMCLKS=0).
In case slower slopes have to be used, e.g. with large MOSFETs, ensure that the break-before-make
time (BBMTIME, optionally use BBMCLKS for times >200ns) sufficiently covers the switching event, in
order to avoid bridge cross conduction. The shortest break-before-make time, safely covering the
switching event, gives best results. Add roughly 30% of reserve, to cover production stray of MOSFETs
and driver.
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19
3.4 Tuning the MOSFET Bridge
A clean switching event is favorable to ensure low power dissipation and good EMC behavior.
Unsuitable layout or components endanger stable operation of the circuit. Therefore, it is important to
understand the effect of parasitic trace inductivity and MOSFET reverse recovery.
Stray inductance in power routing will cause ringing whenever the opposite MOSFET is in diode
conduction prior to switching on a low-side or high-side MOSFET. Diode conduction occurs during
break-before make time whenever the load current is inverse to the following bridge polarity. The
MOSFET bulk diode has a certain, type specific reverse recovery time and charge. This time typically is
in the range of a few 10ns. During reverse recovery time, the bulk diode will cause high current flow
across the bridge. This current is taken from the power supply filter capacitors (see thick lines Figure
3.5). Once the diode opens parasitic inductance tries to keep the current flowing. A high, fast slope
results and leads to ringing in all parasitic inductivities (see Figure 3.6). This may lead to bridge
voltage undershooting the GND level as well as fast pulses on VS and all MOSFET connections. It
must be ensured, that the driver IC does not see spikes on its BM pins to GND going below -5V.
Severe VS ripple might overload the charge-pump circuitry. Measure the voltage directly at the driver
pins to driver GND. The amount of undershooting depends on energy stored in parasitic inductivities
from low side drain to low side source and via the sense resistor RS to GND.
When using relatively small MOSFETs, a soft slope control requires a high gate series resistance. This
endangers safe MOSFET switch off. Add additional diodes to ensure safe MOSFET off conditions with
slow switch-on slopes (shown for right MOSFET pair in Figure 3.5).
Figure 3.7 shows performance of the basic circuit after adapting switching slope and adding 1nF
bridge output capacitors.
RG: Reduce slope and protect the driver against ringing in the
interconnections between MOSFET and driver
+VM
VS
RG ꢀꢁAdditional position for high side slope control resistor. In case,
1R
220nF
severe undershooting < -5V of BM occurs at BM terminal, RGꢂꢁwill
Optional RC filter
protect the driver.
against VS ringing
CB
LOW-
ESR
4.7µF
CA2
Filter capacitors placed near bridge
HA2
HS
CA1
Optional gate diodes in combination
with very high value of RG
CB
HA1
HS
RG
RG
RG
BMA1
Coil
out
BMA2
LA1
RG
470pF to a few nF output
capacitors close to bridge
and / or output reduce
LS
LS
1n,
100V
1n,
100V
RG
RG
LA2
ringing and improve EMC
SRAH
47R
2n2
Capacitor reduces
ringing on sense resistor.
RS
100n
SRAL
47R
RC-Filter protects SRAH /
SRAL and reduces spikes
seen by the chopper
Additional 1A type Schottky Diodes (selected for full VM range) in
combination with RGꢂꢁꢃꢄꢅꢆꢁto 4.7 Ohm) eliminate undershooting of BM.
Decide use and value of the additional components based on measurements of the actual circuit using the final layout!
Figure 3.5 Bridge protection options for power routing inductivity
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20
ENSURE RELIABLE OPERATION
-
-
-
Use SMD MOSFETs and short interconnections
Provide sufficient power filtering capacity close to the bridge and close to VS pin
Tune MOSFET switching slopes (measure switch-on event at MOSFET gate) to be slower than the
MOSFET bulk diode reverse recovery time. This will reduce cross conduction.
-
-
Add optional gate resistors close to MOSFET gate and output capacitors to ensure clean switching
and reliable operation by minimizing ringing. Figure 3.5 shows the options plus some variations.
Some MOSFETs eliminate reverse recovery charge by integrating a fast diode from source to drain.
Figure 3.6 Ringing of output (blue) and Gate voltages (Yellow, Cyan) with untuned brige
Figure 3.7 Switching event with optimized components (without / after bulk diode conduction)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
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BRIDGE OPTIMIZATION EXAMPLE
A stepper driver for 6A of motor current has been designed using the MOSFET AOD4126 in the
standard schematic.
The MOSFETs have a low gate capacitance and offer roughly 50ns slope time at the lowest driver
strength setting. At lowest driver strength setting, switching quality is best (Figure 3.6), but still
shows a lot of ringing. Low side gate resistors have been added to slightly increase switching slope
time following high-side bulk diode conduction by increasing the effect of Gate-Drain (Miller) charge.
High side gate resistors have been added for symmetry. Tests showed, that 1nF output capacitors
dramatically reduce ringing of the power bridge following bulk diode conduction (Figure 3.7). Figure
3.8 shows the actual components and values after optimization.
+VM
470n
CA2
HA2
4.7µF
HS
HS
CA1
4x AOD4126
470n
HA1
10R
10R
10R
10R
BMA1
Coil
out
BMA2
LA1
LS
LS
1n,
100V
1n,
100V
LA2
SRAH
47R
47R
50m,
2512
SRAL
Figure 3.8 Example for bridge with tuned components (see scope shots)
BRIDGE LAYOUT CONSIDERATIONS
-
-
Tune the bridge layout for minimum loop inductivity. A compact layout is best.
Keep MOSFET gate connections short and straight and avoid loop inductivity between BM and
corresponding HS driver pin. Loop inductance is minimized with parallel traces, or adjacent traces
on adjacent layers. A wider trace reduces inductivity (don’t use minimum trace width).
Minimize the length of the sense resistor connection to low-side MOSFET source, and place the
TMC5160 near the sense resistor’s GND connection, with its GND connections directly connected to
the same GND plane.
-
-
-
Optimize switching behavior by tuning gate current setting and gate resistors. Add MOSFET bridge
output capacitors (470pF to a few nF) to reduce ringing.
Measure the performance of the bridge by probing BM pins directly at the bridge or at the
TMC5160 using a short GND tip on the scope probe rather than a GND cable, if available.
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4 SPI Interface
4.1 SPI Datagram Structure
The TMC5160 uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams
for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are
typically able to communicate using integer multiples of 8 bit. The NCS line of the device must be
handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
Each datagram sent to the device is composed of an address byte followed by four data bytes. This
allows direct 32 bit data word communication with the register set. Each register is accessed via 32
data bits even if it uses less than 32 data bits.
For simplification, each register is specified by a one-byte address:
-
-
For a read access the most significant bit of the address byte is 0.
For a write access the most significant bit of the address byte is 1.
Most registers are write-only registers, some can be read additionally, and there are also some read
only registers.
SPI DATAGRAM STRUCTURE
MSB (transmitted first)
40 bit
LSB (transmitted last)
... 0
39 ...
→ 8 bit address
8 bit SPI status
39 ... 32
→ 32 bit data
31 ... 0
→ to TMC5160
RW + 7 bit address
8 bit data
31 ... 24
8 bit data
23 ... 16
8 bit data
15 ... 8
8 bit data
7 ... 0
from TMC5160
8 bit SPI status
39 / 38 ... 32
W
38...32
31...28
27...24
23...20
19...16
15...12
11...8
7...4
3...0
3 3 3 3 3 3 3 3 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 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
9 8 7 6 5 4 3 2 1 0
4.1.1 Selection of Write / Read (WRITE_notREAD)
The read and write selection is controlled by the MSB of the address byte (bit 39 of the SPI
datagram). This bit is 0 for read access and 1 for write access. So, the bit named W is a
WRITE_notREAD control bit. The active high write bit is the MSB of the address byte. So, 0x80 has to
be added to the address for a write access. The SPI interface always delivers data back to the master,
independent of the W bit. The data transferred back is the data read from the address which was
transmitted with the previous datagram, if the previous access was a read access. If the previous
access was a write access, then the data read back mirrors the previously received write data. So, the
difference between a read and a write access is that the read access does not transfer data to the
addressed register but it transfers the address only and its 32 data bits are dummies, and, further the
following read or write access delivers back the data read from the address transmitted in the
preceding read cycle.
A read access request datagram uses dummy write data. Read data is transferred back to the master
with the subsequent read or write access. Hence, reading multiple registers can be done in a
pipelined fashion.
Whenever data is read from or written to the TMC5160, the MSBs delivered back contain the SPI
status, SPI_STATUS, a number of eight selected status bits.
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Example:
For a read access to the register (XACTUAL) with the address 0x21, the address byte has to
be set to 0x21 in the access preceding the read access. For a write access to the register
(VACTUAL), the address byte has to be set to 0x80 + 0x22 = 0xA2. For read access, the data
bit might have any value (-). So, one can set them to 0.
action
data sent to TMC5160 data received from TMC5160
read XACTUAL
read XACTUAL
write VMAX:= 0x00ABCDEF
write VMAX:= 0x00123456
→ 0x2100000000
→ 0x2100000000
→ 0xA700ABCDEF
→ 0xA700123456
0xSS & unused data
0xSS & XACTUAL
0xSS & XACTUAL
0xSS00ABCDEF
*)S: is a placeholder for the status bits SPI_STATUS
4.1.2 SPI Status Bits Transferred with Each Datagram Read Back
New status information becomes latched at the end of each access and is available with the next SPI
transfer.
SPI_STATUS – status flags transmitted with each SPI access in bits 39 to 32
Bit Name
Comment
7
status_stop_r
RAMP_STAT[1] – 1: Signals stop right switch status (motion controller
only)
6
5
4
3
2
1
0
status_stop_l
position_reached
velocity_reached
standstill
sg2
driver_error
reset_flag
RAMP_STAT[0] – 1: Signals stop left switch status (motion controller only)
RAMP_STAT[9] – 1: Signals target position reached (motion controller only)
RAMP_STAT[8] – 1: Signals target velocity reached (motion controller only)
DRV_STATUS[31] – 1: Signals motor stand still
DRV_STATUS[24] – 1: Signals stallGuard flag active
GSTAT[1] – 1: Signals driver 1 driver error (clear by reading GSTAT)
GSTAT[0] – 1: Signals, that a reset has occurred (clear by reading GSTAT)
4.1.3 Data Alignment
All data are right aligned. Some registers represent unsigned (positive) values, some represent integer
values (signed) as two’s complement numbers, single bits or groups of bits are represented as single
bits respectively as integer groups.
4.2 SPI Signals
The SPI bus on the TMC5160 has four signals:
-
-
-
-
SCK – bus clock input
SDI – serial data input
SDO – serial data output
CSN – chip select input (active low)
The slave is enabled for an SPI transaction by a low on the chip select input CSN. Bit transfer is
synchronous to the bus clock SCK, with the slave latching the data from SDI on the rising edge of SCK
and driving data to SDO following the falling edge. The most significant bit is sent first. A minimum
of 40 SCK clock cycles is required for a bus transaction with the TMC5160.
If more than 40 clocks are driven, the additional bits shifted into SDI are shifted out on SDO after a
40-clock delay through an internal shift register. This can be used for daisy chaining multiple chips.
CSN must be low during the whole bus transaction. When CSN goes high, the contents of the internal
shift register are latched into the internal control register and recognized as a command from the
master to the slave. If more than 40 bits are sent, only the last 40 bits received before the rising edge
of CSN are recognized as the command.
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4.3 Timing
The SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to
half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional
10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the
ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.1 shows the
timing parameters of an SPI bus transaction, and the table below specifies their values.
CSN
tCC
tCL
tCH
tCH
tCC
SCK
SDI
tDU
tDH
bit39
bit38
bit0
bit0
tDO
tZC
bit39
bit38
SDO
Figure 4.1 SPI timing
Hint
Usually this SPI timing is referred to as SPI MODE 3
SPI interface timing
AC-Characteristics
clock period: tCLK
Parameter
Symbol Conditions
Min
Typ
Max
Unit
SCK valid before or after change
of CSN
tCC
10
ns
*) Min time is for
synchronous CLK
with SCK high one
tCH before CSN high
only
*)
CSN high time
tCSH
tCLK
>2tCLK+10
ns
*) Min time is for
synchronous CLK
only
*) Min time is for
synchronous CLK
only
*)
SCK low time
SCK high time
tCL
tCLK
>tCLK+10
>tCLK+10
ns
ns
*)
tCH
tCLK
assumes minimum
OSC frequency
SCK frequency using internal
clock
SCK frequency using external
16MHz clock
SDI setup time before rising
edge of SCK
SDI hold time after rising edge
of SCK
fSCK
fSCK
tDU
4
8
MHz
MHz
ns
assumes
synchronous CLK
10
10
tDH
ns
no capacitive load
on SDO
Data out valid time after falling
SCK clock edge
SDI, SCK and CSN filter delay
time
tDO
tFILT
tFILT+5
30
ns
rising and falling
edge
12
20
ns
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5 UART Single Wire Interface
The UART single wire interface allows the control of the TMC5160 with any microcontroller UART. It
shares transmit and receive line like an RS485 based interface. Data transmission is secured using a
cyclic redundancy check, so that increased interface distances (e.g. over cables between two PCBs) can
be bridged without the danger of wrong or missed commands even in the event of electro-magnetic
disturbance. The automatic baud rate detection and an advanced addressing scheme make this
interface easy and flexible to use.
5.1 Datagram Structure
5.1.1 Write Access
UART WRITE ACCESS DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
0 … 63
8 bit slave
address
8…15
RW + 7 bit
register addr.
16…23
sync + reserved
32 bit data
CRC
56…63
CRC
0…7
24…55
data bytes 3, 2, 1, 0
(high to low byte)
Reserved (don’t cares
but included in CRC)
register
1
0
1
0
SLAVEADDR
1
address
A sync nibble precedes each transmission to and from the TMC5160 and is embedded into the first
transmitted byte, followed by an addressing byte. Each transmission allows a synchronization of the
internal baud rate divider to the master clock. The actual baud rate is adapted and variations of the
internal clock frequency are compensated. Thus, the baud rate can be freely chosen within the valid
range. Each transmitted byte starts with a start bit (logic 0, low level on SWP) and ends with a stop
bit (logic 1, high level on SWP). The bit time is calculated by measuring the time from the beginning
of start bit (1 to 0 transition) to the end of the sync frame (1 to 0 transition from bit 2 to bit 3). All
data is transmitted byte wise. The 32 bit data words are transmitted with the highest byte first.
A minimum baud rate of 9000 baud is permissible, assuming 20 MHz clock (worst case for low baud
rate). Maximum baud rate is fCLK/16 due to the required stability of the baud clock.
The slave address is determined by the register SLAVEADDR. If the external address pin NEXTADDR is
set, the slave address becomes incremented by one.
The communication becomes reset if a pause time of longer than 63 bit times between the start bits
of two successive bytes occurs. This timing is based on the last correctly received datagram. In this
case, the transmission needs to be restarted after a failure recovery time of minimum 12 bit times of
bus idle time. This scheme allows the master to reset communication in case of transmission errors.
Any pulse on an idle data line below 16 clock cycles will be treated as a glitch and leads to a timeout
of 12 bit times, for which the data line must be idle. Other errors like wrong CRC are also treated the
same way. This allows a safe re-synchronization of the transmission after any error conditions.
Remark, that due to this mechanism an abrupt reduction of the baud rate to less than 15 percent of
the previous value is not possible.
Each accepted write datagram becomes acknowledged by the receiver by incrementing an internal
cyclic datagram counter (8 bit). Reading out the datagram counter allows the master to check the
success of an initialization sequence or single write accesses. Read accesses do not modify the
counter.
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5.1.2 Read Access
UART READ ACCESS REQUEST DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
RW + 7 bit register
sync + reserved
8 bit slave address
8…15
CRC
24…31
CRC
address
16…23
0...7
Reserved (don’t cares
but included in CRC)
1
0
1
0
SLAVEADDR
register address
0
The read access request datagram structure is identical to the write access datagram structure, but
uses a lower number of user bits. Its function is the addressing of the slave and the transmission of
the desired register address for the read access. The TMC5160 responds with the same baud rate as
the master uses for the read request.
In order to ensure a clean bus transition from the master to the slave, the TMC5160 does not
immediately send the reply to a read access, but it uses a programmable delay time after which the
first reply byte becomes sent following a read request. This delay time can be set in multiples of
eight bit times using SENDDELAY time setting (default=8 bit times) according to the needs of the
master. In a multi-slave system, set SENDDELAY to min. 2 for all slaves. Otherwise a non-addressed
slaves might detect a transmission error upon read access to a different slave.
UART READ ACCESS REPLY DATAGRAM STRUCTURE
each byte is LSB…MSB, highest byte transmitted first
0 ...... 63
8 bit slave
address
8…15
RW + 7 bit
register addr.
16…23
sync + reserved
32 bit data
CRC
56…63
CRC
0…7
24…55
data bytes 3, 2, 1, 0
(high to low byte)
register
1
0
1
0
reserved (0)
0xFF
0
address
The read response is sent to the master using address code %1111. The transmitter becomes switched
inactive four bit times after the last bit is sent.
Address %11111111 is reserved for read accesses going to the master. A slave cannot use this
address.
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5.2 CRC Calculation
An 8 bit CRC polynomial is used for checking both read and write access. It allows detection of up to
eight single bit errors. The CRC8-ATM polynomial with an initial value of zero is applied LSB to MSB,
including the sync- and addressing byte. The sync nibble is assumed to always be correct. The
TMC5160 responds only to correctly transmitted datagrams containing its own slave address. It
increases its datagram counter for each correctly received write access datagram.
퐶푅퐶 = 푥8 + 푥2 + 푥1 + 푥0
SERIAL CALCULATION EXAMPLE
CRC = (CRC << 1) OR (CRC.7 XOR CRC.1 XOR CRC.0 XOR [new incoming bit])
C-CODE EXAMPLE FOR CRC CALCULATION
void swuart_calcCRC(UCHAR* datagram, UCHAR datagramLength)
{
int i,j;
UCHAR* crc = datagram + (datagramLength-1); // CRC located in last byte of message
UCHAR currentByte;
*crc = 0;
for (i=0; i<(datagramLength-1); i++) {
currentByte = datagram[i];
// Execute for all bytes of a message
// Retrieve a byte to be sent from Array
for (j=0; j<8; j++) {
if ((*crc >> 7) ^ (currentByte&0x01))
// update CRC based result of XOR operation
{
*crc = (*crc << 1) ^ 0x07;
}
else
{
*crc = (*crc << 1);
}
currentByte = currentByte >> 1;
} // for CRC bit
} // for message byte
}
5.3 UART Signals
The UART interface on the TMC5160 comprises four signals:
TMC5160 UART INTERFACE SIGNALS
SWP
SWN
Non-inverted data input and output
Inverted data input and output for use in differential transmission. Can be left open
in a 5V IO voltage system. Tie to the half IO level voltage for best performance in a
3.3V single wire non-differential application.
SDI_CFG1
(NAI)
Address increment pin for chained sequential addressing scheme
SDO_CFG0
(NAO)
Next address output pin for chained sequential addressing scheme (reset default=
high)
In UART mode (SPI_MODE low and SD_MODE low) the slave checks the single wire SWP and SWN for
correctly received datagrams with its own address continuously. Both signals are switched as input
during this time. It adapts to the baud rate based on the sync nibble, as described before. In case of
a read access, it switches on its output drivers on SWP and SWN and sends its response using the
same baud rate.
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5.4 Addressing Multiple Slaves
ADDRESSING ONE OR TWO SLAVES
If only one or two TMC5160 are addressed by a master using a single UART interface, a hardware
address selection can be done by setting the NAI pins of both devices to different levels.
ADDRESSING UP TO 255 SLAVES
A different approach can address any number of devices by using the input NAI as a selection pin.
Addressing up to 255 units is possible.
TMC5160
#1
TMC5160
#2
TMC5160
#3
NAI
NAI
NAI
NAO
NAO
+VIO
RIDLE
Master CPU
(µC with UART,
software
switches TXD to
hi-Z for
TXD
RXD
RIDLE forces stop bit level in idle conditions,
3k3 is sufficient with 14 slaves
receiving)
EXAMPLE FOR ADDRESSING UP TO 255 TMC5160
Addressing phase 1:
Addressing phase 2:
Addressing phase 3:
Addressing phase 4:
Addressing phase X:
address 0, NAO is high
address 1
address 0, NAO is high
address 1
program to address 254 & set NAO low
address 254
address 1
program to address 253 & set NAO low
address 253
address 0
address 254
program to address 252 & set NAO low
continue procedure
Figure 5.1 Addressing multiple TMC5160 via single wire interface using chaining
PROCEED AS FOLLOWS:
-
-
Tie the NAI pin of your first TMC5160 to GND.
Interconnect NAO output of the first TMC5160 to the next drivers NAI pin. Connect further
drivers in the same fashion.
-
-
Now, the first driver responds to address 0. Following drivers are set to address 1.
Program the first driver to its dedicated slave address. Note: once a driver is initialized with
its slave address, its NAO output, which is tied to the next drivers NAI has to be programmed
to logic 0 in order to differentiate the next driver from all following devices.
Now, the second driver is accessible and can get its slave address. Further units can be
programmed to their slave addresses sequentially.
-
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TMC5160
TMC5160
#2
TMC5160
#3
NAI
NAI
NAI
#1
NAO
NAO
RFILT
RFILT
CFILT
CFILT
+VIO
1k
A
B
Master CPU
(µC with RS485
tranceiver)
RTERM
RTERM
EXAMPLE FOR ADDRESSING UP TO 255 TMC5160
Addressing phase 1:
Addressing phase 2:
Addressing phase 3:
Addressing phase 4:
Addressing phase X:
address 0, NAO high
address 1
address 0, NAO high
address 1
program to address 254 & set NAO low
address 254
address 1
program to address 253 & set NAO low
address 253
address 0, NAO high
address 254
program to address 252 & set NAO low
continue procedure
Figure 5.2 Addressing multiple TMC5160 via the differential interface, additional filtering for NAI
A different scheme (not shown) uses bus switches (like 74HC4066) to connect the bus to the next unit
in the chain without using the NAI input. The bus switch can be controlled in the same fashion, using
the NAO output to enable it (low level shall enable the bus switch). Once the bus switch is enabled it
allows addressing the next bus segment. As bus switches add a certain resistance, the maximum
number of nodes will be reduced.
It is possible to mix different styles of addressing in a system. For example, a system using two
boards with each two TMC5160 can have both devices on a board with a different level on NEXTADDR,
while the next board is chained using analog switches separating the bus until the drivers on the first
board have been programmed.
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6 Register Mapping
This chapter gives an overview of the complete register set. Some of the registers bundling a number
of single bits are detailed in extra tables. The functional practical application of the settings is detailed
in dedicated chapters.
Note
- All registers become reset to 0 upon power up, unless otherwise noted.
- Add 0x80 to the address Addr for write accesses!
NOTATION OF HEXADECIMAL AND BINARY NUMBERS
0x
%
precedes a hexadecimal number, e.g. 0x04
precedes a multi-bit binary number, e.g. %100
NOTATION OF R/W FIELD
R
Read only
W
Write only
R/W
R+C
Read- and writable register
Clear upon read
OVERVIEW REGISTER MAPPING
REGISTER
DESCRIPTION
General Configuration Registers
These registers contain
-
-
-
-
global configuration
global status flags
interface configuration
and I/O signal configuration
Ramp Generator Motion Control Register Set
This register set offers registers for
-
-
-
-
-
-
choosing a ramp mode
choosing velocities
homing
acceleration and deceleration
target positioning
reference switch and stallGuard2 event
configuration
-
ramp and reference switch status
Velocity Dependent Driver Feature Control Register This register set offers registers for
Set
-
-
-
-
driver current control
setting thresholds for coolStep operation
setting thresholds for different chopper modes
setting thresholds for dcStep operation
Encoder Register Set
The encoder register set offers all registers needed for
proper ABN encoder operation.
Motor Driver Register Set
This register set offers registers for
-
setting / reading out microstep table and
counter
-
-
-
-
chopper and driver configuration
coolStep and stallGuard2 configuration
dcStep configuration
reading out stallGuard2 values and driver error
flags
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6.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
Bit GCONF – Global configuration flags
recalibrate
1: Zero crossing recalibration during driver disable
(via ENN or via TOFF setting)
0
1
faststandstill
Timeout for step execution until standstill detection:
1:
Short time: 2^18 clocks
0:
Normal time: 2^20 clocks
2
3
en_pwm_mode
1: stealthChop voltage PWM mode enabled
(depending on velocity thresholds). Switch from
off to on state while in stand-still and at IHOLD=
nominal IRUN current, only.
multistep_filt
1:
Enable step input filtering for stealthChop
optimization with external step source (default=1)
4
5
shaft
1:
Inverse motor direction
diag0_error (only with SD_MODE=1)
1:
Enable DIAG0 active on driver errors:
Over temperature (ot), short to GND (s2g),
undervoltage chargepump (uv_cp)
DIAG0 always shows the reset-status, i.e. is active low
during reset condition.
6
7
diag0_otpw (only with SD_MODE=1)
RW
0x00
17
GCONF
1:
Enable DIAG0 active on driver over temperature
prewarning (otpw)
diag0_stall (with SD_MODE=1)
1:
Enable DIAG0 active on motor stall (set
TCOOLTHRS before using this feature)
diag0_step (with SD_MODE=0)
0:
1:
DIAG0 outputs interrupt signal
Enable DIAG0 as STEP output (dual edge
triggered steps) for external STEP/DIR driver
8
9
diag1_stall (with SD_MODE=1)
1:
Enable DIAG1 active on motor stall (set
TCOOLTHRS before using this feature)
diag1_dir (with SD_MODE=0)
0:
1:
DIAG1 outputs position compare signal
Enable DIAG1 as DIR output for external STEP/DIR
driver
diag1_index (only with SD_MODE=1)
1:
Enable DIAG1 active on index position (microstep
look up table position 0)
10 diag1_onstate (only with SD_MODE=1)
1:
Enable DIAG1 active when chopper is on (for the
coil which is in the second half of the fullstep)
11 diag1_steps_skipped (only with SD_MODE=1)
1:
Enable output toggle when steps are skipped in
dcStep mode (increment of LOST_STEPS). Do not
enable in conjunction with other DIAG1 options.
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GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
12 diag0_int_pushpull
0:
1:
SWN_DIAG0 is open collector output (active low)
Enable SWN_DIAG0 push pull output (active high)
13 diag1_poscomp_pushpull
0:
SWP_DIAG1 is open collector output (active low)
1:
Enable SWP_DIAG1 push pull output (active high)
14 small_hysteresis
0:
1:
Hysteresis for step frequency comparison is 1/16
Hysteresis for step frequency comparison is 1/32
15 stop_enable
0:
Normal operation
1:
Emergency stop: ENCA_DCIN stops the sequencer
when tied high (no steps become executed by
the sequencer, motor goes to standstill state).
16 direct_mode
0:
Normal operation
1:
Motor coil currents and polarity directly
programmed via serial interface: Register XTARGET
(0x2D) specifies signed coil A current (bits 8..0)
and coil B current (bits 24..16). In this mode, the
current is scaled by IHOLD setting. Velocity based
current regulation of stealthChop is not available
in this mode. The automatic stealthChop current
regulation will work only for low stepper motor
velocities.
17 test_mode
0:
1:
Normal operation
Enable analog test output on pin ENCN_DCO.
IHOLD[1..0] selects the function of ENCN_DCO:
0…2: T120, DAC, VDDH
Hint: Not for user, set to 0 for normal operation!
Bit
GSTAT – Global status flags
(Re-Write with ‘1’ bit to clear respective flags)
reset
0
1
1:
Indicates that the IC has been reset. All registers
have been cleared to reset values.
drv_err
1:
Indicates, that the driver has been shut down
R+
WC
0x01
3
GSTAT
due to overtemperature or short circuit detection.
Read DRV_STATUS for details. The flag can only
be cleared when the temperature is below the
limit again.
2
uv_cp
1:
Indicates an undervoltage on the charge pump.
The driver is disabled during undervoltage. This
flag is latched for information.
Interface transmission counter. This register becomes
incremented with each successful UART interface write access.
It can be read out to check the serial transmission for lost
data. Read accesses do not change the content. Disabled in SPI
operation. The counter wraps around from 255 to 0.
R
0x02
0x03
8
8
IFCNT
W
SLAVECONF
Bit
SLAVECONF
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
33
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
+
Register
Description / bit names
7..0 SLAVEADDR:
4
These eight bits set the address of unit for the UART
interface. The address becomes incremented by one
when the external address pin NEXTADDR is active.
Range: 0-253 (254 cannot be incremented), default=0
11..8 SENDDELAY:
0, 1: 8 bit times (not allowed with multiple slaves)
2, 3:
4, 5:
6, 7:
8, 9:
3*8 bit times
5*8 bit times
7*8 bit times
9*8 bit times
10, 11: 11*8 bit times
12, 13: 13*8 bit times
14, 15: 15*8 bit times
INPUT
Bit
Reads the state of all input pins available
0 REFL_STEP
1 REFR_DIR
2 ENCB_DCEN_CFG4
3 ENCA_DCIN_CFG5
4 DRV_ENN
5 ENC_N_DCO_CFG6
6 SD_MODE (1=External step and dir source)
8
+
8
R
0x04
IOIN
7 SWCOMP_IN (Shows voltage difference of SWN and
SWP. Bring DIAG outputs to high level with pushpull
disabled to test the comparator.)
31.. VERSION: 0x30=first version of the IC
24 Identical numbers mean full digital compatibility.
Bit
OUTPUT
Sets the IO output pin polarity in UART mode
0
In UART mode, SDO_CFG0 is an output. This bit
programs the output polarity of this pin. Its main
purpose it to use SDO_CFG0 as NAO next address
output signal for chain addressing of multiple ICs.
Hint: Reset Value is 1 for use as NAO to next IC in
single wire chain
W
0x04
1
OUTPUT
Position comparison register for motion controller position
strobe. The Position pulse is available on output SWP_DIAG1.
W
W
0x05
0x06
32 X_COMPARE
XACTUAL = X_COMPARE:
-
Output signal PP (position pulse) becomes high. It
returns to a low state, if the positions mismatch.
OTP_PROGRAM – OTP programming
Bit
Write access programs OTP memory (one bit at a time),
Read access refreshes read data from OTP after a write
2..0 OTPBIT
Selection of OTP bit to be programmed to the selected
byte location (n=0..7: programs bit n to a logic 1)
5..4 OTPBYTE
Set to 00
OTP_PROG
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
34
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
15..8 OTPMAGIC
Set to 0xbd to enable programming. A programming
time of minimum 10ms per bit is recommended (check
by reading OTP_READ).
Bit
OTP_READ (Access to OTP memory result and update)
See separate table!
R
0x07
0x08
OTP_READ
7..0 OTP0 byte 0 read data
4..0 FCLKTRIM (Reset default: OTP)
0…31: Lowest to highest clock frequency. Check at
charge pump output. The frequency span is not
guaranteed, but it is tested, that tuning to 12MHz
internal clock is possible. The devices come preset to
12MHz clock frequency by OTP programming.
(Reset Default: OTP)
FACTORY_
CONF
RW
5
Bit
SHORT_CONF
3..0 S2VS_LEVEL:
Short to VS detector level for lowside FETs. Checks for
voltage drop in LS MOSFET and sense resistor.
4 (highest sensitivity) … 15 (lowest sensitivity)
Hint: Settings from 1 to 3 will trigger during normal
operation due to voltage drop on sense resistor.
(Reset Default: OTP 6 or 12)
11..8 S2G_LEVEL:
Short to GND detector level for highside FETs. Checks
for voltage drop on high side MOSFET
2 (highest sensitivity) … 15 (lowest sensitivity)
Attention: Settings below 6 not recommended at >52V
operation – false detection might result
SHORT_
CONF
W
0x09
19
(Reset Default: OTP 6 or 12)
17..16 SHORTFILTER:
Spike filtering bandwidth for short detection
0 (lowest, 100ns), 1 (1µs), 2 (2µs) 3 (3µs)
Hint: A good PCB layout will allow using setting 0.
Increase value, if erroneous short detection occurs.
(Reset Default = %01)
18 shortdelay: Short detection delay
0=750ns: normal, 1=1500ns: high
The short detection delay shall cover the bridge
switching time. 0 will work for most applications.
(Reset Default = 0)
Bit
DRV_CONF
4..0 BBMTIME:
Break-Before make delay
0=shortest (100ns) … 16 (200ns) … 24=longest (375ns)
>24 not recommended, use BBMCLKS instead
W
0x0A
22 DRV_CONF
Hint: Choose the lowest setting safely covering the
switching event in order to avoid bridge cross-
conduction. Add roughly 30% of reserve.
(Reset Default = 0)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
35
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
11..8 BBMCLKS:
0..15: Digital BBM time in clock cycles (typ. 83ns).
The longer setting rules (BBMTIME vs. BBMCLKS).
(Reset Default: OTP 4 or 2)
17..16 OTSELECT:
Selection of over temperature level for bridge disable,
switch on after cool down to 120°C / OTPW level.
00: 150°C
01: 143°C
10: 136°C (not recommended when VSA > 24V)
11: 120°C (not recommended, no hysteresis)
Hint: Adapt overtemperature threshold as required to
protect the MOSFETs or other components on the PCB.
(Reset Default = %00)
19..18 DRVSTRENGTH:
Selection of gate driver current. Adapts the gate driver
current to the gate charge of the external MOSFETs.
00: weak
01: weak+TC (medium above OTPW level)
10: medium
11: strong
Hint: Choose the lowest setting giving slopes <100ns.
(Reset Default = %10)
21..20 FILT_ISENSE:
Filter time constant of sense amplifier to suppress
ringing and coupling from second coil operation
00: low – 100ns
01:
10:
– 200ns
– 300ns
11: high– 400ns
Hint: Increase setting if motor chopper noise occurs
due to cross-coupling of both coils.
(Reset Default = %00)
7..0 Global scaling of Motor current. This value is multiplied
to the current scaling in order to adapt a drive to a
certain motor type. This value should be chosen before
tuning other settings, because it also influences
chopper hysteresis.
GLOBAL
SCALER
W
0x0B
0x0C
8
0:
Full Scale (or write 256)
Not allowed for operation
1 … 31:
32 … 255: 32/256 … 255/256 of maximum current.
Hint: Values >128 recommended for best results
(Reset Default = 0)
15..8 Offset calibration result phase A (signed)
7..0 Offset calibration result phase B (signed)
OFFSET_
READ
R
16
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
36
6.1.1 OTP_READ – OTP configuration memory
The OTP memory holds power up defaults for certain registers. All OTP memory bits are cleared to 0
by default. Programming only can set bits, clearing bits is not possible. Factory tuning of the clock
frequency affects otp0.0 to otp0.4. The state of these bits therefore may differ between individual ICs.
0X07: OTP_READ – OTP MEMORY MAP
Bit Name
Function
Comment
7
6
5
otp0.7
otp0.6
otp0.5
otp_TBL
Reset default for TBL:
0: TBL=%10 (~3µs)
1: TBL=%01 (~2µs)
Reset default for DRVCONF.BBMCLKS
0: BBMCLKS=4
otp_BBM
1: BBMCLKS=2
otp_S2_LEVEL
OTP_FCLKTRIM
Reset default for Short detection Levels:
0: S2G_LEVEL = S2VS_LEVEL = 6
1: S2G_LEVEL = S2VS_LEVEL = 12
Reset default for FCLKTRIM
4
3
2
1
0
otp0.4
otp0.3
otp0.2
otp0.1
otp0.0
0: lowest frequency setting
31: highest frequency setting
Attention: This value is pre-programmed by factory clock
trimming to the default clock frequency of 12MHz and
differs between individual ICs! It should not be altered.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
37
6.2 Velocity Dependent Driver Feature Control Register Set
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
Bit IHOLD_IRUN – Driver current control
4..0 IHOLD
Standstill current (0=1/32…31=32/32)
In combination with stealthChop mode, setting
IHOLD=0 allows to choose freewheeling or coil
short circuit for motor stand still.
12..8 IRUN
Motor run current (0=1/32…31=32/32)
5
+
Hint: Choose sense resistors in a way, that normal
W
0x10
5
IHOLD_IRUN
IRUN is 16 to 31 for best microstep performance.
+
4
19..16 IHOLDDELAY
Controls the number of clock cycles for motor
power down after a motion as soon as standstill is
detected (stst=1) and TPOWERDOWN has expired.
The smooth transition avoids a motor jerk upon
power down.
0:
instant power down
1..15:
Delay per current reduction step in multiple
of 2^18 clocks
TPOWERDOWN sets the delay time after stand still (stst) of the
motor to motor current power down. Time range is about 0 to
4 seconds.
Attention: A minimum setting of 2 is required to allow
automatic tuning of stealthChop PWM_OFFS_AUTO.
Reset Default = 10
TPOWER
DOWN
W
0x11
8
0…((2^8)-1) * 2^18 tCLK
Actual measured time between two 1/256 microsteps derived
from the step input frequency in units of 1/fCLK. Measured
value is (2^20)-1 in case of overflow or stand still.
All TSTEP related thresholds use a hysteresis of 1/16 of the
compare value to compensate for jitter in the clock or the step
frequency. The flag small_hysteresis modifies the hysteresis to
a smaller value of 1/32.
(Txxx*15/16)-1 or
(Txxx*31/32)-1 is used as a second compare value for each
comparison value.
R
0x12
20 TSTEP
This means, that the lower switching velocity equals the
calculated setting, but the upper switching velocity is higher as
defined by the hysteresis setting.
When working with the motion controller, the measured TSTEP
for a given velocity V is in the range
(224 / V) ≤ TSTEP ≤ 224 / V - 1.
In dcStep mode TSTEP will not show the mean velocity of the
motor, but the velocities for each microstep, which may not be
stable and thus does not represent the real motor velocity in
case it runs slower than the target velocity.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
38
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
This is the upper velocity for stealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
W
0x13
20 TPWMTHRS
-
stealthChop PWM mode is enabled, if configured
dcStep is disabled
-
This is the lower threshold velocity for switching on smart
energy coolStep and stallGuard feature. (unsigned)
Set this parameter to disable coolStep at low speeds, where it
cannot work reliably. The stop on stall function (enable with
sg_stop when using internal motion controller) and the stall
output signal become enabled when exceeding this velocity. In
non-dcStep mode, it becomes disabled again once the velocity
falls below this threshold.
W
0x14
20 TCOOLTHRS
TCOOLTHRS ≥ TSTEP ≥ THIGH:
-
coolStep is enabled, if configured
-
stealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
-
-
Stop on stall is enabled, if configured
Stall output signal (DIAG0/1) is enabled, if configured
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
W
0x15
20 THIGH
-
coolStep is disabled (motor runs with normal current
scale)
-
-
stealthChop voltage PWM mode is disabled
If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
If vhighfs is set, the motor operates in fullstep mode
and the stall detection becomes switched over to
dcStep stall detection.
-
Microstep velocity time reference t for velocities: TSTEP = fCLK / fSTEP
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
39
6.3 Ramp Generator Registers
6.3.1 Ramp Generator Motion Control Register Set
RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
RAMPMODE:
0…3
0:
1:
2:
3:
Positioning mode (using all A, D and V
parameters)
Velocity mode to positive VMAX (using
AMAX acceleration)
Velocity mode to negative VMAX (using
AMAX acceleration)
Hold mode (velocity remains unchanged,
unless stop event occurs)
RW
0x20
2
RAMPMODE
Actual motor position (signed)
-2^31…
+(2^31)-1
Hint: This value normally should only be
modified, when homing the drive. In
positioning mode, modifying the register
content will start a motion.
Actual motor velocity from ramp generator +-(2^23)-1
(signed)
RW
0x21
0x22
32 XACTUAL
24 VACTUAL
[µsteps / t]
R
The sign matches the motion direction. A
negative sign means motion to lower
XACTUAL.
Motor start velocity (unsigned)
0…(2^18)-1
[µsteps / t]
W
W
W
0x23
0x24
0x25
18 VSTART
16 A1
For universal use, set VSTOP ≥ VSTART. This is
not required if the motion distance is sufficient
to ensure deceleration from VSTART to VSTOP.
First acceleration between VSTART and V1 0…(2^16)-1
(unsigned)
[µsteps / ta²]
First acceleration
/
deceleration phase 0…(2^20)-1
threshold velocity (unsigned)
[µsteps / t]
20 V1
0: Disables A1 and D1 phase, use AMAX, DMAX
only
Second acceleration between V1 and VMAX 0…(2^16)-1
(unsigned)
[µsteps / ta²]
W
0x26
16 AMAX
This is the acceleration and deceleration value
for velocity mode.
Motion ramp target velocity (for positioning 0…(2^23)-512
ensure VMAX ≥ VSTART) (unsigned)
[µsteps / t]
W
W
W
0x27
0x28
0x2A
23 VMAX
16 DMAX
16 D1
This is the target velocity in velocity mode. It
can be changed any time during a motion.
Deceleration between VMAX and V1 (unsigned) 0…(2^16)-1
[µsteps / ta²]
Deceleration
(unsigned)
between
V1
and
VSTOP 1…(2^16)-1
[µsteps / ta²]
Attention: Do not set 0 in positioning mode,
even if V1=0!
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
40
RAMP GENERATOR MOTION CONTROL REGISTER SET (0X20…0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
Motor stop velocity (unsigned)
1…(2^18)-1
[µsteps / t]
Hint: Set VSTOP ≥ VSTART to allow positioning Reset
W
0x2B
18 VSTOP
for short distances
Default=1
Attention: Do not set 0 in positioning mode,
minimum 10 recommend!
Defines the waiting time after ramping down 0…(2^16)-1 *
to zero velocity before next movement or 512 tCLK
direction inversion can start. Time range is
about 0 to 2 seconds.
W
0x2C
16 TZEROWAIT
This setting avoids excess acceleration e.g.
from VSTOP to -VSTART.
Target position for ramp mode (signed). Write -2^31…
a new target position to this register in order +(2^31)-1
to activate the ramp generator positioning in
RAMPMODE=0.
Initialize
all
velocity,
acceleration and deceleration parameters
before.
Hint: The position is allowed to wrap around,
thus, XTARGET value optionally can be treated
as an unsigned number.
RW
0x2D
32 XTARGET
Hint: The maximum possible displacement is
+/-((2^31)-1).
Hint: When increasing V1, D1 or DMAX during
a motion, rewrite XTARGET afterwards in order
to trigger a second acceleration phase, if
desired.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
41
6.3.2 Ramp Generator Driver Feature Control Register Set
RAMP GENERATOR DRIVER FEATURE CONTROL REGISTER SET (0X30…0X36)
R/W
Addr
n
Register
Description / bit names
Automatic commutation dcStep becomes enabled above
velocity VDCMIN (unsigned) (only when using internal ramp
generator, not for STEP/DIR interface – in STEP/DIR mode,
dcStep becomes enabled by the external signal DCEN)
In this mode, the actual position is determined by the sensor-
less motor commutation and becomes fed back to XACTUAL. In
case the motor becomes heavily loaded, VDCMIN also is used
as the minimum step velocity. Activate stop on stall (sg_stop)
to detect step loss.
W
0x33
23 VDCMIN
0: Disable, dcStep off
|VACT| ≥ VDCMIN ≥ 256:
-
Triggers the same actions as exceeding THIGH setting.
-
Switches on automatic commutation dcStep
Hint: Also set DCCTRL parameters in order to operate dcStep.
(Only bits 22… 8 are used for value and for comparison)
Switch mode configuration
See separate table!
SW_MODE
RW
0x34
0x35
12
R+
WC
RAMP_STAT Ramp status and switch event status
14
See separate table!
Ramp generator latch position, latches XACTUAL upon a
programmable switch event (see SW_MODE).
R
0x36
32 XLATCH
Hint: The encoder position can be latched to ENC_LATCH
together with XLATCH to allow consistency checks.
Time reference t for velocities: t = 2^24 / fCLK
Time reference ta² for accelerations: ta² = 2^41 / (fCLK)²
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
42
6.3.2.1 SW_MODE – Reference Switch & stallGuard2 Event Configuration Register
0X34: SW_MODE – REFERENCE SWITCH AND STALLGUARD2 EVENT CONFIGURATION REGISTER
Bit Name
Comment
11 en_softstop
0: Hard stop
1: Soft stop
The soft stop mode always uses the deceleration ramp settings DMAX, V1,
D1, VSTOP and TZEROWAIT for stopping the motor. A stop occurs when
the velocity sign matches the reference switch position (REFL for negative
velocities, REFR for positive velocities) and the respective switch stop
function is enabled.
A hard stop also uses TZEROWAIT before the motor becomes released.
Attention: Do not use soft stop in combination with stallGuard2. Use soft
stop for stealthChop operation at high velocity. In this case, hard stop
must be avoided, as it could result in severe overcurrent.
10 sg_stop
1: Enable stop by stallGuard2 (also available in dcStep mode). Disable to
release motor after stop event. Program TCOOLTHRS for velocity threshold.
Hint: Do not enable during motor spin-up, wait until the motor velocity
exceeds a certain value, where stallGuard2 delivers a stable result. This
velocity threshold should be programmed using TCOOLTHRS.
1: Latch encoder position to ENC_LATCH upon reference switch event.
1: Activates latching of the position to XLATCH upon an inactive going
edge on the right reference switch input REFR. The active level is defined
by pol_stop_r.
9
8
en_latch_encoder
latch_r_inactive
7
latch_r_active
1: Activates latching of the position to XLATCH upon an active going edge
on the right reference switch input REFR.
Hint: Activate latch_r_active to detect any spurious stop event by reading
status_latch_r.
6
5
latch_l_inactive
latch_l_active
1: Activates latching of the position to XLATCH upon an inactive going
edge on the left reference switch input REFL. The active level is defined
by pol_stop_l.
1: Activates latching of the position to XLATCH upon an active going edge
on the left reference switch input REFL.
Hint: Activate latch_l_active to detect any spurious stop event by reading
status_latch_l.
4
3
swap_lr
pol_stop_r
1: Swap the left and the right reference switch input REFL and REFR
Sets the active polarity of the right reference switch input
0=non-inverted, high active: a high level on REFR stops the motor
1=inverted, low active: a low level on REFR stops the motor
Sets the active polarity of the left reference switch input
0=non-inverted, high active: a high level on REFL stops the motor
1=inverted, low active: a low level on REFL stops the motor
1: Enables automatic motor stop during active right reference switch input
2
1
0
pol_stop_l
stop_r_enable
stop_l_enable
Hint: The motor restarts in case the stop switch becomes released.
1: Enables automatic motor stop during active left reference switch input
Hint: The motor restarts in case the stop switch becomes released.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
43
6.3.2.2 RAMP_STAT – Ramp & Reference Switch Status Register
0X35: RAMP_STAT – RAMP AND REFERENCE SWITCH STATUS REGISTER
R/W
Bit Name
Comment
R
13
status_sg
1: Signals an active stallGuard2 input from the coolStep driver or
from the dcStep unit, if enabled.
Hint: When polling this flag, stall events may be missed – activate
sg_stop to be sure not to miss the stall event.
1: Signals that the automatic ramp required moving back in the
opposite direction, e.g. due to on-the-fly parameter change
(Write ‘1’ to clear)
R+
WC
12
11
second_move
R
t_zerowait_
active
1: Signals, that TZEROWAIT is active after a motor stop. During this
time, the motor is in standstill.
R
R
10
9
vzero
1: Signals, that the actual velocity is 0.
1: Signals, that the target position is reached.
This flag becomes set while XACTUAL and XTARGET match.
1: Signals, that the target velocity is reached.
This flag becomes set while VACTUAL and VMAX match.
1: Signals, that the target position has been reached
(position_reached becoming active).
position_
reached
velocity_
reached
event_pos_
reached
R
8
7
R+
WC
(Write ‘1’ to clear flag and interrupt condition)
This bit is ORed to the interrupt output signal.
R+
WC
6
5
event_stop_
sg
1: Signals an active StallGuard2 stop event.
Reading the register will clear the stall condition and the motor may
re-start motion, unless the motion controller has been stopped.
(Write ‘1’ to clear flag and interrupt condition)
This bit is ORed to the interrupt output signal.
R
event_stop_r
1: Signals an active stop right condition due to stop switch.
The stop condition and the interrupt condition can be removed by
setting RAMP_MODE to hold mode or by commanding a move to the
opposite direction. In soft_stop mode, the condition will remain
active until the motor has stopped motion into the direction of the
stop switch. Disabling the stop switch or the stop function also
clears the flag, but the motor will continue motion.
This bit is ORed to the interrupt output signal.
4
event_stop_l
1: Signals an active stop left condition due to stop switch.
The stop condition and the interrupt condition can be removed by
setting RAMP_MODE to hold mode or by commanding a move to the
opposite direction. In soft_stop mode, the condition will remain
active until the motor has stopped motion into the direction of the
stop switch. Disabling the stop switch or the stop function also
clears the flag, but the motor will continue motion.
This bit is ORed to the interrupt output signal.
R+
WC
3
2
status_latch_r
status_latch_l
1: Latch right ready
(enable position latching using SW_MODE settings
latch_r_active or latch_r_inactive)
(Write ‘1’ to clear)
1: Latch left ready
(enable position latching using SW_MODE settings
latch_l_active or latch_l_inactive)
(Write ‘1’ to clear)
R
1
0
status_stop_r
status_stop_l
Reference switch right status (1=active)
Reference switch left status (1=active)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
44
6.4 Encoder Registers
ENCODER REGISTER SET (0X38…0X3C)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
Encoder configuration and use of N channel
See separate table!
Actual encoder position (signed)
RW
0x38
11 ENCMODE
32 X_ENC
-2^31…
+(2^31)-1
binary:
± [µsteps/2^16]
±(0 …
RW
W
0x39
0x3A
Accumulation constant (signed)
16 bit integer part, 16 bit fractional part
X_ENC accumulates
+/- ENC_CONST / (2^16*X_ENC) (binary)
or
32767.999847)
decimal:
32 ENC_CONST
±(0.0 …
32767.9999)
+/-ENC_CONST / (10^4*X_ENC) (decimal)
reset default =
ENCMODE bit enc_sel_decimal switches 1.0 (=65536)
between decimal and binary setting.
Use the sign, to match rotation direction!
Encoder status information
bit 0: n_event
bit 1: deviation_warn
1: Event detected.
R+
WC
To clear the status bit, write with a 1 bit at
the corresponding position.
0x3B
2
ENC_STATUS
Deviation_warn cannot be cleared while a
warning still persists. Set ENC_DEVIATION
zero to disable.
Both bits are ORed to the interrupt output
signal.
Encoder position X_ENC latched on N event
R
0x3C
0x3D
32 ENC_LATCH
Maximum number of steps deviation
between encoder counter and XACTUAL for
deviation warning
ENC_
20
W
DEVIATION
Result in flag ENC_STATUS.deviation_warn
0=Function is off.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
45
6.4.1 ENCMODE – Encoder Register
0X38: ENCMODE – ENCODER REGISTER
Bit Name
Comment
10 enc_sel_decimal
0
Encoder prescaler divisor binary mode:
Counts ENC_CONST(fractional part) /65536
Encoder prescaler divisor decimal mode:
Counts in ENC_CONST(fractional part) /10000
1
9
8
latch_x_act
clr_enc_x
1: Also latch XACTUAL position together with X_ENC.
Allows latching the ramp generator position upon an N channel event as
selected by pos_edge and neg_edge.
0
1
Upon N event, X_ENC becomes latched to ENC_LATCH only
Latch and additionally clear encoder counter X_ENC at N-event
7
6
neg_edge
pos_edge
n p N channel event sensitivity
0 0 N channel event is active during an active N event level
0 1 N channel is valid upon active going N event
1 0 N channel is valid upon inactive going N event
1 1 N channel is valid upon active going and inactive going N event
1: Latch or latch and clear X_ENC on the next N event following the write
access
1: Always latch or latch and clear X_ENC upon an N event (once per
revolution, it is recommended to combine this setting with edge sensitive
N event)
5
4
clr_once
clr_cont
3
ignore_AB
0
An N event occurs only when polarities given by
pol_N, pol_A and pol_B match.
1
Ignore A and B polarity for N channel event
2
1
0
pol_N
pol_B
pol_A
Defines active polarity of N (0=low active, 1=high active)
Required B polarity for an N channel event (0=neg., 1=pos.)
Required A polarity for an N channel event (0=neg., 1=pos.)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
46
6.5 Motor Driver Registers
MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
MSLUT[0]
Each bit gives the difference between entry x 32x 0 or 1
and entry x+1 when combined with the cor- reset default=
W
0x60
32 microstep
responding MSLUTSEL W bits:
sine wave
table
table entries 0: W= %00: -1
0…31
%01: +0
%10: +1
7x
%11: +2
32x 0 or 1
reset default=
sine wave
table
1: W= %00: +0
%01: +1
%10: +2
%11: +3
MSLUT[1...7]
0x61
…
7
x
This is the differential coding for the first
W
microstep
0x67
32 table entries quarter of a wave. Start values for CUR_A and
CUR_B are stored for MSCNT position 0 in
START_SIN and START_SIN90.
ofs31, ofs30, …, ofs01, ofs00
…
32…255
ofs255, ofs254, …, ofs225, ofs224
This register defines four segments within 0<X1<X2<X3
each quarter MSLUT wave. Four 2 bit entries reset default=
determine the meaning of a 0 and a 1 bit in sine wave
W
W
0x68
0x69
32 MSLUTSEL
the corresponding segment of MSLUT.
table
See separate table!
bit 7… 0:
bit 23… 16: START_SIN90
START_SIN
START_SIN
reset default
START_SIN gives the absolute current at =0
microstep table entry 0.
8
+
8
MSLUTSTART START_SIN90 gives the absolute current for START_SIN90
microstep table entry at positions 256. reset default
Start values are transferred to the microstep =247
registers CUR_A and CUR_B, whenever the
reference position MSCNT=0 is passed.
Microstep counter. Indicates actual position 0…1023
in the microstep table for CUR_A. CUR_B uses
an offset of 256 (2 phase motor).
Hint: Move to a position where MSCNT is
zero before re-initializing MSLUTSTART or
MSLUT and MSLUTSEL.
R
R
0x6A
0x6B
10 MSCNT
bit 8… 0:
CUR_A (signed):
+/-0...255
Actual microstep current for
motor phase A as read from
MSLUT (not scaled by current)
9
+
MSCURACT
bit 24… 16: CUR_B (signed):
9
Actual microstep current for
motor phase B as read from
MSLUT (not scaled by current)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
47
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
Description / bit names
chopper and driver configuration
See separate table!
Range [Unit]
reset default=
0x10410150
RW
0x6C
32 CHOPCONF
coolStep smart current control register
and stallGuard2 configuration
See separate table!
W
0x6D
25 COOLCONF
dcStep
(DC)
automatic
commutation
configuration register (enable via pin DCEN
or via VDCMIN):
bit 9… 0:
DC_TIME: Upper PWM on time
limit for commutation (DC_TIME *
1/fCLK). Set slightly above effective
blank time TBL.
bit 23… 16: DC_SG: Max. PWM on time for
step loss detection using dcStep
stallGuard2 in dcStep mode.
(DC_SG * 16/fCLK)
W
0x6E
24 DCCTRL
Set
slightly
higher
than
DC_TIME/16
0=disable
Hint: Using a higher microstep resolution or
interpolated operation, dcStep delivers a
better stallGuard signal.
DC_SG is also available above VHIGH if
vhighfs is activated. For best result also set
vhighchm.
DRV_
32
stallGuard2 value and driver error flags
See separate table!
Voltage PWM mode chopper configuration
See separate table!
R
0x6F
0x70
STATUS
reset default=
0xC40C001E
W
22 PWMCONF
Results of stealthChop amplitude regulator.
These values can be used to monitor
automatic PWM amplitude scaling (255=max.
voltage).
bit 7… 0
PWM_SCALE_SUM:
0…255
Actual PWM duty cycle. This
value is used for scaling the
values CUR_A and CUR_B read
from the sine wave table.
R
0x71
9+8 PWM_SCALE
bit 24… 16 PWM_SCALE_AUTO:
signed
9 Bit signed offset added to the -255…+255
calculated PWM duty cycle. This
is the result of the automatic
amplitude regulation based on
current measurement.
These automatically generated values can be
read out in order to determine a default /
power up setting for PWM_GRAD and
PWM_OFS.
R
0x72
8+8 PWM_AUTO
bit 7… 0
PWM_OFS_AUTO:
Automatically determined offset
value
0…255
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
48
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
Description / bit names
bit 23… 16 PWM_GRAD_AUTO:
Automatically
Range [Unit]
0…255
determined
gradient value
Number of input steps skipped due to higher
load in dcStep operation, if step input does
not stop when DC_OUT is low. This counter
wraps around after 2^20 steps. Counts up or
down depending on direction. Only with
SDMODE=1.
R
0x73
20 LOST_STEPS
MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT
푖
푃퐼
푟표푢푛푑 (ꢀ4ꢁ ∗ 푠푖푛 ꢂꢀ ∗ 푃퐼 ∗
+
)ꢅ − ꢃ
ꢃꢄꢀ4 ꢃꢄꢀ4
-
-
i:[0… 255] is the table index
The amplitude of the wave is 248. The resulting maximum positive value is 247 and the
maximum negative value is -248.
-
The round function rounds values from 0.5 to 1.4999 to 1
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
49
6.5.1 MSLUTSEL – Look up Table Segmentation Definition
0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION
Bit Name
Function
Comment
31 X3
30
29
28
LUT segment 3 start
The sine wave look up table can be divided into up to
four segments using an individual step width control
entry Wx. The segment borders are selected by X1, X2
and X3.
27
26
25
24
23 X2
22
21
Segment 0 goes from 0 to X1-1.
Segment 1 goes from X1 to X2-1.
Segment 2 goes from X2 to X3-1.
Segment 3 goes from X3 to 255.
LUT segment 2 start
For defined response the values shall satisfy:
0<X1<X2<X3
20
19
18
17
16
15 X1
14
LUT segment 1 start
13
12
11
10
9
8
7
6
5
4
3
2
1
0
W3
W2
W1
W0
LUT width select from
ofs(X3) to ofs255
Width control bit coding W0…W3:
%00:
%01:
%10:
%11:
MSLUT entry 0, 1 select: -1, +0
MSLUT entry 0, 1 select: +0, +1
MSLUT entry 0, 1 select: +1, +2
MSLUT entry 0, 1 select: +2, +3
LUT width select from
ofs(X2) to ofs(X3-1)
LUT width select from
ofs(X1) to ofs(X2-1)
LUT width select from
ofs00 to ofs(X1-1)
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
50
6.5.2 CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
Function
Comment
31 diss2vs
short to supply
protection disable
short to GND
protection disable
enable double edge
step pulses
0: Short to VS protection is on
1: Short to VS protection is disabled
0: Short to GND protection is on
30 diss2g
29 dedge
28 intpol
1: Short to GND protection is disabled
1: Enable step impulse at each step edge to reduce step
frequency requirement.
1: The actual microstep resolution (MRES) becomes
extrapolated to 256 microsteps for smoothest motor
operation (useful for STEP/DIR operation, only)
%0000:
Native 256 microstep setting. Normally use this setting
with the internal motion controller.
%0001 … %1000:
interpolation to 256
microsteps
27 mres3
26 mres2
25 mres1
24 mres0
MRES
micro step resolution
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution esp. for STEP/DIR operation.
The resolution gives the number of microstep entries per
sine quarter wave.
The driver automatically uses microstep positions which
result in a symmetrical wave, when choosing a lower
microstep resolution.
step width=2^MRES [microsteps]
23 tpfd3
22 tpfd2
21 tpdf1
20 tpfd0
TPFD
TPFD allows dampening of motor mid-range resonances.
passive fast decay time Passive fast decay time setting controls duration of the
fast decay phase inserted after bridge polarity change
NCLK= 128*TPFD
%0000: Disable
%0001 … %1111: 1 … 15
This bit enables switching to chm=1 and fd=0, when VHIGH
is exceeded. This way, a higher velocity can be achieved.
Can be combined with vhighfs=1. If set, the TOFF setting
automatically becomes doubled during high velocity
operation in order to avoid doubling of the chopper
frequency.
19 vhighchm high velocity chopper
mode
18 vhighfs
high velocity fullstep
selection
This bit enables switching to fullstep, when VHIGH is
exceeded. Switching takes place only at 45° position.
The fullstep target current uses the current value from
the microstep table at the 45° position.
17
-
reserved
reserved, set to 0
16 tbl1
15 tbl0
TBL
%00 … %11:
blank time select
Set comparator blank time to 16, 24, 36 or 54 clocks
Hint: %01 or %10 is recommended for most applications
14 chm
chopper mode
0
1
Standard mode (spreadCycle)
Constant off time with fast decay time.
Fast decay time is also terminated when the
negative nominal current is reached. Fast decay is
after on time.
13
-
reserved
Reserved, set to 0
12 disfdcc
fast decay mode
chm=1:
disfdcc=1 disables current comparator usage for termi-
nation of the fast decay cycle
chm=1:
11 fd3
TFD [3]
MSB of fast decay time setting TFD
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
51
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
Function
Comment
10 hend3
HEND
chm=0
%0000 … %1111:
hysteresis low value
OFFSET
sine wave offset
Hysteresis is -3, -2, -1, 0, 1, …, 12
9
8
7
hend2
hend1
hend0
(1/512 of this setting adds to current setting)
This is the hysteresis value which becomes
used for the hysteresis chopper.
%0000 … %1111:
chm=1
chm=0
Offset is -3, -2, -1, 0, 1, …, 12
This is the sine wave offset and 1/512 of the
value becomes added to the absolute value
of each sine wave entry.
6
5
4
hstrt2
hstrt1
hstrt0
HSTRT
hysteresis start value
added to HEND
%000 … %111:
Add 1, 2, …, 8 to hysteresis low value HEND
(1/512 of this setting adds to current setting)
Attention: Effective HEND+HSTRT ≤ 16.
Hint: Hysteresis decrement is done each 16
clocks
TFD [2..0]
fast decay time setting
chm=1
Fast decay time setting (MSB: fd3):
%0000 … %1111:
Fast decay time setting TFD with
NCLK= 32*TFD (%0000: slow decay only)
3
2
1
0
toff3
toff2
toff1
toff0
TOFF off time
and driver enable
Off time setting controls duration of slow decay phase
NCLK= 12 + 32*TOFF
%0000: Driver disable, all bridges off
%0001: 1 – use only with TBL ≥ 2
%0010 … %1111: 2 … 15
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
52
6.5.3 COOLCONF – Smart Energy Control coolStep and stallGuard2
0X6D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2
Bit Name
Function
Comment
…
-
reserved
set to 0
24 sfilt
stallGuard2 filter
enable
0
Standard mode, high time resolution for
stallGuard2
1
Filtered mode, stallGuard2 signal updated for each
four fullsteps (resp. six fullsteps for 3 phase motor)
only to compensate for motor pole tolerances
23
-
reserved
set to 0
22 sgt6
21 sgt5
20 sgt4
19 sgt3
18 sgt2
17 sgt1
16 sgt0
15 seimin
stallGuard2 threshold
value
This signed value controls stallGuard2 level for stall
output and sets the optimum measurement range for
readout. A lower value gives a higher sensitivity. Zero is
the starting value working with most motors.
-64 to +63: A higher value makes stallGuard2 less
sensitive and requires more torque to
indicate a stall.
minimum current for
smart current control
current down step
speed
0: 1/2 of current setting (IRUN)
1: 1/4 of current setting (IRUN)
14 sedn1
13 sedn0
%00: For each 32 stallGuard2 values decrease by one
%01: For each 8 stallGuard2 values decrease by one
%10: For each 2 stallGuard2 values decrease by one
%11: For each stallGuard2 value decrease by one
set to 0
12
-
reserved
11 semax3
10 semax2
stallGuard2 hysteresis
value for smart current (SEMIN+SEMAX+1)*32, the motor current becomes
control
If the stallGuard2 result is equal to or above
decreased to save energy.
%0000 … %1111: 0 … 15
set to 0
Current increment steps per measured stallGuard2 value
%00 … %11: 1, 2, 4, 8
set to 0
9
8
7
6
5
4
3
2
1
0
semax1
semax0
-
seup1
seup0
-
semin3
semin2
semin1
semin0
reserved
current up step width
reserved
minimum stallGuard2
value for smart current current becomes increased to reduce motor load angle.
control and
If the stallGuard2 result falls below SEMIN*32, the motor
%0000: smart current control coolStep off
%0001 … %1111: 1 … 15
smart current enable
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
53
6.5.4 PWMCONF – Voltage PWM Mode stealthChop
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
Comment
31 PWM_LIM
PWM automatic scale
amplitude limit when
switching on
Limit for PWM_SCALE_AUTO when switching back from
spreadCycle to stealthChop. This value defines the upper
limit for bits 7 to 4 of the automatic current control
when switching back. It can be set to reduce the current
jerk during mode change back to stealthChop.
It does not limit PWM_GRAD or PWM_GRAD_AUTO offset.
(Default = 12)
30
29
28
27 PWM_REG Regulation loop
User defined maximum PWM amplitude change per half
wave when using pwm_autoscale=1. (1…15):
1: 0.5 increments (slowest regulation)
2: 1 increment
gradient
26
25
24
3: 1.5 increments
4: 2 increments (Reset default))
…
8: 4 increments
...
15: 7.5 increments (fastest regulation)
23
22
21
20
-
-
reserved
reserved
Allows different
set to 0
set to 0
freewheel1
freewheel0 standstill modes
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
19 pwm_
autograd
PWM automatic
gradient adaptation
0
Fixed value for PWM_GRAD
(PWM_GRAD_AUTO = PWM_GRAD)
1
Automatic tuning (only with pwm_autoscale=1)
(Reset default)
PWM_GRAD_AUTO is initialized with PWM_GRAD
while pwm_autograd=0 and becomes optimized
automatically during motion.
Preconditions
1. PWM_OFS_AUTO has been automatically
initialized. This requires standstill at IRUN for
>130ms in order to a) detect standstill b) wait >
128 chopper cycles at IRUN and c) regulate
PWM_OFS_AUTO so that
-1 < PWM_SCALE_AUTO < 1
2. Motor running and 1.5 * PWM_OFS_AUTO <
PWM_SCALE_SUM < 4* PWM_OFS_AUTO and
PWM_SCALE_SUM < 255.
Time required for tuning PWM_GRAD_AUTO
About 8 fullsteps per change of +/-1.
Also enables use of reduced chopper frequency for
tuning PWM_OFS_AUTO.
18 pwm_
autoscale
PWM automatic
amplitude scaling
0
1
User defined feed forward PWM amplitude. The
current settings IRUN and IHOLD have no influence!
The resulting PWM amplitude (limited to 0…255) is:
PWM_OFS * ((CS_ACTUAL+1) / 32)
+ PWM_GRAD * 256 / TSTEP
Enable automatic current control (Reset default)
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
54
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
Comment
pwm_freq1
pwm_freq0
17
16
PWM frequency
selection
%00: fPWM=2/1024 fCLK (Reset default)
%01: fPWM=2/683 fCLK
%10: fPWM=2/512 fCLK
%11: fPWM=2/410 fCLK
15 PWM_
User defined amplitude Velocity dependent gradient for PWM amplitude:
gradient PWM_GRAD * 256 / TSTEP
GRAD
14
13
12
11
10
9
This value is added to PWM_AMPL to compensate for
the velocity-dependent motor back-EMF.
Use PWM_GRAD as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_GRAD to the determined, application specific value,
8
with
pwm_autoscale=0.
Only
afterwards,
set
pwm_autoscale=1. Enable stealthChop when finished.
Hint:
After initial tuning, the required initial value can be read
out from PWM_GRAD_AUTO.
7
6
5
4
3
2
1
0
PWM_
OFS
User defined amplitude User defined PWM amplitude offset (0-255) related to full
(offset)
motor current (CS_ACTUAL=31) in stand still.
(Reset default=30)
Use PWM_OFS as initial value for automatic scaling to
speed up the automatic tuning process. To do this, set
PWM_OFS to the determined, application specific value,
with
pwm_autoscale=0.
Only
afterwards,
set
pwm_autoscale=1. Enable stealthChop when finished.
PWM_OFS = 0 will disable scaling down motor current
below a motor specific lower measurement threshold.
This setting should only be used under certain
conditions, i.e. when the power supply voltage can vary
up and down by a factor of two or more. It prevents
the motor going out of regulation, but it also prevents
power down below the regulation limit.
PWM_OFS > 0 allows automatic scaling to low PWM duty
cycles even below the lower regulation threshold. This
allows low (standstill) current settings based on the
actual (hold) current scale (register IHOLD_IRUN).
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
55
6.5.5 DRV_STATUS – stallGuard2 Value and Driver Error Flags
0X6F: DRV_STATUS – STALLGUARD2 VALUE AND DRIVER ERROR FLAGS
Bit Name
31 stst
Function
standstill indicator
Comment
This flag indicates motor stand still in each operation mode.
This occurs 2^20 clocks after the last step pulse.
1: Open load detected on phase A or B.
30 olb
open load indicator
phase B
open load indicator
phase A
Hint: This is just an informative flag. The driver takes no action
upon it. False detection may occur in fast motion and
standstill. Check during slow motion, only.
29 ola
1: Short to GND detected on phase A or B. The driver becomes
disabled. The flags stay active, until the driver is disabled by
software (TOFF=0) or by the ENN input.
28 s2gb
27 s2ga
26 otpw
short to ground
indicator phase B
short to ground
indicator phase A
overtemperature pre-
warning flag
1: Overtemperature pre-warning threshold is exceeded.
The overtemperature pre-warning flag is common for both
bridges.
1: Overtemperature limit has been reached. Drivers become
disabled until otpw is also cleared due to cooling down of the
25 ot
overtemperature flag
IC.
The overtemperature flag is common for both bridges.
1: Motor stall detected (SG_RESULT=0) or dcStep stall in dcStep
mode.
24 stallGuard stallGuard2 status
Ignore these bits
23
22
21
-
reserved
Actual current control scaling, for monitoring smart energy
current scaling controlled via settings in register COOLCONF, or
for monitoring the function of the automatic current scaling.
20 CS
actual motor current /
smart energy current
ACTUAL
19
18
17
16
1: Indicates that the driver has switched to fullstep as defined
by chopper mode settings and velocity thresholds.
15 fsactive
full step active
indicator
1: Driver operates in stealthChop mode
14 stealth
13 s2vsb
stealthChop indicator
short to supply
indicator phase B
short to supply
indicator phase A
reserved
1: Short to supply detected on phase A or B. The driver
becomes disabled. The flags stay active, until the driver is
disabled by software (TOFF=0) or by the ENN input. Sense
resistor voltage drop is included in the measurement!
12 s2vsa
Ignore this bit
Ignore this bit
Mechanical load measurement:
The stallGuard2 result gives a means to measure mechanical
motor load. A higher value means lower mechanical load. A
value of 0 signals highest load. With optimum SGT setting,
this is an indicator for a motor stall. The stall detection
compares SG_RESULT to 0 in order to detect a stall. SG_RESULT
is used as a base for coolStep operation, by comparing it to a
programmable upper and a lower limit. It is not applicable in
stealthChop mode.
11
10
9
-
-
reserved
SG_
RESULT
stallGuard2 result
respectively PWM on
time for coil A in stand
still for motor
8
7
6
5
4
3
2
temperature detection
1
stallGuard2 works best with microstep operation or dcStep.
0
Temperature measurement:
In standstill, no stallGuard2 result can be obtained. SG_RESULT
shows the chopper on-time for motor coil A instead. Move the
motor to a determined microstep position at a certain current
setting to get a rough estimation of motor temperature by a
reading the chopper on-time. As the motor heats up, its coil
resistance rises and the chopper on-time increases.
www.trinamic.com
TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
56
7 stealthChop™
stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a
voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely
noiseless. Thus, stealthChop operated stepper motor applications are very suitable for
indoor or home use. The motor operates absolutely free of vibration at low velocities.
With stealthChop, the motor current is applied by driving a certain effective voltage into the coil,
using a voltage mode PWM. With the enhanced stealthChop2, the driver automatically adapts to the
application for best performance. No more configurations are required. Optional configuration allows
for tuning the setting in special cases, or for storing initial values for the automatic adaptation
algorithm. For high velocity drives spreadCycle should be considered in combination with stealthChop.
Figure 7.1 Motor coil sine wave current with stealthChop (measured with current probe)
7.1 Automatic Tuning
stealthChop2 integrates an automatic tuning procedure (AT), which adapts the most important
operating parameters to the motor automatically. This way, stealthChop2 allows high motor dynamics
and supports powering down the motor to very low currents. Just two steps have to be respected by
the motion controller for best results: Start with the motor in standstill, but powered with nominal
run current (AT#1). Move the motor at a medium velocity, e.g. as part of a homing procedure (AT#2).
Figure 7.2 shows the tuning procedure.
Border conditions for AT#1 and AT#2 are shown in the following table:
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AUTOMATIC TUNING TIMING AND BORDER CONDITIONS
Step Parameter
AT#1 PWM_
OFS_AUTO
Conditions
Required Duration
≤ 2^20+2*2^18 tCLK,
≤ 130ms
- Motor in standstill and actual current scale (CS) is
identical to run current (IRUN).
- If standstill reduction is enabled, an initial step
pulse switches the drive back to run current, or set
IHOLD to IRUN.
(with internal clock)
- Pin VS at operating level.
Attention: Driver may reduce chopper frequency during
AT#1. Use reduced standstill current IHOLD<IRUN to
prevent extended periods of time at lower chopper
frequency
- Move motor at a velocity, where a significant 8 fullsteps are required
AT#2 PWM_
amount of back EMF is generated and where the full for a change of +/-1.
GRAD_AUTO
run current can be reached. Conditions:
For a typical motor with
- 1.5 * PWM_OFS_AUTO
4 * PWM_OFS_AUTO
<
PWM_SCALE_SUM
<
PWM_GRAD_AUTO
optimum at 50 or less, up
to 400 fullsteps are
required when starting
from default value 0.
-
PWM_SCALE_SUM < 255.
Hint: A typical range is 60-300 RPM.
Hint:
Determine best conditions for automatic tuning with the evaluation board.
Use application specific parameters for PWM_GRAD and PWM_OFS for initialization in firmware to provide
initial tuning parameters.
Monitor PWM_SCALE_AUTO going down to zero during the constant velocity phase in AT#2 tuning. This
indicates a successful tuning.
Attention:
Operating in stealthChop without proper tuning can lead to high motor currents during a deceleration
ramp, especially with low resistive motors and fast deceleration settings. Follow the automatic tuning
process and check optimum tuning conditions using the evaluation board. It is recommended to use
an initial value for settings PWM_OFS and PWM_GRAD determined per motor type.
Protect the power stage and supply by additionally tuning the overcurrent protection.
Known Limitations:
Successful completion of AT#1 tuning phase is not safely detected by the TMC5160. It will require
multiple motor start / stop events to safely detect completion.
Successful determination is mandatory for AT#2: Tuning of PWM_GRAD will not start when AT#1 has
not completed.
Successful completion of AT#1 and AT#2 only can be checked by monitoring PWM_SCALE_AUTO
approaching 0 during AT#2 motion.
Solution a):
Complete automatic tuning phase AT#1 process, by using a slow-motion sequence which leads to
standstill detection in between of each two steps. Use a velocity of 8 (6 Hz) or lower and execute
minimum 10 steps during AT#1 phase.
Solution b):
Store initial parameters for PWM_GRAD_AUTO for the application. Therefore, use the motor and
operating conditions determined for the application and do a complete automatic tuning sequence
(refer to a)). Store the resulting PWM_GRAD_AUTO value and use it for initialization of PWM_GRAD.
With this, tuning of AT#2 phase is not mandatory in the application and can be skipped. Automatic
tuning will further optimize settings during operation. Combine with a) if desired.
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Power Up
PWM_GRAD_AUTO becomes
initialized upon power up
Driver Enabled?
Y
N
N
Driver Enabled?
Y
N
Y
Issue (at least) a single step
pulse and stop again, to
power motor to run current
Standstill re-
duction enabled?
stealthChop2 regulates to nominal
current and stores result to
PWM_OFS_AUTO
AT#1
(Requires stand still for >130ms)
Stand still
PWM_
GRAD_AUTO
initialized from
CPU?
Y
N
Move the motor, e.g. for homing.
Include a constant, medium velocity
ramp segment.
AT#2
Homing
stealthChop2 regulates to nominal
current and optimizes PWM_GRAD_AUTO
(requires 8 fullsteps per change of 1,
typically a few 100 fullsteps in sum)
Store PWM_GRAD_AUTO to
CPU memory for faster
tuning procedure
stealthChop2 settings are optimized!
Option with interface
Ready
stealthChop2 keeps tuning during
subsequent motion and stand still periods
adapting to motor heating, supply
variations, etc.
Figure 7.2 stealthChop2 automatic tuning procedure
Attention
Modifying GLOBALSCALER or VS voltage invalidates the result of the automatic tuning process. Motor
current regulation cannot compensate significant changes until next AT#1 phase. Automatic tuning
adapts to changed conditions whenever AT#1 and AT#2 conditions are fulfilled in the later operation.
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7.2 stealthChop Options
In order to match the motor current to a certain level, the effective PWM voltage becomes scaled
depending on the actual motor velocity. Several additional factors influence the required voltage level
to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional
to its velocity) as well as the actual level of the supply voltage. Two modes of PWM regulation are
provided: The automatic tuning mode (AT) using current feedback (pwm_autoscale = 1, pwm_autograd
= 1) and a feed forward velocity controlled mode (pwm_autoscale = 0). The feed forward velocity
controlled mode will not react to a change of the supply voltage or to events like a motor stall, but it
provides very stable amplitude. It does not use nor require any means of current measurement. This
is perfect when motor type and supply voltage are well known. Therefore we recommend the
automatic mode, unless current regulation is not satisfying in the given operating conditions.
It is recommended to use application specific initial tuning parameters, fitting the motor type and
supply voltage. Additionally, operate in automatic tuning mode in order to respond to parameter
change, e.g. due to motor heat-up or change of supply voltage.
Non-automatic mode (pwm_autoscale=0) should be taken into account only with well-known motor
and operating conditions. In this case, careful programming via the interface is required. The
operating parameters PWM_GRAD and PWM_OFS can be determined in automatic tuning mode
initially.
The stealthChop PWM frequency can be chosen in four steps in order to adapt the frequency divider
to the frequency of the clock source. A setting in the range of 20-50kHz is good for most applications.
It balances low current ripple and good higher velocity performance vs. dynamic power dissipation.
CHOICE OF PWM FREQUENCY FOR STEALTHCHOP
Clock frequency
fCLK
18MHz
PWM_FREQ=%00
fPWM=2/1024 fCLK
35.2kHz
PWM_FREQ=%01
fPWM=2/683 fCLK
52.7kHz
PWM_FREQ=%10
fPWM=2/512 fCLK
70.3kHz
PWM_FREQ=%11
fPWM=2/410 fCLK
87.8kHz
16MHz
31.3kHz
46.9kHz
62.5kHz
78.0kHz
12MHz (internal)
10MHz
23.4kHz
19.5kHz
35.1kHz
29.3kHz
46.9kHz
39.1kHz
58.5kHz
48.8kHz
8MHz
15.6kHz
23.4kHz
31.2kHz
39.0kHz
Table 7.1 Choice of PWM frequency – green / light green: recommended
7.3 stealthChop Current Regulator
In stealthChop voltage PWM mode, the autoscaling function (pwm_autoscale = 1, pwm_auto_grad = 1)
regulates the motor current to the desired current setting. Automatic scaling is used as part of the
automatic tuning process (AT), and for subsequent tracking of changes within the motor parameters.
The driver measures the motor current during the chopper on time and uses a proportional regulator
to regulate PWM_SCALE_AUTO in order match the motor current to the target current. PWM_REG is the
proportionality coefficient for this regulator. Basically, the proportionality coefficient should be as
small as possible in order to get a stable and soft regulation behavior, but it must be large enough to
allow the driver to quickly react to changes caused by variation of the motor target current (e.g.
change of VREF). During initial tuning step AT#2, PWM_REG also compensates for the change of motor
velocity. Therefore, a high acceleration during AT#2 will require a higher setting of PWM_REG. With
careful selection of homing velocity and acceleration, a minimum setting of the regulation gradient
often is sufficient (PWM_REG=1). PWM_REG setting should be optimized for the fastest required
acceleration and deceleration ramp (compare Figure 7.3 and Figure 7.4). The quality of the setting
PWM_REG in phase AT#2 and the finished automatic tuning procedure (or non-automatic settings for
PWM_OFS and PWM_GRAD) can be examined when monitoring motor current during an acceleration
phase Figure 7.5.
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60
Figure 7.3 Scope shot: good setting for PWM_REG
Figure 7.4 Scope shot: too small setting for PWM_REG during AT#2
Motor Current
PWM scale
Motor Velocity
PWM reaches max. amplitude
255
P
)
k
W
k
o
RMS current constant
o
M
2
)
_
#
(IRUN)
O
G
T
Nominal Current
(sine wave RMS)
T
R
A
U
E
A
g
A
D
_
n
(
i
(
r
_
D
u
A
A
d
U
R
Current may drop due
to high velocity
T
G
G
O
_
)
R
M
IHOLD
_
o
W
M
W
k
P
Stand still
PWM scale
PWM_OFS_(AUTO)(Pok
PWM_OFS_(AUTO) ok
0
0
Time
Figure 7.5 Successfully determined PWM_GRAD(_AUTO) and PWM_OFS(_AUTO)
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61
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
7.3.1 Lower Current Limit
The stealthChop current regulator imposes a lower limit for motor current regulation. As the coil
current can be measured in the shunt resistor during chopper on phase only, a minimum chopper
duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the
chopper frequency setting. Therefore, the motor specific minimum coil current in stealthChop
autoscaling mode rises with the supply voltage and with the chopper frequency. A lower blanking
time allows a lower current limit. It is important for the correct determination of PWM_OFS_AUTO,
that in AT#1 the run current set by the sense resistor, GLOBALSCALER and IRUN is well within the
regulation range. Lower currents (e.g. for standstill power down) are automatically realized based on
PWM_OFS_AUTO and PWM_GRAD_AUTO respectively based on PWM_OFS and PWM_GRAD with non-
automatic current scaling. The freewheeling option allows going to zero motor current.
Lower motor coil current limit for stealthChop2 automatic tuning:
푉푀
퐼퐿ꢆ푤푒ꢇ 퐿ꢈ푚ꢈ푡 = ꢉ퐵퐿퐴푁퐾 ∗ 푓
∗
ꢊ푊푀
푅ꢋ푂ꢌ퐿
With VM the motor supply voltage and RCOIL the motor coil resistance.
ILower Limit can be treated as a thumb value for the minimum nominal IRUN motor current setting. In
case the lower current limit is not sufficient to reach the desired setting, the driver will retry with a
lower chopper frequency in step AT#1, only.
fPWM is the chopper frequency as determined by setting PWM_FREQ. In AT#1, the driver tries a lower,
(roughly half frequency), in case it cannot reach the current. The frequency will remain active in
standstill, while currentscale CS=IRUN. With automatic standstill reduction, this is a short moment.
EXAMPLE:
A motor has a coil resistance of 5Ω, the supply voltage is 24V. With TBL=%01 and PWM_FREQ=%00,
tBLANK is 24 clock cycles, fPWM is 2/(1024 clock cycles):
ꢀ
ꢀ4푉
ꢀ4 ꢀ4푉
∗ = ꢀꢀ5ꢍꢎ
퐼퐿ꢆ푤푒ꢇ 퐿ꢈ푚ꢈ푡 = ꢀ4 ꢉꢋ퐿퐾
∗
∗
=
ꢃꢄꢀ4 ꢉꢋ퐿퐾 5Ω
5ꢃꢀ 5Ω
This means, the motor target current for automatic tuning must be 225mA or more, taking into
account all relevant settings. This lower current limit also applies for modification of the motor
current via the GLOBALSCALER.
Attention
For automatic tuning, a lower coil current limit applies. The motor current in automatic tuning phase
AT#1 must exceed this lower limit. ILOWER LIMIT can be calculated or measured using a current probe.
Setting the motor run-current or hold-current below the lower current limit during operation by
modifying IRUN and IHOLD is possible after successful automatic tuning.
The lower current limit also limits the capability of the driver to respond to changes of
GLOBALSCALER.
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7.4 Velocity Based Scaling
Velocity based scaling scales the stealthChop amplitude based on the time between each two steps,
i.e. based on TSTEP, measured in clock cycles. This concept basically does not require a current
measurement, because no regulation loop is necessary. A pure velocity-based scaling is available via
programming, only, when setting pwm_autoscale = 0. The basic idea is to have a linear approximation
of the voltage required to drive the target current into the motor. The stepper motor has a certain coil
resistance and thus needs a certain voltage amplitude to yield a target current based on the basic
formula I=U/R. With R being the coil resistance, U the supply voltage scaled by the PWM value, the
current I results. The initial value for PWM_OFS can be calculated:
374 ∗ 푅ꢋ푂ꢌ퐿 ∗ 퐼ꢋ푂ꢌ퐿
푃ꢏꢐ_ꢑ퐹푆 =
푉푀
With VM the motor supply voltage and ICOIL the target RMS current
The effective PWM voltage UPWM (1/SQRT(2) x peak value) results considering the 8 bit resolution and
248 sine wave peak for the actual PWM amplitude shown as PWM_SCALE:
푃ꢏꢐ_푆퐶ꢎꢒ퐸 ꢀ4ꢁ
ꢃ
푃ꢏꢐ_푆퐶ꢎꢒ퐸
374
푈ꢊ푊푀 = 푉푀 ∗
∗
∗
= 푉푀 ∗
ꢀ56
ꢀ56
√
ꢀ
With rising motor velocity, the motor generates an increasing back EMF voltage. The back EMF voltage
is proportional to the motor velocity. It reduces the PWM voltage effective at the coil resistance and
thus current decreases. The TMC5160 provides a second velocity dependent factor (PWM_GRAD) to
compensate for this. The overall effective PWM amplitude (PWM_SCALE_SUM) in this mode
automatically is calculated in dependence of the microstep frequency as:
푓
ꢓ푇ꢔꢊ
푃ꢏꢐ_푆퐶ꢎꢒ퐸_푆푈ꢐ = 푃ꢏꢐ_ꢑ퐹푆 + 푃ꢏꢐ_퐺푅ꢎ퐷 ∗ ꢀ56 ∗
푓
ꢋ퐿퐾
With fSTEP being the microstep frequency for 256 microstep resolution equivalent
and fCLK the clock frequency supplied to the driver or the actual internal frequency
As a first approximation, the back EMF subtracts from the supply voltage and thus the effective current
amplitude decreases. This way, a first approximation for PWM_GRAD setting can be calculated:
푉
푓
∗ ꢃ.46
ꢋ퐿퐾
푃ꢏꢐ_퐺푅ꢎ퐷 = 퐶퐵ꢔ푀ꢕ
[
] ∗ ꢀ휋 ∗
푟푎푑
푠
푉푀 ∗ ꢐ푆푃푅
CBEMF is the back EMF constant of the motor in Volts per radian/second.
MSPR is the number of microsteps per rotation, e.g. 51200 = 256µsteps multiplied by 200 fullsteps for
a 1.8° motor.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
Motor current
63
PWM scaling
(PWM_SCALE_SUM)
PWM reaches
max. amplitude
255
D
A
R
G
Constant motor
RMS current
_
M
W
P
Nominal current
(e.g. sine wave RMS)
PWM_OFS
0
0
VPWMMAX
Velocity
Figure 7.6 Velocity based PWM scaling (pwm_autoscale=0)
Hint
The values for PWM_OFS and PWM_GRAD can easily be optimized by tracing the motor current with a
current probe on the oscilloscope. Alternatively, automatic tuning determines these values and they
can be read out from PWM_OFS_AUTO and PWM_GRAD_AUTO.
UNDERSTANDING THE BACK EMF CONSTANT OF A MOTOR
The back EMF constant is the voltage a motor generates when turned with a certain velocity. Often
motor datasheets do not specify this value, as it can be deducted from motor torque and coil current
rating. Within SI units, the numeric value of the back EMF constant CBEMF has the same numeric value
as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A
would have a CBEMF of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second =
6.28 rad/s) generates a back EMF voltage of 6.28V. Thus, the back EMF constant can be calculated as:
ꢚ
ꢜ
푉
퐻표푙푑푖푛푔ꢘ표푟푞푢ꢙ ꢛꢍ
퐶퐵ꢔ푀ꢕ
ꢖ
ꢗ =
푟푎푑/푠
ꢀ ∗ 퐼ꢋ푂ꢌ퐿푁푂푀ꢚꢎꢜ
ICOILNOM is the motor’s rated phase current for the specified holding torque
HoldingTorque is the motor specific holding torque, i.e. the torque reached at ICOILNOM on both coils.
The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm.
The voltage is valid as RMS voltage per coil, thus the nominal current is multiplied by 2 in this
formula, since the nominal current assumes a full step position, with two coils operating.
7.5 Combining stealthChop and spreadCycle
For applications requiring high velocity motion, spreadCycle may bring more stable operation in the
upper velocity range. To combine no-noise operation with highest dynamic performance, the TMC5160
allows combining stealthChop and spreadCycle based on a velocity threshold (Figure 7.7). With this,
stealthChop is only active at low velocities.
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Chopper mode
stealthChop
spreadCycle
option
option
v
TSTEP < TPWMTHRS*16/16
TSTEP > TPWMTHRS
0
t
current
I_RUN
I_HOLD
VACTUAL
~1/TSTEP
RMS current
TRINAMIC, B. Dwersteg, 14.3.14
Figure 7.7 TPWMTHRS for optional switching to spreadCycle
As a first step, both chopper principles should be parameterized and optimized individually. In a next
step, a transfer velocity has to be fixed. For example, stealthChop operation is used for precise low
speed positioning, while spreadCycle shall be used for highly dynamic motion. TPWMTHRS determines
the transition velocity. Read out TSTEP when moving at the desired velocity and program the
resulting value to TPWMTHRS. Use a low transfer velocity to avoid a jerk at the switching point.
A jerk occurs when switching at higher velocities, because the back-EMF of the motor (which rises
with the velocity) causes a phase shift of up to 90° between motor voltage and motor current. So
when switching at higher velocities between voltage PWM and current PWM mode, this jerk will occur
with increased intensity. A high jerk may even produce a temporary overcurrent condition (depending
on the motor coil resistance). At low velocities (e.g. 1 to a few 10 RPM), it can be completely
neglected for most motors. Therefore, consider the switching jerk when choosing TPWMTHRS. Set
TPWMTHRS zero if you want to work with stealthChop only.
When enabling the stealthChop mode the first time using automatic current regulation, the motor
must be at stand still in order to allow a proper current regulation. When the drive switches to
stealthChop at a higher velocity, stealthChop logic stores the last current regulation setting until the
motor returns to a lower velocity again. This way, the regulation has a known starting point when
returning to a lower velocity, where stealthChop becomes re-enabled. Therefore, neither the velocity
threshold nor the supply voltage must be considerably changed during the phase while the chopper
is switched to a different mode, because otherwise the motor might lose steps or the instantaneous
current might be too high or too low.
A motor stall or a sudden change in the motor velocity may lead to the driver detecting a short
circuit or to a state of automatic current regulation, from which it cannot recover. Clear the error flags
and restart the motor from zero velocity to recover from this situation.
Hint
Start the motor from standstill when switching on stealthChop the first time and keep it stopped for
at least 128 chopper periods to allow stealthChop to do initial standstill current control.
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7.6 Flags in stealthChop
As stealthChop uses voltage mode driving, status flags based on current measurement respond
slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall.
Attention
A motor stall, or abrupt stop of the motion during operation in stealthChop can lead to a overcurrent
condition. Depending on the previous motor velocity, and on the coil resistance of the motor, it
significantly increases motor current for a time of several 10ms. With low velocities, where the back
EMF is just a fraction of the supply voltage, there is no danger of triggering the short detection.
Hint
Tune low side driver overcurrent detection to safely trigger upon motor stall, when using stealthChop.
This will avoid high peak current draw from the power supply.
7.6.1 Open Load Flags
In stealthChop mode, status information is different from the cycle-by-cycle regulated spreadCycle
mode. OLA and OLB show if the current regulation sees that the nominal current can be reached on
both coils.
-
A flickering OLA or OLB can result from asymmetries in the sense resistors or in the motor
coils.
-
-
An interrupted motor coil leads to a continuously active open load flag for the coil.
One or both flags are active, if the current regulation did not succeed in scaling up to the full
target current within the last few fullsteps (because no motor is attached or a high velocity
exceeds the PWM limit).
If desired, do an on-demand open load test using the spreadCycle chopper, as it delivers the safest
result. With stealthChop, PWM_SCALE_SUM can be checked to detect the correct coil resistance.
7.6.2 PWM_SCALE_SUM Informs about the Motor State
Information about the motor state is available with automatic scaling by reading out
PWM_SCALE_SUM. As this parameter reflects the actual voltage required to drive the target current into
the motor, it depends on several factors: motor load, coil resistance, supply voltage, and current
setting. Therefore, an evaluation of the PWM_SCALE_SUM value allows checking the motor operation
point. When reaching the limit (255), the current regulator cannot sustain the full motor current, e.g.
due to a drop in supply volage.
7.7 Freewheeling and Passive Braking
stealthChop provides different options for motor standstill. These options can be enabled by setting
the standstill current IHOLD to zero and choosing the desired option using the FREEWHEEL setting.
The desired option becomes enabled after a time period specified by TPOWERDOWN and IHOLDDELAY.
Current regulation becomes frozen once the motor target current is at zero current in order to ensure
a quick startup. With the freewheeling options, both freewheeling and passive braking can be
realized. Passive braking is an effective eddy current motor braking, which consumes a minimum of
energy, because no active current is driven into the coils. However, passive braking will allow slow
turning of the motor when a continuous torque is applied.
Hint
Operate the motor within your application when exploring stealthChop. Motor performance often is
better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations
which can occur without load.
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66
PARAMETERS RELATED TO STEALTHCHOP
Parameter
en_spread_ General disable for use of stealthChop (register 1
cycle GCONF).
TPWMTHRS Specifies the upper velocity for operation in 0 …
Description
Setting Comment
Do not use stealthChop
stealthChop enabled
0
stealthChop is disabled if
stealthChop. Entry the TSTEP reading (time 1048575 TSTEP falls TPWMTHRS
between two microsteps) when operating at the
desired threshold velocity.
PWM_LIM
Limiting value for limiting the current jerk when 0 … 15
switching from spreadCycle to stealthChop. Reduce
the value to yield a lower current jerk.
Upper four bits of 8 bit
amplitude limit
(Default=12)
pwm_
autoscale
Enable automatic current scaling using current 0
Forward controlled mode
Automatic scaling with
current regulator
disable, use PWM_GRAD
from register instead
enable
measurement. If off, use forward controlled
1
0
1
velocity-based mode.
pwm_
autograd
Enable automatic tuning of PWM_GRAD_AUTO
PWM_FREQ PWM frequency selection. Use the lowest setting 0
fPWM=2/1024 fCLK
fPWM=2/683 fCLK
fPWM=2/512 fCLK
fPWM=2/410 fCLK
giving good results. The frequency measured at
1
2
3
each of the chopper outputs is half of the
effective chopper frequency fPWM
.
PWM_REG
PWM_OFS
User defined PWM amplitude regulation loop P- 1 … 15
coefficient. A higher value leads to a higher
adaptation speed when pwm_autoscale=1.
Results in 0.5 to 7.5 steps
for PWM_SCALE_AUTO
regulator per fullstep
User defined PWM amplitude (offset) for velocity 0 … 255 PWM_OFS=0 disables
based scaling and initialization value for automatic
tuning of PWM_OFFS_AUTO.
linear current scaling
based on current setting
PWM_GRAD User defined PWM amplitude (gradient) for 0 … 255
velocity based scaling and initialization value for
automatic tuning of PWM_GRAD_AUTO.
FREEWHEEL Stand still option when motor current setting is 0
Normal operation
zero (I_HOLD=0). Only available with stealthChop
enabled. The freewheeling option makes the
motor easy movable, while both coil short options
realize a passive brake.
1
2
3
Freewheeling
Coil short via LS drivers
Coil short cia HS drivers
PWM_SCALE Read back of the actual stealthChop voltage PWM -255 …
(read only) Scaling value
becomes frozen when
operating in spreadCycle
_AUTO
scaling correction as determined by the current 255
regulator. Shall regulate close to 0 during tuning.
PWM_GRAD Allow monitoring of the automatic tuning and 0 … 255 (read only)
_AUTO
PWM_OFS
_AUTO
TOFF
determination of initial values for PWM_OFS and
PWM_GRAD.
General enable for the motor driver, the actual 0
value does not influence stealthChop
Comparator blank time. This time needs to safely 0
Driver off
Driver enabled
16 tCLK
1 … 15
TBL
cover the switching event and the duration of the
ringing on the sense resistor. Choose a setting of
1 or 2 for typical applications. For higher
capacitive loads, 3 may be required. Lower
settings allow stealthChop to regulate down to
lower coil current values.
1
2
3
24 tCLK
36 tCLK
54 tCLK
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8 spreadCycle and Classic Chopper
While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current
control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents
through both motor coils are controlled using choppers. The choppers work independently of each
other. In Figure 8.1 the different chopper phases are shown.
+VM
+VM
+VM
ICOIL
ICOIL
ICOIL
RSENSE
RSENSE
RSENSE
On Phase:
Fast Decay Phase:
current flows in
opposite direction
of target current
Slow Decay Phase:
current re-circulation
current flows in
direction of target
current
Figure 8.1 Chopper phases
Although the current could be regulated using only on phases and fast decay phases, insertion of the
slow decay phase is important to reduce electrical losses and current ripple in the motor. The
duration of the slow decay phase is specified in a control parameter and sets an upper limit on the
chopper frequency. The current comparator can measure coil current during phases when the current
flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is
terminated by a timer. The on phase is terminated by the comparator when the current through the
coil reaches the target current. The fast decay phase may be terminated by either the comparator or
another timer.
When the coil current is switched, spikes at the sense resistors occur due to charging and discharging
parasitic capacitances. During this time, typically one or two microseconds, the current cannot be
measured. Blanking is the time when the input to the comparator is masked to block these spikes.
There are two cycle-by-cycle chopper modes available: a new high-performance chopper algorithm
called spreadCycle and a proven constant off-time chopper mode. The constant off-time mode cycles
through three phases: on, fast decay, and slow decay. The spreadCycle mode cycles through four
phases: on, slow decay, fast decay, and a second slow decay.
The chopper frequency is an important parameter for a chopped motor driver. A too low frequency
might generate audible noise. A higher frequency reduces current ripple in the motor, but with a too
high frequency magnetic losses may rise. Also power dissipation in the driver rises with increasing
frequency due to the increased influence of switching slopes causing dynamic dissipation. Therefore, a
compromise needs to be found. Most motors are optimally working in a frequency range of 16 kHz to
30 kHz. The chopper frequency is influenced by a number of parameter settings as well as by the
motor inductivity and supply voltage.
Hint
A chopper frequency in the range of 16 kHz to 30 kHz gives a good result for most motors when
using spreadCycle. A higher frequency leads to increased switching losses.
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Three parameters are used for controlling both chopper modes:
Parameter
Description
Setting Comment
Sets the slow decay time (off time). This setting also
limits the maximum chopper frequency.
TOFF
0
chopper off
off time setting NCLK= 12 +
32*TOFF
(1 will work with minimum
blank time of 24 clocks)
1…15
For operation with stealthChop, this parameter is not
used, but it is required to enable the motor. In case of
operation with stealthChop only, any setting is OK.
Setting this parameter to zero completely disables all
driver transistors and the motor can free-wheel.
Selects the comparator blank time. This time needs to
safely cover the switching event and the duration of the
ringing on the sense resistor. For most applications, a
setting of 1 or 2 is good. For highly capacitive loads, 2
e.g. when filter networks are used, a setting of 2 or 3
TBL
0
1
16 tCLK
24 tCLK
36 tCLK
54 tCLK
3
will be required.
Selection of the chopper mode
chm
0
1
spreadCycle
classic const. off time
Fast decay time in multiple
of 128 clocks (128 clocks
are roughly 10µs)
TPFD
Adds passive fast decay time after bridge polarity
change. Starting from 0, increase value, in case the 0…15
motor suffers from mid-range resonances.
8.1 spreadCycle Chopper
The spreadCycle (patented) chopper algorithm is a precise and simple to use chopper mode which
automatically determines the optimum length for the fast-decay phase. The spreadCycle will provide
superior microstepping quality even with default settings. Several parameters are available to
optimize the chopper to the application.
Each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a
second slow decay phase (see Figure 8.3). The two slow decay phases and the two blank times per
chopper cycle put an upper limit to the chopper frequency. The slow decay phases typically make up
for about 30%-70% of the chopper cycle in standstill and are important for low motor and driver
power dissipation.
Calculation of a starting value for the slow decay time TOFF:
EXAMPLE:
Target Chopper frequency: 25kHz.
Assumption: Two slow decay cycles make up for 50% of overall chopper cycle time
ꢃ
5ꢄ
ꢃ
ꢀ
ꢉ푂ꢕꢕ
=
∗
∗
= ꢃꢄµ푠
ꢀ5푘퐻푧 ꢃꢄꢄ
For the TOFF setting this means:
ꢘꢑ퐹퐹 = ꢝꢉ푂ꢕꢕ ∗ 푓 − ꢃꢀꢞ/3ꢀ
ꢋ퐿퐾
With 12 MHz clock this gives a setting of TOFF=3.4, i.e. 3 or 4.
With 16 MHz clock this gives a setting of TOFF=4.6, i.e. 4 or 5.
The hysteresis start setting forces the driver to introduce a minimum amount of current ripple into
the motor coils. The current ripple must be higher than the current ripple which is caused by resistive
losses in the motor in order to give best microstepping results. This will allow the chopper to
precisely regulate the current both for rising and for falling target current. The time required to
introduce the current ripple into the motor coil also reduces the chopper frequency. Therefore, a
higher hysteresis setting will lead to a lower chopper frequency. The motor inductance limits the
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ability of the chopper to follow a changing motor current. Further the duration of the on phase and
the fast decay must be longer than the blanking time, because the current comparator is disabled
during blanking.
It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0)
and increasing HSTRT, until the motor runs smoothly at low velocity settings. This can best be
checked when measuring the motor current either with a current probe or by probing the sense
resistor voltages (see Figure 8.2). Checking the sine wave shape near zero transition will show a small
ledge between both half waves in case the hysteresis setting is too small. At medium velocities (i.e.
100 to 400 fullsteps per second), a too low hysteresis setting will lead to increased humming and
vibration of the motor.
Figure 8.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow &
blue: sense resistor voltages A and B)
A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but
will not yield any benefit for the wave shape.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
For detail procedure see Application Note AN001 - Parameterization of spreadCycle
As experiments show, the setting is quite independent of the motor, because higher current motors
typically also have a lower coil resistance. Therefore choosing a low to medium default value for the
hysteresis (for example, effective hysteresis = 4) normally fits most applications. The setting can be
optimized by experimenting with the motor: A too low setting will result in reduced microstep
accuracy, while a too high setting will lead to more chopper noise and motor power dissipation.
When measuring the sense resistor voltage in motor standstill at a medium coil current with an
oscilloscope, a too low setting shows a fast decay phase not longer than the blanking time. When
the fast decay time becomes slightly longer than the blanking time, the setting is optimum. You can
reduce the off-time setting, if this is hard to reach.
The hysteresis principle could in some cases lead to the chopper frequency becoming too low, e.g.
when the coil resistance is high when compared to the supply voltage. This is avoided by splitting
the hysteresis setting into a start setting (HSTRT+HEND) and an end setting (HEND). An automatic
hysteresis decrementer (HDEC) interpolates between both settings, by decrementing the hysteresis
value stepwise each 16 system clocks. At the beginning of each chopper cycle, the hysteresis begins
with a value which is the sum of the start and the end values (HSTRT+HEND), and decrements during
the cycle, until either the chopper cycle ends or the hysteresis end value (HEND) is reached. This way,
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the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the
frequency gets too low. This avoids the frequency reaching the audible range.
I
H
D
E
C
target current + hysteresis start
target current + hysteresis end
target current
target current - hysteresis end
target current - hysteresis start
on
sd
fd
sd
t
Figure 8.3 spreadCycle chopper scheme showing coil current during a chopper cycle
Two parameters control spreadCycle mode:
Parameter
Description
Setting Comment
HSTRT
Hysteresis start setting. This value is an offset 0…7
from the hysteresis end value HEND.
HSTRT=1…8
This value adds to HEND.
HEND
Hysteresis end setting. Sets the hysteresis end
value after a number of decrements. The sum
HSTRT+HEND must be ≤16. At a current setting of
max. 30 (amplitude reduced to 240), the sum is
not limited.
0…2
3
-3…-1: negative HEND
0: zero HEND
4…15
1…12: positive HEND
With HSTRT=0 and HEND=0, the hysteresis is 0 (off).
EXAMPLE:
A hysteresis of 4 has been chosen. You might decide to not use hysteresis decrement. In this case
set:
HEND=6
HSTRT=0
(sets an effective end value of 6-3=3)
(sets minimum hysteresis, i.e. 1: 3+1=4)
In order to take advantage of the variable hysteresis, we can set most of the value to the HSTRT, i.e.
4, and the remaining 1 to hysteresis end. The resulting configuration register values are as follows:
HEND=0
HSTRT=6
(sets an effective end value of -3)
(sets an effective start value of hysteresis end +7: 7-3=4)
Hint
Highest motor velocities sometimes benefit from setting TOFF to 2 or 3 and a short TBL of 2 or 1.
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8.2 Classic Constant Off Time Chopper
The classic constant off time chopper is an alternative to spreadCycle. Perfectly tuned, it also gives
good results. Also, the classic constant off time chopper (automatically) is used in combination with
fullstepping in dcStep operation.
The classic constant off-time chopper uses a fixed-time fast decay following each on phase. While the
duration of the on phase is determined by the chopper comparator, the fast decay time needs to be
long enough for the driver to follow the falling slope of the sine wave, but it should not be so long
that it causes excess motor current ripple and power dissipation. This can be tuned using an
oscilloscope or evaluating motor smoothness at different velocities. A good starting value is a fast
decay time setting similar to the slow decay time setting.
I
target current + offset
mean value = target current
on
on
sd
fd
sd
fd
t
Figure 8.4 Classic const. off time chopper with offset showing coil current
After tuning the fast decay time, the offset should be tuned for a smooth zero crossing. This is
necessary because the fast decay phase makes the absolute value of the motor current lower than the
target current (see Figure 8.5). If the zero offset is too low, the motor stands still for a short moment
during current zero crossing. If it is set too high, it makes a larger microstep. Typically, a positive
offset setting is required for smoothest operation.
Target current
Coil current
Target current
Coil current
I
I
t
t
Coil current does not have optimum shape
Target current corrected for optimum shape of coil current
Figure 8.5 Zero crossing with classic chopper and correction using sine wave offset
Three parameters control constant off-time mode:
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Parameter
Description
Setting Comment
TFD
Fast decay time setting. With CHM=1, these bits 0
slow decay only
(fd3
HSTRT)
& control the portion of fast decay for each chopper
cycle.
1…15
duration of fast decay
phase
OFFSET
(HEND)
Sine wave offset. With CHM=1, these bits control 0…2
negative offset: -3…-1
no offset: 0
the sine wave offset. A positive offset corrects for
zero crossing error.
3
4…15
positive offset 1…12
disfdcc
Selects usage of the current comparator for 0
termination of the fast decay cycle. If current
comparator is enabled, it terminates the fast decay
enable comparator
termination of fast decay
cycle
cycle in case the current reaches a higher negative
value than the actual positive value.
1
end by time only
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9 Selecting Sense Resistors
The TMC5160 provides several means to set the motor current: Sense resistors, GLOBALSCALER and
currentscale CS. To adapt a drive to the motor, choose a sense-resistor value fitting or slightly
exceeding the maximum desired current at 100% settings of the scalers. Fine-tune the current to the
specific motor via the 8 bit GLOBALSCALER. Situation specific motor current adaptation is done by 5
bit scalers (actual scale can be read via CS), controlled by coolStep, run- and hold current (IRUN,
IHOLD). This makes the CS control compatible to other TRINAMIC ICs.
Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The
following table shows the RMS current values which are reached using standard resistors.
CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT
WITH GLOBALSCALER=255
RSENSE [Ω]
RMS current [A]
(CS=31)
Sine wave peak
current [A] (CS=31)
0.22
0.15
0.12
0.10
0.075
0.066
0.050
0.033
0.022
1.1
1.6
2.0
2.3
3.1
3.5
4.7
7.1
1.5
2.2
2.8
3.3
4.4
5.0
6.6
10.0
15.0
10.6
Sense resistors should be carefully selected. The full motor current flows through the sense resistors.
Due to chopper operation the sense resistors see pulsed current from the MOSFET bridges. Therefore,
a low-inductance type such as film or composition resistors is required to prevent voltage spikes
causing ringing on the sense voltage inputs leading to unstable measurement results. Also, a low-
inductance, low-resistance PCB layout is essential. A massive ground plane is best. Please also refer to
layout considerations in chapter 29.
The sense resistor sets the upper current which can be set by software settings IRUN, IHOLD and
GLOBALSCALER. Choose the sense resistor value so that the maximum desired current (or slightly
more) flows at the maximum current setting (GLOBALSCALER = 0 and IRUN = 31).
CALCULATION OF RMS CURRENT
퐺ꢒꢑꢠꢎꢒ푆퐶ꢎꢒ퐸푅 퐶푆 + ꢃ
푉
ꢃ
ꢕꢓ
퐼ꢟ푀ꢓ
=
∗
∗
∗
ꢀ56
3ꢀ
푅ꢓꢔ푁ꢓꢔ
ꢀ
√
The momentary motor current is calculated by:
퐶푈푅퐴/퐵
ꢀ4ꢁ
퐺ꢒꢑꢠꢎꢒ푆퐶ꢎꢒ퐸푅
퐶푆 + ꢃ
3ꢀ
푉
ꢕꢓ
퐼푀푂푇
=
∗
∗
∗
ꢀ56
푅ꢓꢔ푁ꢓꢔ
GLOBALSCALER is the global current scaler. A setting of 0 is treated as full scale (256).
CS is the current scale setting as set by the IHOLD and IRUN and coolStep.
VFS is the full scale voltage (please refer to electrical characteristics, VSRT).
CURA/B is the actual value from the internal sine wave table.
248 is the amplitude of the internal sine wave table.
The sense resistor needs to be able to conduct the peak motor coil current in motor standstill
conditions, unless standby power is reduced. Under normal conditions, the sense resistor conducts
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less than the coil RMS current, because no current flows through the sense resistor during the slow
decay phases.
CALCULATION OF PEAK SENSE RESISTOR POWER DISSIPATION
2
푃ꢟꢓ푀퐴푋 = 퐼ꢋ푂ꢌ퐿 ∗ 푅ꢓꢔ푁ꢓꢔ
Hint
For best precision of current setting, it is advised to measure and fine tune the current in the
application. Choose the sense resistors to the next value covering the desired motor current. Set IRUN
to 31 corresponding 100% of the desired motor current and fine-tune motor current using
GLOBALSCALER.
Attention
Be sure to use a symmetrical sense resistor layout and short and straight sense resistor traces of
identical length. Well matching sense resistors ensure best performance.
A compact layout with massive ground plane is best to avoid parasitic resistance effects.
Parameter
Description
Setting Comment
IRUN
Current scale when motor is running. Scales coil 0 … 31
current values as taken from the internal sine
wave table. For high precision motor operation,
work with a current scaling factor in the range 16
to 31, because scaling down the current values
reduces the effective microstep resolution by
making microsteps coarser. This setting also
controls the maximum current value set by
coolStep.
scaling factor
1/32, 2/32, … 32/32
IHOLD
IHOLD
DELAY
Identical to IRUN, but for motor in stand still.
Allows smooth current reduction from run current 0
to hold current. IHOLDDELAY controls the number
of clock cycles for motor power down after
TZEROWAIT in increments of 2^18 clocks: 0=instant
power down, 1..15: Current reduction delay per
current step in multiple of 2^18 clocks.
instant IHOLD
1 … 15 1*218 … 15*218
clocks per current
decrement
Example: When using IRUN=31 and IHOLD=16, 15
current steps are required for hold current
reduction. A IHOLDDELAY setting of 4 thus results
in a power down time of 4*15*2^18 clock cycles,
i.e. roughly one second at 16MHz.
GLOBAL
SCALER
Allows fine control of the motor current range
setting
0 … 255 scales in 1/256 steps
0=full scale
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10 Velocity Based Mode Control
The TMC5160 allows the configuration of different chopper modes and modes of operation for
optimum motor control. Depending on the motor load, the different modes can be optimized for
lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the
features like coolStep or stallGuard2 are useful in a limited velocity range. A number of velocity
thresholds allow combining the different modes of operation within an application requiring a wide
velocity range.
Chopper mode
stealthChop
spreadCycle
const. Toff
option
option
option
option
option
option
option
v
VHIGH+Δ
VHIGH
VCOOLTHRS+Δ
VCOOLTHRS
VPWMTHRS+Δ
VPWMTHRS
0
t
current
I_RUN
I_HOLD
VACTUAL
~1/TSTEP
RMS current
TRINAMIC, B. Dwersteg, 14.3.14
coolStep current reduction
Figure 10.1 Choice of velocity dependent modes
Figure 10.1 shows all available thresholds and the required ordering. VPWMTHRS, VHIGH and
VCOOLTHRS are determined by the settings TPWMTHRS, THIGH and TCOOLTHRS. The velocity is
described by the time interval TSTEP between each two step pulses. This allows determination of the
velocity when an external step source is used. TSTEP always becomes normalized to 256
microstepping. This way, the thresholds do not have to be adapted when the microstep resolution is
changed. The thresholds represent the same motor velocity, independent of the microstep settings.
TSTEP becomes compared to these threshold values. A hysteresis of 1/16 TSTEP resp. 1/32 TSTEP is
applied to avoid continuous toggling of the comparison results when a jitter in the TSTEP
measurement occurs. The upper switching velocity is higher by 1/16, resp. 1/32 of the value set as
threshold. The stealthChop threshold TPWMTHRS is not shown. It can be included with VPWMTHRS <
VCOOLTHRS. The motor current can be programmed to a run and a hold level, dependent on the
standstill flag stst.
Using automatic velocity thresholds allows tuning the application for different velocity ranges.
Features like coolStep will integrate completely transparently in your setup. This way, once
parameterized, they do not require any activation or deactivation via software.
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Parameter
Description
Setting Comment
This flag indicates motor stand still in each operation
mode. This occurs 2^20 clocks after the last step pulse.
stst
0/1
Status bit, read only
TPOWER
DOWN
This is the delay time after stand still (stst) of the 0…255
motor to motor current power down. Time range
is about 0 to 4 seconds.
Time in multiples of 2^18
tCLK
TSTEP
Actual measured time between two 1/256 0…
microsteps derived from the step input frequency 1048575 Actual measured step time
Status register, read only.
in units of 1/fCLK. Measured value is (2^20)-1 in
case of overflow or stand still.
in multiple of tCLK
TPWMTHRS TSTEP ≥ TPWMTHRS
0…
Setting to control the
-
stealthChop PWM mode is enabled, if 1048575 upper velocity threshold
configured
dcStep is disabled
for operation in
stealthChop
-
TCOOLTHRS TCOOLTHRS ≥ TSTEP ≥ THIGH:
0…
Setting to control the
-
coolStep is enabled, if configured
1048575 lower velocity threshold
-
stealthChop voltage PWM mode is
disabled
for operation with
coolStep and stallGuard
TCOOLTHRS ≥ TSTEP
Stop on stall and stall output signal is
enabled, if configured
TSTEP ≤ THIGH:
-
THIGH
0…
Setting to control the
-
-
-
coolStep is disabled (motor runs with 1048575 upper threshold for
normal current scale)
operation with coolStep
and stallGuard as well as
optional high velocity step
mode
stealthChop voltage PWM mode is
disabled
If vhighchm is set, the chopper switches
to chm=1 with TFD=0 (constant off time
with slow decay, only).
-
If vhighfs is set, the motor operates in
fullstep mode and the stall detection
becomes switched over to dcStep stall
detection.
small_
hysteresis
Hysteresis for step frequency comparison based 0
Hysteresis is 1/16
Hysteresis is 1/32
on TSTEP (lower velocity threshold) and
(TSTEP*15/16)-1 respectively (TSTEP*31/32)-1 (upper
velocity threshold)
1
vhighfs
This bit enables switching to fullstep, when VHIGH 0
No switch to fullstep
is exceeded. Switching takes place only at 45°
1
Fullstep at high velocities
position. The fullstep target current uses the
current value from the microstep table at the 45°
position.
This bit enables switching to chm=1 and fd=0, when
VHIGH is exceeded. This way, a higher velocity can
be achieved. Can be combined with vhighfs=1. If set,
the TOFF setting automatically becomes doubled
during high velocity operation in order to avoid
doubling of the chopper frequency.
vhighchm
0
1
No change of chopper
mode
Classic const. Toff chopper
at high velocities
en_pwm_
mode
stealthChop voltage PWM enable flag (depending 0
No stealthChop
on velocity thresholds). Switch from off to on
1
StealthChop below
VPWMTHRS
state while in stand still, only.
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11 Diagnostics and Protection
The TMC5160 supplies a complete set of diagnostic and protection capabilities, like short circuit
protection and undervoltage detection. Open load detection allows testing if a motor coil connection
is interrupted. See the DRV_STATUS table for details.
11.1 Temperature Sensors
The driver integrates a four level temperature sensor (120°C pre-warning and selectable 136°C / 143°C /
150°C thermal shutdown) for diagnostics and for protection of the IC and the power MOSFETs and
adjacent components against excess heat. Choose the overtemperature level to safely cover error
conditions like missing heat convection. Heat is mainly generated by the power MOSFETs, and, at
increased voltage, by the internal voltage regulators. For many applications, already the
overtemperature pre-warning will indicate an abnormal operation situation and can be used to initiate
user warning or power reduction measures like motor current reduction. The thermal shutdown is
just an emergency measure and temperature rising to the shutdown level should be prevented by
design.
After triggering the overtemperature sensor (ot flag), the driver remains switched off until the system
temperature falls below the pre-warning level (otpw) to avoid continuous heating to the shutdown
level.
11.2 Short Protection
The TMC5160 protects the MOSFET power stages against a short circuit or overload condition by
monitoring the voltage drop in the high-side MOSFETs, as well as the voltage drop in sense resistor
and low-side MOSFETs (Figure 11.1). A programmable short detection delay (shortdelay) allows
adjusting the detector to work with very slow switching slopes. Additionally, the short detector
allows filtering of the signal. This helps to prevent spurious triggering caused by effects of PCB
layout, or long, adjacent motor cables (SHORTFILTER). All control bits are available via register
SHORT_CONF. Additionally, the short detection is protected against single events, e.g. caused by ESD
discharges, by retrying three times before switching off the motor continuously.
Parameter
Description
Setting Comment
S2VS_LEVEL Short or overcurrent detector level for lowside 4…15
FETs. Checks for voltage drop in LS MOSFET and
sense resistor.
4 (highest sensitivity) …
15 (lowest sensitivity)
(Reset Default:
Hint: 6 to 8 recommended, down to 4 at low
current scale
OTP 6 or 12)
S2G_LEVEL
S2G_LEVEL:
2…15
2 (highest sensitivity) …
15 (lowest sensitivity)
(Reset Default:
Short to GND detector level for highside FETs.
Checks for voltage drop on high side MOSFET.
Hint: 6 to 14 recommended (minimum 12 if the
bridge supply voltage can exceed 52V)
Spike filtering bandwidth for short detection
Hint: A good PCB layout will allow using setting 0.
Increase value, if erroneous short detection
occurs.
OTP 6 or 12)
SHORT_
FILTER
0…3
0 (lowest, 100ns),
1 (1µs) (Reset Default),
2 (2µs),
3 (3µs)
shortdelay
shortdelay: Short detection delay
The short detection delay shall cover the bridge
0/1
0=750ns: normal,
1=1500ns: high
switching time. 0 will work for most applications.
CHOPCONF. Allows to disable short to VS protection.
diss2vs
CHOPCONF. Allows to disable short to GND protection.
diss2g
0/1
0/1
Leave detection enabled
for normal use (0).
Leave detection enabled
for normal use (0).
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Internal low-side
driver enable
1
0
Internal high-side
driver enable
1
0
VS
VS-VBM
S2G level
No-short
area
Short to GND
detected
LS short
detection
(S2VS)
Output
floating
BMx
(coil output
voltage)
HS short
detection
(S2G)
S2VS level
VBM
No-short
area
0V
tSD
tSD
tSD
1
0
Driver disable
inactive
Short detected
Internal Error Flag
short
delay
detection
active
inactive
detection active
Short to VS monitor phase
Short to GND monitor phase
short
delay
short
delay
inactive
inactive
Figure 11.1 Short detection
As the low-side short detection includes the sense resistor, it can be set to a high sensitivity and
provides good precision of current detection. This way, it will safely cover most overcurrent
conditions, i.e. when the motor stalls, or is abruptly stopped in stealthChop mode.
Hint
Once a short condition is safely detected, the corresponding driver bridge (A or B) becomes switched
off, and the s2ga or s2gb flag, respectively s2vsa or s2vsb becomes set.
To restart the motor, disable and re-enable the driver.
Attention
Short protection cannot protect the system and the power stages for all possible short events, as a
short event is rather undefined and a complex network of external components may be involved.
Therefore, short circuits should basically be avoided.
Hint
Set low-side short protection (S2VS) to sensitively detect an overcurrent condition (at 150 to 200% of
nominal peak current). Especially with low resistive motors an overcurrent can easily be triggered by
false settings, or motor stall when using stealthChop. Therefore, a sensitive short to VS setting will
protect the power stage.
Attention
High-side short detection (S2G) sensitivity may increase at voltages of 52V and above. Therefore, a
higher setting is required if motor supply voltage can overshoot up to 55V. We recommend a setting
of 12 to 15 in this case. For fine tuning of overcurrent detection, trim the S2VS detector threshold.
High-side short detection may falsely trigger if motor supply voltage overshoots 55V.
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11.3 Open Load Diagnostics
Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly
plugged. The TMC5160 detects open load conditions by checking, if it can reach the desired motor coil
current. This way, also undervoltage conditions, high motor velocity settings or short and
overtemperature conditions may cause triggering of the open load flag, and inform the user, that
motor torque may suffer. In motor stand still, open load cannot be measured, as the coils might
eventually have zero current.
Open load detection is provided for system debugging.
In order to safely detect an interrupted coil connection, read out the open load flags at low or
nominal motor velocity operation, only. If possible, use spreadCycle for testing, as it provides the
most accurate test. However, the ola and olb flags have just informative character and do not cause
any action of the driver.
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12 Ramp Generator
The ramp generator allows motion based on target position or target velocity. It automatically
calculates the optimum motion profile taking into account acceleration and velocity settings. The
TMC5160 integrates a new type of ramp generator, which offers faster machine operation compared to
the classical linear acceleration ramps. The sixPoint ramp generator allows adapting the acceleration
ramps to the torque curves of a stepper motor and uses two different acceleration settings each for
the acceleration phase and for the deceleration phase. See Figure 12.2.
12.1 Real World Unit Conversion
The TMC5160 uses its internal or external clock signal as a time reference for all internal operations.
Thus, all time, velocity and acceleration settings are referenced to fCLK. For best stability and
reproducibility, it is recommended to use an external quartz oscillator as a time base, or to provide a
clock signal from a microcontroller.
The units of a TMC5160 register content are written as register[5160].
PARAMETER VS. UNITS
Parameter / Symbol
Unit
calculation / description / comment
fCLK[Hz]
s
[Hz]
[s]
clock frequency of the TMC5160 in [Hz]
second
US
µstep
FS
fullstep
µsteps / s
µsteps / s^2
µstep velocity v[Hz]
µstep acceleration a[Hz/s]
v[Hz] = v[5160] * ( fCLK[Hz]/2 / 2^23 )
a[Hz/s] = a[5160] * fCLK[Hz]^2 / (512*256) / 2^24
microstep resolution in number of microsteps
(i.e. the number of microsteps between two
fullsteps – normally 256)
USC microstep count
counts
v[rps] = v[µsteps/s] / USC / FSC
rotations per second v[rps]
rps acceleration a[rps/s^2]
rotations / s
FSC: motor fullsteps per rotation, e.g. 200
a[rps/s^2] = a[µsteps/s^2] / USC / FSC
rs = (v[5160])^2 / a[5160] / 2^8
rotations / s^2
ramp steps[µsteps] = rs
µsteps
microsteps during linear acceleration ramp
(assuming acceleration from 0 to v)
TSTEP = fCLK / fSTEP
The time reference for velocity thresholds is
referred to the actual microstep frequency of
the clock input respectively velocity v[Hz].
TSTEP, T…THRS
-
In rare cases, the upper acceleration limit might impose a limitation to the application, e.g. when
working with a reduced clock frequency or high gearing and low load on the motor. In order to
increase the effective acceleration possible, the microstep resolution of the sequencer input may be
decreased. Setting the CHOPCONF options intpol=1 and MRES=%0001 will double the motor velocity for
the same speed setting and thus also double effective acceleration and deceleration. The motor will
have the same smoothness, but half position resolution with this setting.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
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12.2 Motion Profiles
For the ramp generator register set, please refer to the chapter 6.3.
12.2.1 Ramp Mode
The ramp generator delivers two phase acceleration and two phase deceleration ramps with
additional programmable start and stop velocities (see Figure 12.1).
Note
The start velocity can be set to zero, if not used.
The stop velocity can be set to ten (or down to one), if not used.
Take care to set VSTOP identical to or above VSTART. This ensures that even a short motion can
be terminated successfully at the target position.
The two different sets of acceleration and deceleration can be combined freely. A common transition
speed V1 allows for velocity dependent switching between both acceleration and deceleration
settings. A typical use case will use lower acceleration and deceleration values at higher velocities, as
the motors torque declines at higher velocity. When considering friction in the system, it becomes
clear, that typically deceleration of the system is quicker than acceleration. Thus, deceleration values
can be higher in many applications. This way, operation speed of the motor in time critical
applications can be maximized.
As target positions and ramp parameters may be changed any time during the motion, the motion
controller will always use the optimum (fastest) way to reach the target, while sticking to the
constraints set by the user. This way it might happen, that the motion becomes automatically
stopped, crosses zero and drives back again. This case is flagged by the special flag second_move.
12.2.2 Start and Stop Velocity
When using increased levels of start- and stop velocity, it becomes clear, that a subsequent move into
the opposite direction would provide a jerk identical to VSTART+VSTOP, rather than only VSTART. As
the motor probably is not able to follow this, you can set a time delay for a subsequent move by
setting TZEROWAIT. An active delay time is flagged by the flag t_zerowait_active. Once the target
position is reached, the flag position_reached becomes active.
motor
stop
acceleration
phase
v
acceleration phase
deceleration phase
VMAX
D
M
A
X
X
A
M
A
V1
D
1
1
A
VSTOP
VSTART
0
t
-
A
1
VACTUAL
Figure 12.1 Ramp generator velocity trace showing consequent move in negative direction
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torque
high deceleration
2xMFRICT
reduced decel.
reduced accel.
m
o
MMAX
t
o
r
t
o
r
q
u
e
high acceleration
MNOM1
MNOM2
Torque available for acceleration A1
Torque available for
AMAX
MFRICT
Torque required
for static loads
0
velocity [RPM]
MFRICT Portion of torque required for friction and static load within the system
MMAX Motor pull-out torque at v=0
MNOM1/2 Torque available at V1 resp. VMAX
Motor torque used in acceleration phase
Overall torque usable for deceleration
Figure 12.2 Illustration of optimized motor torque usage with TMC5160 ramp generator
12.2.3 Velocity Mode
For the ease of use, velocity mode movements do not use the different acceleration and deceleration
settings. You need to set VMAX and AMAX only for velocity mode. The ramp generator always uses
AMAX to accelerate or decelerate to VMAX in this mode.
In order to decelerate the motor to stand still, it is sufficient to set VMAX to zero. The flag vzero
signals standstill of the motor. The flag velocity_reached always signals, that the target velocity has
been reached.
12.2.4 Early Ramp Termination
In cases where users can interact with a system, some applications require terminating a motion by
ramping down to zero velocity before the target position has been reached.
OPTIONS TO TERMINATE MOTION USING ACCELERATION SETTINGS:
a) Switch to velocity mode, set VMAX=0 and AMAX to the desired deceleration value. This will stop
the motor using a linear ramp.
b) For a stop in positioning mode, set VSTART=0 and VMAX=0. VSTOP is not used in this case. The
driver will use AMAX and A1 (as determined by V1) for going to zero velocity.
c) For a stop using D1, DMAX and VSTOP, trigger the deceleration phase by copying XACTUAL to
XTARGET. Set TZEROWAIT sufficiently to allow the CPU to interact during this time. The driver will
decelerate and eventually come to a stop. Poll the actual velocity to terminate motion during
TZEROWAIT time using option a) or b).
d) Activate a stop switch. This can be done by means of the hardware input, e.g. using a wired 'OR'
to the stop switch input. If you do not use the hardware input and have tied the REFL and REFR
to a fixed level, enable the stop function (stop_l_enable, stop_r_enable) and use the inverting
function (pol_stop_l, pol_stop_r) to simulate the switch activation.
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12.2.5 Application Example: Joystick Control
Applications like surveillance cameras can be optimally enhanced using the motion controller: while
joystick commands operate the motor at a user defined velocity, the target ramp generator ensures
that the valid motion range never is left.
REALIZE JOYSTICK CONTROL
1. Use positioning mode in order to control the motion direction and to set the motion limit(s).
2. Modify VMAX at any time in the range VSTART to your maximum value. With VSTART=0, you can
also stop motion by setting VMAX=0. The motion controller will use A1 and AMAX as determined
by V1 to adapt velocity for ramping up and ramping down.
3. In case you do not modify the acceleration settings, you do not need to rewrite XTARGET, just
modify VMAX.
4. DMAX, D1 and VSTOP only become used when the ramp controller slows down due to reaching
the target position, or when the target position has been modified to point to the other direction.
12.3 Velocity Thresholds
The ramp generator provides a number of velocity thresholds coupled with the actual velocity
VACTUAL. The different ranges allow programming the motor to the optimum step mode, coil current
and acceleration settings. Most applications will not require all of the thresholds, but in principle all
modes can be combined as shown in Figure 12.1. VHIGH and VCOOLTHRS are determined by the
settings THIGH and TCOOLTHRS in order to allow determination of the velocity when an external step
source is used. TSTEP becomes compared to these threshold values. A hysteresis of 1/16 TSTEP resp.
1/32 TSTEP is applied to avoid continuous toggling of the comparison results when a jitter in the
TSTEP measurement occurs. The upper switching velocity is higher by 1/16, resp. 1/32 of the value set
as threshold. The stealthChop threshold TPWMTHRS is not shown. It can be included with VPWMTHRS
< VCOOLTHRS.
v
VMAX
VHIGH
D
X
M
A
M
A
A
X
V1
D
1
1
A
VCOOLTHRS
VSTOP
VSTART
0
t
current
I_RUN
I_HOLD
VACTUAL
RMS current
coolStep current reduction
Figure 12.3 Ramp generator velocity dependent motor control
The velocity thresholds for the different chopper modes and sensorless operation features are coupled
to the time between each two microsteps TSTEP.
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12.4 Reference Switches
Prior to normal operation of the drive an absolute reference position must be set. The reference
position can be found using a mechanical stop which can be detected by stall detection, or by a
reference switch.
In case of a linear drive, the mechanical motion range must not be left. This can be ensured also for
abnormal situations by enabling the stop switch functions for the left and the right reference switch.
Therefore, the ramp generator responds to a number of stop events as configured in the SW_MODE
register. There are two ways to stop the motor:
-
It can be stopped abruptly, when a switch is hit. This is useful in an emergency case and for
stallGuard based homing.
-
Or the motor can be softly decelerated to zero using deceleration settings (DMAX, V1, D1).
Hint
Latching of the ramp position XACTUAL to the holding register XLATCH upon a switch event gives a
precise snapshot of the position of the reference switch.
+VCC_IO
+VCC_IO
10k
10k
REFL
REFR
Motor
22k
1nF
Negative
direction
Traveler
Positive
direction
Optional RC filter
(example)
Figure 12.4 Using reference switches (example)
Normally open or normally closed switches can be used by programming the switch polarity or
selecting the pullup or pull-down resistor configuration. A normally closed switch is failsafe with
respect to an interrupt of the switch connection. Switches which can be used are:
-
-
-
mechanical switches,
photo interrupters, or
hall sensors.
Be careful to select reference switch resistors matching your switch requirements!
In case of long cables additional RC filtering might be required near the TMC5160 reference inputs.
Adding an RC filter will also reduce the danger of destroying the logic level inputs by wiring faults,
but it will add a certain delay which should be considered with respect to the application.
IMPLEMENTING A HOMING PROCEDURE
1. Make sure, that the home switch is not pressed, e.g. by moving away from the switch.
2. Activate position latching upon the desired switch event and activate motor (soft) stop upon
active switch. stallGuard based homing requires using a hard stop (en_softstop=0).
3. Start a motion ramp into the direction of the switch. (Move to a more negative position for a left
switch, to a more positive position for a right switch). You may timeout this motion by using a
position ramping command.
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4. As soon as the switch is hit, the position becomes latched and the motor is stopped. Wait until
the motor is in standstill again by polling the actual velocity VACTUAL or checking vzero or the
standstill flag.
5. Switch the ramp generator to hold mode and calculate the difference between the latched
position and the actual position. For stallGuard based homing or when using hard stop, XACTUAL
stops exactly at the home position, so there is no difference (0).
6. Write the calculated difference into the actual position register. Now, homing is finished. A move
to position 0 will bring back the motor exactly to the switching point. In case stallGuard was
used for homing, read and write back RAMP_STAT to clear the stallGuard stop event event_stop_sg
and release the motor from the stop condition.
HOMING WITH A THIRD SWITCH
Some applications use an additional home switch, which operates independently of the mechanical
limit switches. The encoder functionality of the TMC5160 provides an additional source for position
latching. It allows using the N channel input to snapshot XACTUAL with a rising or falling edge event,
or both. This function also provides an interrupt output.
1. Activate the latching function (ENCMODE: Set ignoreAB, clr_cont, neg_edge or pos_edge and
latch_x_act). The latching function can then trigger the interrupt output (check by reading n_event
in ENC_STATUS when interrupt is signaled at DIAG0).
2. Move to the direction, where the N channel switch should be. In case the motor hits a stop
switch (REFL or REFR) before the home switch is detected, reverse the motion direction.
3. Read out XLATCH once the switch has been triggered. It gives the position of the switch event.
4. After detection of the switch event, stop the motor, and subtract XLATCH from the actual position.
Read and write back ENC_STAT to clear the status flags. (A detailed description of the required
steps is in the homing procedure above.)
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13 stallGuard2 Load Measurement
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. The stallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings, as shown in Figure 13.1. At maximum motor load, the value goes
to zero or near to zero. This corresponds to a load angle of 90° between the magnetic field of the
coils and magnets in the rotor. This also is the most energy-efficient point of operation for the motor.
1000
900
stallGuard2
Start value depends
on motor and
operating conditions
800
700
600
500
400
300
200
100
0
reading
stallGuard value reaches zero
and indicates danger of stall.
This point is set by stallGuard
threshold value SGT.
Motor stalls above this point.
Load angle exceeds 90° and
available torque sinks.
10
20
30
40
50
60
70
80
90 100
motor load
(% max. torque)
Figure 13.1 Function principle of stallGuard2
Parameter
Description
Setting Comment
SGT
This signed value controls the stallGuard2 0
threshold level for stall detection and sets the
optimum measurement range for readout. A
lower value gives a higher sensitivity. Zero is the
starting value working with most motors. A
higher value makes stallGuard2 less sensitive and
requires more torque to indicate a stall.
indifferent value
+1… +63 less sensitivity
-1… -64 higher sensitivity
sfilt
Enables the stallGuard2 filter for more precision 0
standard mode
of the measurement. If set, reduces the
measurement frequency to one measurement per
electrical period of the motor (4 fullsteps).
1
filtered mode
Status word Description
SG_RESULT
Range
Comment
This is the stallGuard2 result. A higher reading 0… 1023 0: highest load
indicates less mechanical load. A lower reading
indicates a higher load and thus a higher load
angle. Tune the SGT setting to show a SG_RESULT
reading of roughly 0 to 100 at maximum load
before motor stall.
low value: high load
high value: less load
Hint
In order to use stallGuard2 and coolStep, the stallGuard2 sensitivity should first be tuned using the
SGT setting!
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13.1 Tuning stallGuard2 Threshold SGT
The stallGuard2 value SG_RESULT is affected by motor-specific characteristics and application-specific
demands on load and velocity. Therefore the easiest way to tune the stallGuard2 threshold SGT for a
specific motor type and operating conditions is interactive tuning in the actual application.
INITIAL PROCEDURE FOR TUNING STALLGUARD SGT
1. Operate the motor at the normal operation velocity for your application and monitor SG_RESULT.
2. Apply slowly increasing mechanical load to the motor. If the motor stalls before SG_RESULT
reaches zero, decrease SGT. If SG_RESULT reaches zero before the motor stalls, increase SGT. A
good SGT starting value is zero. SGT is signed, so it can have negative or positive values.
3. Set TCOOLTHRS to a value above TSTEP and enable sg_stop to enable the stop on stall feature.
Make sure, that the motor is safely stopped whenever it is stalled. Increase SGT if the motor
becomes stopped before a stall occurs. Restart the motor by disabling sg_stop or by reading and
writing back the RAMP_STAT register (write+clear function).
4. The optimum setting is reached when SG_RESULT is between 0 and roughly 100 at increasing load
shortly before the motor stalls, and SG_RESULT increases by 100 or more without load. SGT in
most cases can be tuned for a certain motion velocity or a velocity range. Make sure, that the
setting works reliable in a certain range (e.g. 80% to 120% of desired velocity) and also under
extreme motor conditions (lowest and highest applicable temperature).
OPTIONAL PROCEDURE ALLOWING AUTOMATIC TUNING OF SGT
The basic idea behind the SGT setting is a factor, which compensates the stallGuard measurement for
resistive losses inside the motor. At standstill and very low velocities, resistive losses are the main
factor for the balance of energy in the motor, because mechanical power is zero or near to zero. This
way, SGT can be set to an optimum at near zero velocity. This algorithm is especially useful for tuning
SGT within the application to give the best result independent of environment conditions, motor
stray, etc.
1. Operate the motor at low velocity < 10 RPM (i.e. a few to a few fullsteps per second) and target
operation current and supply voltage. In this velocity range, there is not much dependence of
SG_RESULT on the motor load, because the motor does not generate significant back EMF.
Therefore, mechanical load will not make a big difference on the result.
2. Switch on sfilt. Now increase SGT starting from 0 to a value, where SG_RESULT starts rising. With
a high SGT, SG_RESULT will rise up to the maximum value. Reduce again to the highest value,
where SG_RESULT stays at 0. Now the SGT value is set as sensibly as possible. When you see
SG_RESULT increasing at higher velocities, there will be useful stall detection.
The upper velocity for the stall detection with this setting is determined by the velocity, where the
motor back EMF approaches the supply voltage and the motor current starts dropping when further
increasing velocity.
SG_RESULT goes to zero when the motor stalls and the ramp generator can be programmed to stop
the motor upon a stall event by enabling sg_stop in SW_MODE. Set TCOOLTHRS to match the lower
velocity threshold where stallGuard delivers a good result in order to use sg_stop.
The power supply voltage also affects SG_RESULT, so tighter voltage regulation results in more
accurate values. stallGuard measurement has a high resolution, and there are a few ways to enhance
its accuracy, as described in the following sections.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
For detail procedure see Application Note AN002 - Parameterization of stallGuard2 & coolStep
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13.1.1 Variable Velocity Limits TCOOLTHRS and THIGH
The SGT setting chosen as a result of the previously described SGT tuning can be used for a certain
velocity range. Outside this range, a stall may not be detected safely, and coolStep might not give the
optimum result.
good operation
range with single
1000
900
800
700
600
500
400
300
200
100
0
20
18
16
14
12
10
8
SGT setting
stallGuard2
reading at
no load
optimum
SGT setting
6
4
2
0
50
100
150
200
250
300
350
400
450
500
550
600
Motor RPM
(200 FS motor)
lower limit for stall
detection
back EMF reaches
supply voltage
Figure 13.2 Example: optimum SGT setting and stallGuard2 reading with an example motor
In many applications, operation at or near a single operation point is used most of the time and a
single setting is sufficient. The driver provides a lower and an upper velocity threshold to match this.
The stall detection is disabled outside the determined operation point, e.g. during acceleration phases
preceding a sensorless homing procedure when setting TCOOLTHRS to a matching value. An upper
limit can be specified by THIGH.
In some applications, a velocity dependent tuning of the SGT value can be expedient, using a small
number of support points and linear interpolation.
13.1.2 Small Motors with High Torque Ripple and Resonance
Motors with a high detent torque show an increased variation of the stallGuard2 measurement value
SG with varying motor currents, especially at low currents. For these motors, the current dependency
should be checked for best result.
13.1.3 Temperature Dependence of Motor Coil Resistance
Motors working over a wide temperature range may require temperature correction, because motor
coil resistance increases with rising temperature. This can be corrected as a linear reduction of SGT at
increasing temperature, as motor efficiency is reduced.
13.1.4 Accuracy and Reproducibility of stallGuard2 Measurement
In a production environment, it may be desirable to use a fixed SGT value within an application for
one motor type. Most of the unit-to-unit variation in stallGuard2 measurements results from manu-
facturing tolerances in motor construction. The measurement error of stallGuard2 – provided that all
other parameters remain stable – can be as low as:
|
|
푠ꢉ푎푙푙퐺푢푎푟푑 ꢍꢙ푎푠푢푟ꢙꢍꢙ푛ꢉ ꢙ푟푟표푟 = ±ꢍ푎푥ꢝꢃ, 푆퐺ꢘ ꢞ
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13.2 stallGuard2 Update Rate and Filter
The stallGuard2 measurement value SG_RESULT is updated with each full step of the motor. This is
enough to safely detect a stall, because a stall always means the loss of four full steps. In a practical
application, especially when using coolStep, a more precise measurement might be more important
than an update for each fullstep because the mechanical load never changes instantaneously from
one step to the next. For these applications, the sfilt bit enables a filtering function over four load
measurements. The filter should always be enabled when high-precision measurement is required. It
compensates for variations in motor construction, for example due to misalignment of the phase A to
phase B magnets. The filter should be disabled when rapid response to increasing load is required
and for best results of sensorless homing using stallGuard.
13.3 Detecting a Motor Stall
For best stall detection, work without stallGuard filtering (sfilt=0). To safely detect a motor stall the
stall threshold must be determined using a specific SGT setting. Therefore, the maximum load needs
to be determined, which the motor can drive without stalling. At the same time, monitor the
SG_RESULT value at this load, e.g. some value within the range 0 to 100. The stall threshold should be
a value safely within the operating limits, to allow for parameter stray. The response at an SGT
setting at or near 0 gives some idea on the quality of the signal: Check the SG value without load and
with maximum load. They should show a difference of at least 100 or a few 100, which shall be large
compared to the offset. If you set the SGT value in a way, that a reading of 0 occurs at maximum
motor load, the stall can be automatically detected by the motion controller to issue a motor stop. In
the moment of the step resulting in a step loss, the lowest reading will be visible. After the step loss,
the motor will vibrate and show a higher SG_RESULT reading.
13.4 Homing with stallGuard
The homing of a linear drive requires moving the motor into the direction of a hard stop. As
stallGuard needs a certain velocity to work (as set by TCOOLTHRS), make sure that the start point is far
enough away from the hard stop to provide the distance required for the acceleration phase. After
setting up SGT and the ramp generator registers, start a motion into the direction of the hard stop
and activate the stop on stall function (set sg_stop in SW_MODE). Once a stall is detected, the ramp
generator stops motion and sets VACTUAL zero, stopping the motor. The stop condition also is
indicated by the flag stallGuard in DRV_STATUS. After setting up new motion parameters in order to
prevent the motor from restarting right away, stallGuard can be disabled, or the motor can be re-
enabled by reading and writing back RAMP_STAT. The write and clear function of the event_stop_sg
flag in RAMP_STAT restarts the motor after expiration of TZEROWAIT in case the motion parameters
have not been modified. Best results are yielded at 30% to 70% of nominal motor current and
typically 1 to 5 RPS (motors smaller than NEMA17 may require higher velocities).
13.5 Limits of stallGuard2 Operation
stallGuard2 does not operate reliably at extreme motor velocities: Very low motor velocities (for many
motors, less than one revolution per second) generate a low back EMF and make the measurement
unstable and dependent on environment conditions (temperature, etc.). The automatic tuning
procedure described above will compensate for this. Other conditions will also lead to extreme
settings of SGT and poor response of the measurement value SG_RESULT to the motor load.
Very high motor velocities, in which the full sinusoidal current is not driven into the motor coils also
leads to poor response. These velocities are typically characterized by the motor back EMF reaching
the supply voltage.
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14 coolStep Operation
coolStep is an automatic smart energy optimization for stepper motors based on the motor
mechanical load, making them “green”.
14.1 User Benefits
Energy efficiency
–
–
–
–
consumption decreased up to 75%
improved mechanical precision
for motor and driver
Motor generates less heat
Less cooling infrastructure
Cheaper motor
does the job!
coolStep allows substantial energy savings, especially for motors which see varying loads or operate
at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30%
to 50%, even a constant-load application allows significant energy savings because coolStep
automatically enables torque reserve when required. Reducing power consumption keeps the system
cooler, increases motor life, and allows reducing cost in the power supply and cooling components.
Reducing motor current by half results in reducing power by a factor of four.
14.2 Setting up for coolStep
coolStep is controlled by several parameters, but two are critical for understanding how it works:
Parameter
Description
Range
Comment
SEMIN
4-bit unsigned integer that sets a lower threshold. 0
disable coolStep
threshold is SEMIN*32
If SG goes below this threshold, coolStep
increases the current to both coils. The 4-bit
SEMIN value is scaled by 32 to cover the lower
half of the range of the 10-bit SG value. (The
name of this parameter is derived from
smartEnergy, which is an earlier name for
coolStep.)
1…15
SEMAX
4-bit unsigned integer that controls an upper 0…15
threshold. If SG is sampled equal to or above this
threshold enough times, coolStep decreases the
current to both coils. The upper threshold is
(SEMIN + SEMAX + 1)*32.
threshold is
(SEMIN+SEMAX+1)*32
Figure 14.1 shows the operating regions of coolStep:
-
-
-
The black line represents the SG measurement value.
The blue line represents the mechanical load applied to the motor.
The red line represents the current into the motor coils.
When the load increases, SG_RESULT falls below SEMIN, and coolStep increases the current. When the
load decreases, SG_RESULT rises above (SEMIN + SEMAX + 1) * 32, and the current is reduced.
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motor current reduction area
current setting I_RUN
(upper limit)
SEMAX+SEMIN+1
SEMIN
½ or ¼ I_RUN
motor current increment area
stall possible
(lower limit)
0=maximum load
Zeit
load
angle
load angle optimized
load angle optimized
optimized
Figure 14.1 coolStep adapts motor current to the load
Five more parameters control coolStep and one status value is returned:
Parameter
Description
Range
Comment
SEUP
Sets the current increment step. The current 0…3
becomes incremented for each measured
stallGuard2 value below the lower threshold.
Sets the number of stallGuard2 readings above the 0…3
upper threshold necessary for each current
decrement of the motor current.
step width is
1, 2, 4, 8
SEDN
number of stallGuard2
measurements per
decrement:
32, 8, 2, 1
SEIMIN
Sets the lower motor current limit for coolStep 0
0: 1/2 of IRUN
1: 1/4 of IRUN
operation by scaling the IRUN current setting.
1
TCOOL
THRS
Lower velocity threshold for switching on 1…
coolStep and stop on stall. Below this velocity 2^20-1
coolStep becomes disabled (not used in STEP/DIR
mode). Adapt to the lower limit of the velocity
range where stallGuard2 gives a stable result.
Specifies lower coolStep
velocity by comparing
the threshold value to
TSTEP
Hint: May be adapted to disable coolStep during
acceleration and deceleration phase by setting
identical to VMAX.
THIGH
Upper velocity threshold value for coolStep and 1…
stop on stall. Above this velocity coolStep 2^20-1
becomes disabled. Adapt to the velocity range
where stallGuard2 gives a stable result.
Also controls additional
functions like switching
to fullstepping.
Status
word
Description
Range
Comment
This status value provides the actual motor
current scale as controlled by coolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
CSACTUAL
0…31
1/32, 2/32, … 32/32
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14.3 Tuning coolStep
Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the
load measurement value SG_RESULT. coolStep uses SG_RESULT to operate the motor near the
optimum load angle of +90°.
The current increment speed is specified in SEUP, and the current decrement speed is specified in
SEDN. They can be tuned separately because they are triggered by different events that may need
different responses. The encodings for these parameters allow the coil currents to be increased much
more quickly than decreased, because crossing the lower threshold is a more serious event that may
require a faster response. If the response is too slow, the motor may stall. In contrast, a slow
response to crossing the upper threshold does not risk anything more serious than missing an
opportunity to save power.
coolStep operates between limits controlled by the current scale parameter IRUN and the seimin bit.
14.3.1 Response Time
For fast response to increasing motor load, use a high current increment step SEUP. If the motor load
changes slowly, a lower current increment step can be used to avoid motor oscillations. If the filter
controlled by sfilt is enabled, the measurement rate and regulation speed are cut by a factor of four.
Hint
The most common and most beneficial use is to adapt coolStep for operation at the typical system
target operation velocity and to set the velocity thresholds according. As acceleration and
decelerations normally shall be quick, they will require the full motor current, while they have only a
small contribution to overall power consumption due to their short duration.
14.3.2 Low Velocity and Standby Operation
Because coolStep is not able to measure the motor load in standstill and at very low RPM, a lower
velocity threshold is provided in the ramp generator. It should be set to an application specific
default value. Below this threshold the normal current setting via IRUN respectively IHOLD is valid. An
upper threshold is provided by the VHIGH setting. Both thresholds can be set as a result of the
stallGuard2 tuning process.
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15 STEP/DIR Interface
The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion
controllers. The microPlyer STEP pulse interpolator brings the smooth motor operation of high-
resolution microstepping to applications originally designed for coarser stepping. In case an external
step source is used, the complete integrated motion controller can be switched off. The only motion
controller registers remaining active in this case are the current settings in register IHOLD_IRUN.
15.1 Timing
Figure 15.1 shows the timing parameters for the STEP and DIR signals, and the table below gives
their specifications. When the dedge mode bit in the CHOPCONF register is set, both edges of STEP
are active. If dedge is cleared, only rising edges are active. STEP and DIR are sampled and
synchronized to the system clock. An internal analog filter removes glitches on the signals, such as
those caused by long PCB traces. If the signal source is far from the chip, and especially if the signals
are carried on cables, the signals should be filtered or differentially transmitted.
+VCC_IO
DIR
SchmittTrigger
tSH
tSL
tDSH
tDSU
STEP
or DIR
Input
83k
0.56 VCC_IO
0.44 VCC_IO
STEP
Internal
Signal
C
Input filter
R*C = 20ns +-30%
Figure 15.1 STEP and DIR timing, Input pin filter
STEP and DIR interface timing
Parameter
AC-Characteristics
clock period is tCLK
Symbol Conditions
Min
Typ
Max
Unit
step frequency (at maximum
microstep resolution)
fSTEP
dedge=0
½ fCLK
dedge=1
¼ fCLK
fullstep frequency
STEP input low time *)
fFS
tSL
fCLK/512
max(tFILTSD
tCLK+20)
max(tFILTSD
tCLK+20)
,
,
100
100
ns
ns
STEP input high time *)
tSH
DIR to STEP setup time
DIR after STEP hold time
STEP and DIR spike filtering time
*)
tDSU
tDSH
tFILTSD
20
20
13
ns
ns
ns
rising and falling
edge
20
30
STEP and DIR sampling relative
to rising CLK input
tSDCLKHI
before rising edge
of CLK input
tFILTSD
ns
*) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase
filtering delay tFILTSD, due to an internal input RC filter.
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15.2 Changing Resolution
The TMC5160 includes an internal microstep table with 1024 sine wave entries to generate sinusoidal
motor coil currents. These 1024 entries correspond to one electrical revolution or four fullsteps. The
microstep resolution setting determines the step width taken within the table. Depending on the DIR
input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the
step width. The microstep resolution determines the increment respectively the decrement. At
maximum resolution, the sequencer advances one step for each step pulse. At half resolution, it
advances two steps. Increment is up to 256 steps for fullstepping. The sequencer has special
provision to allow seamless switching between different microstep rates at any time. When switching
to a lower microstep resolution, it calculates the nearest step within the target resolution and reads
the current vector at that position. This behavior especially is important for low resolutions like
fullstep and halfstep, because any failure in the step sequence would lead to asymmetrical run when
comparing a motor running clockwise and counterclockwise.
EXAMPLES:
Fullstep:
Cycles through table positions: 128, 384, 640 and 896 (45°, 135°, 225° and 315° electrical
position, both coils on at identical current). The coil current in each position
corresponds to the RMS-Value (0.71 * amplitude). Step size is 256 (90° electrical)
Half step:
The first table position is 64 (22.5° electrical), Step size is 128 (45° steps)
Quarter step: The first table position is 32 (90°/8=11.25° electrical), Step size is 64 (22.5° steps)
This way equidistant steps result and they are identical in both rotation directions. Some older drivers
also use zero current (table entry 0, 0°) as well as full current (90°) within the step tables. This kind of
stepping is avoided because it provides less torque and has a worse power dissipation in driver and
motor.
Step position
table position
64
current coil A
38.3%
current coil B
92.4%
Half step 0
Full step 0
Half step 1
Half step 2
Full step 1
Half step 3
Half step 4
Full step 2
Half step 5
Half step 6
Full step 3
Half step 7
128
192
320
384
448
576
640
704
832
896
960
70.7%
92.4%
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
38.3%
70.7%
92.4%
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15.3 microPlyer and Stand Still Detection
For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure
15.2. It interpolates the time in between of two step impulses at the step input based on the last
step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256
microsteps (full step input to 256 microsteps) are driven for a single step pulse.
Enable microPlyer by setting the intpol bit in the CHOPCONF register.
GCONF.faststandstill allows reduction of standstill detection time to 2^18 clocks (~20ms)
The step rate for the interpolated 2 to 256 microsteps is determined by measuring the time interval of
the previous step period and dividing it into up to 256 equal parts. The maximum time between two
microsteps corresponds to 220 (roughly one million system clock cycles), for an even distribution of
256 microsteps. At 12 MHz system clock frequency, this results in a minimum step input frequency of
12 Hz for microPlyer operation (50 Hz with faststandstill = 1). A lower step rate causes the STST bit to
be set, which indicates a standstill event. At that frequency, microsteps occur at a rate of (system
clock frequency)/216 ~ 256 Hz. When a stand still is detected, the driver automatically switches the
motor to holding current IHOLD.
Hint
microPlyer only works perfectly with a stable STEP frequency. Do not use the dedge option if the STEP
signal does not have a 50% duty cycle.
STEP
Interpolated
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
microstep
Motor
angle
2^20 tCLK
STANDSTILL
(stst) active
Figure 15.2 microPlyer microstep interpolation with rising STEP frequency (Example: 16 to 256)
In Figure 15.2, the first STEP cycle is long enough to set the standstill bit stst. This bit is cleared on
the next STEP active edge. Then, the external STEP frequency increases. After one cycle at the higher
rate microPlyer adapts the interpolated microstep rate to the higher frequency. During the last cycle at
the slower rate, microPlyer did not generate all 16 microsteps, so there is a small jump in motor
angle between the first and second cycles at the higher rate. With the flag GCONF.faststandstill
enabled, standstill detection is after 2^18 clocks (rather than 2^20 clocks) without step pulse. This
allows faster current reduction for energy saving in drives with short stand still times.
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16 DIAG Outputs
16.1 STEP/DIR Mode
Operation with an external motion controller often requires quick reaction to certain states of the
stepper motor driver. Therefore, the DIAG outputs supply a configurable set of different real time
information complementing the STEP/DIR interface.
Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output
(low active open drain – default setting, or high active push-pull). In order to determine a reset of the
driver, DIAG0 always shows a power-on reset condition by pulling low during a reset condition.
Figure 16.1 shows the available signals and control bits.
Power-on reset
Driver error
diag0_pushpull
diag0_error
PMD
DIAG0
Overtemp. prewarning
diag0_otpw
Stall
diag0_stall
PDD=100k pulldown
PMD=50k to VCC/2
diag1_stall
Sequencer microstep 0 index
diag1_pushpull
diag1_index
PDD
DIAG1
Chopper on-state
diag1_onstate
dcStep steps skipped
diag1_steps_skipped
Figure 16.1 DIAG outputs in STEP/DIR mode
The stall output signal allows stallGuard2 to be handled by the external motion controller like a stop
switch. The index output signals the microstep counter zero position, to allow the application to
reference the drive to a certain current pattern. Chopper on-state shows the on-state of both coil
choppers (alternating) when working in spreadCycle or constant off time in order to determine the
duty cycle. The dcStep skipped information is an alternative way to find out when dcStep runs with a
velocity below the step velocity. It toggles with each step not taken by the sequencer.
Attention
The duration of the index pulse corresponds to the duration of the microstep. When working without
interpolation at less than 256 microsteps, the index time goes down to two CLK clock cycles.
16.2 Motion Controller Mode
In motion controller mode, the DIAG outputs deliver a position compare signal to allow exact
triggering of external logic, and an interrupt signal in order to trigger software to certain conditions
within the motion ramp. Either an open drain (active low) output signal can be chosen (default), or an
active high push-pull output signal. When using the open drain output, an external pull up resistor in
the range 4.7kΩ to 33kΩ is required. DIAG0 also becomes driven low upon a reset condition. However
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the end of the reset condition cannot be determined by monitoring DIAG0 in this configuration,
because event_pos_reached flag also becomes active upon reset and thus the pin stays actively low
after the reset condition. In order to safely determine a reset condition, monitor the reset flag by SPI
or read out any register to confirm that the chip is powered up.
Power-on reset
diag0_pushpull
PMD
DIAG0
Toggle upon each step
event_pos_reached
event_stop_r
diag0_step
event_stop_sg
event_stop_l
deviation_warn
Interrupt-signal
N_event
PDD=100k pulldown
PMD=50k to VCC/2
diag1_pushpull
PDD
Direction
DIAG1
diag1_dir
Position compare
XACTUAL = X_COMPARE
Figure 16.2 DIAG outputs with SD_MODE=0
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17 dcStep
dcStep is an automatic commutation mode for the stepper motor. It allows the stepper to run with
its target velocity as commanded by the ramp generator as long as it can cope with the load. In case
the motor becomes overloaded, it slows down to a velocity, where the motor can still drive the load.
This way, the stepper motor never stalls and can drive heavy loads as fast as possible. Its higher
torque available at lower velocity, plus dynamic torque from its flywheel mass allow compensating
for mechanical torque peaks. In case the motor becomes completely blocked, the stall flag becomes
set.
17.1 User Benefits
Motor
–
–
–
–
–
never loses steps
Application
Acceleration
Energy efficiency
Cheaper motor
works as fast as possible
automatically as high as possible
highest at speed limit
does the job!
17.2 Designing-In dcStep
In a classical application, the operation area is limited by the maximum torque required at maximum
application velocity. A safety margin of up to 50% torque is required, in order to compensate for
unforeseen load peaks, torque loss due to resonance and aging of mechanical components. dcStep
allows using up to the full available motor torque. Even higher short time dynamic loads can be
overcome using motor and application flywheel mass without the danger of a motor stall. With
dcStep the nominal application load can be extended to a higher torque only limited by the safety
margin near the holding torque area (which is the highest torque the motor can provide).
Additionally, maximum application velocity can be increased up to the actually reachable motor
velocity.
torque
MMAX
microstep
operation
dcStep operation - no step loss can occur
additional flywheel mass torque reserve
m
a
x
.
m
o
t
o
r
t
s
a
f
o
r
q
e
t
y
m
a
r
g
i
n
u
e
MNOM2
dcStep extended
application area
MNOM1
Classic operation area
with safety margin
0
velocity [RPM]
MNOM: Nominal torque required by application
MMAX: Motor pull-out torque at v=0
Safety margin: Classical application operation area is limited by a certain
percentage of motor pull-out torque
Figure 17.1 dcStep extended application operation area
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
For detail configuration procedure see Application Note AN003 - dcStep
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17.3 dcStep Integration with the Motion Controller
dcStep requires only a few settings. It directly feeds back motor motion to the ramp generator, so
that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded
with respect to the target velocity. dcStep operates the motor in fullstep mode at the ramp generator
target velocity VACTUAL or at reduced velocity if the motor becomes overloaded. It requires setting
the minimum operation velocity VDCMIN. VDCMIN shall be set to the lowest operating velocity where
dcStep gives a reliable detection of motor operation. The motor never stalls unless it becomes braked
to a velocity below VDCMIN. In case the velocity should fall below this value, the motor would restart
once its load is released, unless the stall detection becomes enabled (set sg_stop). Stall detection is
covered by stallGuard2.
v
dcStep active
VMAX
D
X
M
overload
A
M
A
X
A
V1
D
1
1
A
VDCMIN
0
t
Nominal ramp profile
Ramp profile with torque overload and same target position
Figure 17.2 Velocity profile with impact by overload situation
Hint
dcStep requires that the phase polarity of the sine wave is positive within the MSCNT range 768 to
255 and negative within 256 to 767. The cosine polarity must be positive from 0 to 511 and negative
from 512 to 1023. A phase shift by 1 would disturb dcStep operation. Therefore it is advised to work
with the default wave. Please refer chapter 18.2 for an initialization with the default table.
17.4 Stall Detection in dcStep Mode
While dcStep is able to decelerate the motor upon overload, it cannot avoid a stall in every operation
situation. Once the motor is blocked, or it becomes decelerated below a motor dependent minimum
velocity where the motor operation cannot safely be detected any more, the motor may stall and
loose steps. In order to safely detect a step loss and avoid restarting of the motor, the stop on stall
can be enabled (set flag sg_stop). In this case VACTUAL becomes set to zero once the motor is stalled.
It remains stopped until reading the RAMP_STAT status flags. The flag event_stop_sg shows the active
stop condition. A stallGuard2 load value also is available during dcStep operation. The range of values
is limited to 0 to 255, in certain situations up to 511 will be read out. In order to enable stallGuard,
also set TCOOLTHRS corresponding to a velocity slightly above VDCMIN or up to VMAX.
Stall detection in this mode may trigger falsely due to resonances, when flywheel loads are loosely
coupled to the motor axis.
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Parameter
vhighfs
&
Description
Range Comment
set to 1 for dcStep
These chopper configuration flags in CHOPCONF 0 / 1
need to be set for dcStep operation. As soon as
VDCMIN becomes exceeded, the chopper becomes
switched to fullstepping.
vhighchm
TOFF
dcStep often benefits from an increased off time 2… 15
value in CHOPCONF. Settings >2 should be
preferred.
Settings 8…15 do not make
any difference to setting 8
for dcStep operation.
VDCMIN
This is the lower threshold for dcStep operation 0… 2^22 0: Disable dcStep
when using internal ramp generator. Below this
threshold, the motor operates in normal microstep
mode. In dcStep operation, the motor operates at
minimum VDCMIN, even when it is completely
blocked. Tune together with DC_TIME setting.
Set to the lower velocity
limit for dcStep operation.
Activation of stealthChop also disables dcStep.
DC_TIME
This setting controls the reference pulse width for 0… 1023 Lower limit for the setting
dcStep load measurement. It must be optimized
for robust operation with maximum motor torque.
A higher value allows higher torque and higher
velocity, a lower value allows operation down to
a lower velocity as set by VDCMIN.
is: tBLANK (as defined by
TBL) in clock cycles + n
with n in the range 1 to
100 (for a typical motor)
Check best setting under nominal operation
conditions, and re-check under extreme operating
conditions (e.g. lowest operation supply voltage,
highest motor temperature, and highest supply
voltage, lowest motor temperature).
DC_SG
This setting controls stall detection in dcStep 0… 255 Set slightly higher than
mode. Increase for higher sensitivity.
DC_TIME / 16
A stall can be used as an error condition by
issuing a hard stop for the motor. Enable sg_stop
flag for stopping the motor upon a stall event.
This way the motor will be stopped once it stalls.
17.5 Measuring Actual Motor Velocity in dcStep Operation
dcStep has the ability to reduce motor velocity in case the motor becomes slower than the target
velocity due to mechanical load. VACTUAL shows the ramp generator target velocity. It is not
influenced by dcStep. Measuring dcStep velocity is possible based on the position counter XACTUAL.
Therefore take two snapshots of the position counter with a known time difference:
ꢝ
ꢞ
ꢝ
ꢞ
ꢢꢎ퐶ꢘ푈ꢎꢒ ꢉ푖ꢍꢙꢀ − ꢢꢎ퐶ꢘ푈ꢎꢒ ꢉ푖ꢍꢙꢃ
ꢀ2ꢣ
푉ꢎ퐶ꢘ푈ꢎꢒꢡꢋꢓ푇ꢔꢊ
=
∗
ꢉ푖ꢍꢙꢀ − ꢉ푖ꢍꢙꢃ
푓
ꢋ퐿퐾
Example:
At 16.0 MHz clock frequency, a 0.954 second measurement delay would directly yield in the
velocity value, a 9.54 ms delay would yield in 1/100 of the actual dcStep velocity.
To grasp the time interval as precisely as possible, snapshot a timer each time the transmission of
XACTUAL from the IC starts or ends. The rising edge of NCS for SPI transmission provides the most
exact time reference.
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17.6 dcStep with STEP/DIR Interface
The TMC5160 provides two ways to use dcStep when interfaced to an external motion controller. The
first way gives direct control of the dcStep step execution to the external motion controller, which
must react to motor overload and is allowed to override a blocked motor situation. The second way
assumes that the external motion controller cannot directly react to dcStep signals. The TMC5160
automatically reduces the motor velocity or stops the motor upon overload. In order to allow the
motion controller to react to the reduced real motor velocity in this mode, the counter LOST_STEPS
gives the number of steps which have been commanded, but not taken by the motor controller. The
motion controller can later on read out LOST_STEPS and drive any missing number of steps. In case of
a blocked motor it tries moving it with the minimum velocity as programmed by VDCMIN.
Enabling dcStep automatically sets the chopper to constant TOFF mode with slow decay only. This
way, no re-configuration is required when switching from microstepping mode to dcStep and back.
dcStep operation is controlled by three pins in STEP and DIR mode:
- DCEN – Forces the driver to dcStep operation if high. A velocity based activation of dcStep is
controlled by TPWMTHRS when using stealthChop operation for low velocity settings.
In this case, dcStep is disabled while in stealthChop mode, i.e. at velocities below the
stealthChop switching velocity.
- DCO – Informs the motion controller when motor is not ready to take a new step (low level).
The motion controller shall react by delaying the next step until DCO becomes high.
The sequencer can buffer up to the effective number of microsteps per fullstep to allow
the motion controller to react to assertion of DCO. In case the motor is blocked this
wait situation can be terminated after a timeout by providing a long > 1024 clock STEP
input, or via the internal VDCMIN setting.
- DCIN – Commands the driver to wait with step execution and to disable DCO. This input can be
used for synchronization of multiple drivers operating with dcStep.
17.6.1 Using LOST_STEPS for dcStep Operation
This is the simplest possibility to integrate dcStep with an external motion controller: The external
motion controller enables dcStep using DCEN or the internal velocity threshold. The TMC5160 tries to
follow the steps. In case it needs to slow down the motor, it counts the difference between incoming
steps on the STEP signal and steps going to the motor. The motion controller can read out the
difference and compensate for the difference after the motion or on a cyclic basis. Figure 17.3 shows
the principle (simplified).
In case the motor driver needs to postpone steps due to detection of a mechanical overload in
dcStep, and the motion controller does not react to this by pausing the step generation, LOST_STEPS
becomes incremented or decremented (depending on the direction set by DIR) with each step which
is not taken. This way, the number of lost steps can be read out and executed later on or be
appended to the motion. As the driver needs to slow down the motor while the overload situation
persists, the application will benefit from a high microstepping resolution, because it allows more
seamless acceleration or deceleration in dcStep operation. In case the application is completely
blocked, VDCMIN sets a lower limit to the step execution. If the motor velocity falls below this limit,
however an unknown number of steps is lost and the motor position is not exactly known any more.
DCIN allows for step synchronization of two drivers: it stops the execution of steps if low and sets
DCO low.
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Light motor overload reduces
effective motor velocity
Actual motor velocity
VTARGET
VDCMIN
Steps from STEP input
skipped by the driver due
to light motor overload
0
Theoretical sine
wave
corresponding to
fullstep pattern
+IMAX
Phase
Current
(one phase
shown)
0
-IMAX
STEP
LOSTSTEPS would count down if
motion direction is negative
LOSTSTEPS
0
2
4
8
12
16
20
22
24
dcStep enabled continuosly
DC_EN
DC_OUT
DCO signals that the driver is not ready for new steps. In this case, the controller does not react to this information.
Figure 17.3 Motor moving slower than STEP input due to light overload. LOSTSTEPS incremented
17.6.2 DCO Interface to Motion Controller
In STEP/DIR mode, DCEN enables dcStep. It is up to the external motion controller to enable dcStep
either, once a minimum step velocity is exceeded within the motion ramp, or to use the automatic
threshold VDCMIN for dcStep enable.
The STEP/DIR interface works in microstep resolution, even if the internal step execution is based on
fullstep. This way, no switching to a different mode of operation is required within the motion
controller. The dcStep output DCO signals if the motor is ready for the next step based on the dcStep
measurement of the motor. If the motor has not yet mechanically taken the last step, this step cannot
be executed, and the driver stops automatically before execution of the next fullstep. This situation is
signaled by DCO. The external motion controller shall stop step generation if DCOUT is low and wait
until it becomes high again. Figure 17.5 shows this principle. The driver buffers steps during the
waiting period up to the number of microstep setting minus one. In case, DCOUT does not go high
within the lower step limit time e.g. due to a severe motor overload, a step can be enforced: override
the stop status by a long STEP pulse with min. 1024 system clocks length. When using internal clock,
a pulse length of minimum 125µs is recommended.
DIR
STEP
µC or Motion
TMC5160
Controller
DCEN
DCO
DCIN
Optional axis
synchronization
Figure 17.4 Full signal interconnection for dcStep
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Increasing mechanical load forces slower motion
Theoretical sine
wave
corresponding to
+IMAX
Phase
Current
(one phase
shown)
fullstep pattern
0
-IMAX
Long pulse = override motor block
situation
STEP
∆2
∆2
∆2
∆2
∆2
∆2
∆2
STEP_FILT_INTERN
DCEN
INTCOM
DCO
DC_OUT TIMEOUT
(in controller)
TIMOUT
counter in
controller
∆2 = MRES (number of microsteps per fullstep)
Figure 17.5 DCO Interface to motion controller – step generator stops when DCO is asserted
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18 Sine-Wave Look-up Table
The TMC5160 driver provides a programmable look-up table for storing the microstep current wave. As
a default, the table is pre-programmed with a sine wave, which is a good starting point for most
stepper motors. Reprogramming the table to a motor specific wave allows drastically improved
microstepping especially with low-cost motors.
18.1 User Benefits
Microstepping
Motor
Torque
–
–
–
extremely improved with low cost motors
runs smooth and quiet
reduced mechanical resonances yields improved torque
18.2 Microstep Table
In order to minimize required memory and the amount of data to be programmed, only a quarter of
the wave becomes stored. The internal microstep table maps the microstep wave from 0° to 90°. It
becomes symmetrically extended to 360°. When reading out the table the 10-bit microstep counter
MSCNT addresses the fully extended wave table. The table is stored in an incremental fashion, using
each one bit per entry. Therefore only 256 bits (ofs00 to ofs255) are required to store the quarter
wave. These bits are mapped to eight 32 bit registers. Each ofs bit controls the addition of an
inclination Wx or Wx+1 when advancing one step in the table. When Wx is 0, a 1 bit in the table at
the actual microstep position means “add one” when advancing to the next microstep. As the wave
can have a higher inclination than 1, the base inclinations Wx can be programmed to -1, 0, 1, or 2
using up to four flexible programmable segments within the quarter wave. This way even negative
inclination can be realized. The four inclination segments are controlled by the position registers X1
to X3. Inclination segment 0 goes from microstep position 0 to X1-1 and its base inclination is
controlled by W0, segment 1 goes from X1 to X2-1 with its base inclination controlled by W1, etc.
When modifying the wave, care must be taken to ensure a smooth and symmetrical zero transition
when the quarter wave becomes expanded to a full wave. The maximum resulting swing of the wave
should be adjusted to a range of -248 to 248, in order to give the best possible resolution while
leaving headroom for the hysteresis based chopper to add an offset.
y
256
248
START_SIN90
0
X1 X2 X3
255 256
START_SIN
512
768
0
MSCNT
LUT stores
entries 0 to 255
-248
Figure 18.1 LUT programming example
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When the microstep sequencer advances within the table, it calculates the actual current values for
the motor coils with each microstep and stores them to the registers CUR_A and CUR_B. However the
incremental coding requires an absolute initialization, especially when the microstep table becomes
modified. Therefore CUR_A and CUR_B become initialized whenever MSCNT passes zero.
Two registers control the starting values of the tables:
-
As the starting value at zero is not necessarily 0 (it might be 1 or 2), it can be programmed
into the starting point register START_SIN.
-
In the same way, the start of the second wave for the second motor coil needs to be stored
in START_SIN90. This register stores the resulting table entry for a phase shift of 90° for a 2-
phase motor.
Hint
Refer chapter 6.5 for the register set and for the default table function stored in the drivers. The
default table is a good base for realizing an own table.
The TMC5160-EVAL comes with a calculation tool for own waves.
Initialization example for the default microstep table:
MSLUT[0]= %10101010101010101011010101010100 = 0xAAAAB554
MSLUT[1]= %01001010100101010101010010101010 = 0x4A9554AA
MSLUT[2]= %00100100010010010010100100101001 = 0x24492929
MSLUT[3]= %00010000000100000100001000100010 = 0x10104222
MSLUT[4]= %11111011111111111111111111111111 = 0xFBFFFFFF
MSLUT[5]= %10110101101110110111011101111101 = 0xB5BB777D
MSLUT[6]= %01001001001010010101010101010110 = 0x49295556
MSLUT[7]= %00000000010000000100001000100010 = 0x00404222
MSLUTSEL= 0xFFFF8056:
X1=128, X2=255, X3=255
W3=%01, W2=%01, W1=%01, W0=%10
MSLUTSTART= 0x00F70000:
START_SIN_0= 0, START_SIN90= 247
19 Emergency Stop
The driver provides a negative active enable pin ENN to safely switch off all power MOSFETs. This
allows putting the motor into freewheeling. Further, it is a safe hardware function whenever an
emergency-stop not coupled to software is required. Some applications may require the driver to be
put into a state with active holding current or with a passive braking mode. This is possible by
programming the pin ENCA_DCIN to act as a step disable function. Set GCONF flag stop_enable to
activate this option. Whenever ENCA_DCIN becomes pulled up, the motor will stop abruptly and go to
the power down state, as configured via IHOLD, IHOLDDELAY and stealthChop standstill options.
Disabling the driver via ENN will require three clock cycles to safely switch off the driver.
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20 ABN Incremental Encoder Interface
The TMC5160 is equipped with an incremental encoder interface for ABN encoders. The encoder inputs
are multiplexed with other signals in order to keep the pin count of the device low. The basic
selection of the peripheral configuration is set by the register GCONF. The use of the N channel is
optional, as some applications might use a reference switch or stall detection rather than an encoder
N channel for position referencing. The encoders give positions via digital incremental quadrature
signals (usually named A and B) and a clear signal (usually named N for null or Z for zero).
N SIGNAL
The N signal can be used to clear the position counter or to take a snapshot. To continuously monitor
the N channel and trigger clearing of the encoder position or latching of the position, where the N
channel event has been detected, set the flag clr_cont. Alternatively it is possible to react to the next
encoder N channel event only, and automatically disable the clearing or latching of the encoder
position after the first N signal event (flag clr_once). This might be desired because the encoder gives
this signal once for each revolution.
Some encoders require a validation of the N signal by a certain configuration of A and B polarity. This
can be controlled by pol_A and pol_B flags in the ENCMODE register. For example, when both pol_A
and pol_B are set, an active N-event is only accepted during a high polarity of both, A and B channel.
For clearing the encoder position ENC_POS with the next active N event set clr_enc_x = 1 and
clr_once = 1 or clr_cont = 1.
-4 -3 -2 -1
0
1
2
3
4
5
6
7
Position
A
B
N
t
Figure 20.1 Outline of ABN signals of an incremental encoder
THE ENCODER CONSTANT ENC_CONST
The encoder constant ENC_CONST is added to or subtracted from the encoder counter on each polarity
change of the quadrature signals AB of the incremental encoder. The encoder constant ENC_CONST
represents a signed fixed point number (16.16) to facilitate the generic adaption between motors and
encoders. In decimal mode, the lower 16 bits represent a number between 0 and 9999. For stepper
motors equipped with incremental encoders the fixed number representation allows very comfortable
parameterization. Additionally, mechanical gearing can easily be taken into account. Negating the sign
of ENC_CONST allows inversion of the counting direction to match motor and encoder direction.
Examples:
-
-
Encoder factor of 1.0: ENC_CONST = 0x0001.0x0000 = FACTOR.FRACTION
Encoder factor of -1.0: ENC_CONST = 0xFFFF.0x0000. This is the two’s complement of 0x00010000.
It equals (2^16-(FACTOR+1)).(2^16-FRACTION)
-
Decimal mode encoder factor 25.6: 00025.6000 = 0x0019.0x1770 = FACTOR.DECIMALS
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-
Decimal mode encoder factor -25.6: 0xFFE6.4000 = 0xFFE6.0x0FAO. This equals (2^16-
(FACTOR+1)).(10000-DECIMALS)
THE ENCODER COUNTER X_ENC
The encoder counter X_ENC holds the current encoder position ready for read out. Different modes
concerning handling of the signals A, B, and N take into account active low and active high signals
found with different types of encoders. For more details please refer to the register mapping in
section 6.4.
THE REGISTER ENC_STATUS
The register ENC_STATUS holds the status concerning the event of an encoder clear upon an N
channel signals. The register ENC_LATCH stores the actual encoder position on an N signal event.
20.1 Encoder Timing
The encoder inputs use analog and digital filtering to ensure reliable operation even with increased
cable length. The maximum continuous counting rate is limited by input filtering to 2/3 of fCLK.
Encoder interface timing
AC-Characteristics
clock period is tCLK
Parameter
Symbol Conditions
Min
Typ
Max
Unit
Encoder counting frequency
A/B/N input low time
A/B/N input high time
A/B/N spike filtering time
fCNT
<2/3 fCLK
fCLK
3 tCLK+20
3 tCLK+20
tABNL
tABNH
tFILTABN
ns
ns
Rising and falling
edge
3 tCLK
20.2 Setting the Encoder to Match Motor Resolution
Encoder example settings for motor parameters: USC=256 µsteps, 200 fullstep motor
Factor = FSC*USC / encoder resolution
ENCODER EXAMPLE SETTINGS FOR A 200 FULLSTEP MOTOR WITH 256 MICROSTEPS
Encoder resolution
Required encoder factor
256
Comment
200
360
142.2222
No exact match possible!
= 9320675.5555 / 2^16
= 1422222.2222 / 10000
102.4
= 6710886.4 / 2^16
= 1024000 / 10000
51.2
500
Exact match with decimal setting
Exact match with decimal setting
1000
1024
4000
4096
50
12.8
12.5
3.125
Exact match with decimal setting
16384
Example:
The encoder constant register shall be programmed to 51.2 in decimal mode. Therefore, set
퐸ꢛ퐶_퐶ꢑꢛ푆ꢘ = 5ꢃ ∗ ꢀ1ꢤ + ꢄ.ꢀ ∗ ꢃꢄꢄꢄꢄ
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20.3 Closing the Loop
Depending on the application, an encoder can be used for different purposes. Medical applications
often require an additional and independent monitoring to detect hard or soft failure. Upon failure,
the machine can be stopped and restarted manually. Use ENC_DEVIATION setting and interrupt to
safely detect a step loss failure / mismatch between motor and encoder.
Less critical applications may use the encoder to detect failure, stop the motors upon step loss and
restart automatically. A different use of the encoder allows increased positioning precision by
positioning directly to encoder positions. The application can modify target positions based on the
deviation, or even regularly update the actual position with the encoder position.
To realize a directly encoder based commutation, TRINAMIC offers the new S-ramp closed loop motion
controller TMC4361.
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21 DC Motor or Solenoid
The TMC5160 can drive one or two DC motors using one coil output per DC motor. Either a torque
limited operation, or a voltage based velocity control with optional torque limit is possible.
CONFIGURATION AND CONTROL
Set the flag direct_mode in the GCONF register. In direct mode, the coil current polarity and coil
current, respectively the PWM duty cycle become controlled by register XTARGET (0x2D). Bits 8..0
control motor A and Bits 24..16 control motor B PWM. Additionally to this setting, the current limit is
scaled by IHOLD. The STEP/DIR inputs and the motion controller are not used in this mode.
PWM DUTY CYCLE VELOCITY CONTROL
In order to operate the motor at different velocities, use the stealthChop voltage PWM mode in the
following configuration:
en_pwm_mode = 1, pwm_autoscale = 0, PWM_AMPL = 255, PWM_GRAD = 4, IHOLD = 31
Set TOFF > 0 to enable the driver.
In this mode the driver behaves like a 4-quadrant power supply. The direct mode setting of PWM A
and PWM B using XTARGET controls motor voltage, and thus the motor velocity. Setting the
corresponding PWM bits between -255 and +255 (signed, two’s complement numbers) will vary motor
voltage from -100% to 100%. With pwm_autoscale = 0, current sensing is not used and the sense
resistors should be eliminated or 150mΩ or less to avoid excessive voltage drop when the motor
becomes heavily loaded up to 2.5A. Especially for higher current motors, make sure to slowly
accelerate and decelerate the motor in order to avoid overcurrent or triggering driver overcurrent
detection.
To activate optional motor freewheeling, set IHOLD = 0 and FREEWHEEL = %01.
ADDITIONAL TORQUE LIMIT
In order to additionally take advantage of the motor current limitation (and thus torque controlled
operation) in stealthChop mode, use automatic current scaling (pwm_autoscale = 1). The actual current
limit is given by IHOLD and scaled by the respective motor PWM amplitude, e.g. PWM = 128 yields in
50% motor velocity and 50% of the current limit set by IHOLD. In case two DC motors are driven in
voltage PWM mode, note that the automatic current regulation will work only for the motor which
has the higher absolute PWM setting. The PWM of the second motor also will be scaled down in case
the motor with higher PWM setting reaches its current limitation.
PURELY TORQUE LIMITED OPERATION
For a purely torque limited operation of one or two motors, spread cycle chopper individually
regulates motor current for both full bridge motor outputs. When using spreadCycle, the upper motor
velocity is limited by the supply voltage only (or as determined by the load on the motor).
21.1 Solenoid Operation
The same way, one or two solenoids (i.e. magnetic coil actuators) can be operated using spreadCycle
chopper. For solenoids, it is often desired to have an increased current for a short time after
switching on, and reduce the current once the magnetic element has switched. This is automatically
possible by taking advantage of the automatic current scaling (IRUN, IHOLD, IHOLDDELAY and
TPOWERDOWN). The current scaling in direct_mode is still active, but will not be triggered if no step
impulse is supplied. Therefore, a step impulse must be given to the STEP input whenever one of the
coils shall be switched on. This will increase the current for both coils at the same time.
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22 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the driver. It does not cover all advanced functionalities, but
concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you may
decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
stealthChop
Current Setting
Configuration
Check hardware
GCONF
setup and motor
set en_pwm_mode
RMS current
Set GLOBALSCALER as
PWMCONF
required to reach
set pwm_autoscale,
maximum motor current
set pwm_autograd
at I_RUN=31
PWMCONF
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
select PWM_FREQ with
regard to fCLK for 20-
40kHz PWM frequency
CHOPCONF
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Enable chopper using basic
config., e.g.: TOFF=5, TBL=2,
HSTART=4, HEND=0
Execute
automatic
tuning
Configure Chopper to
test current settings
procedure AT
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
Is performance
good up to VMAX?
N
Y
SC2
Figure 22.1 Current setting and first steps with stealthChop
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TUNING STEALTHCHOP AND SPREADCYCLE
spreadCycle
Configuration
SC2
Try motion above
TPWMTRHRS, if
used
GCONF
en_pwm_mode=0
CHOPCONF
Coil current
overshoot upon
deceleration?
PWMCONF
decrease PWM_LIM (do
not go below about 5)
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Y
N
Move the motor by
slowly accelerating
from 0 to VMAX
Go to motor stand
still and check
motor current at
IHOLD=IRUN
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
Stand still current
too high?
Y
impact on motor motion
N
Current zero
crossing smooth?
CHOPCONF
increase HEND (max. 15)
N
Optimize spreadCycle
configuration if TPWMTHRS
used
Y
Move motor very slowly or
try at stand still
CHOPCONF
Audible Chopper
noise?
decrease TOFF (min. 2),
try lower / higher TBL or
reduce motor current
Y
N
Move motor at medium
velocity or up to max.
velocity
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
Audible Chopper
noise?
Y
Finished or enable
coolStep
Figure 22.2 Tuning stealthChop and spreadCycle
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MOVING THE MOTOR USING THE MOTION CONTROLLER
Configure Ramp
Parameters
Move Motor
Move to Target
Start Velocity
RAMPMODE
set velocity_positive
RAMPMODE
set position
Set VSTART=0. Higher
velcoity for abrupt start
(limited by motor).
Stop Velocity
Set AMAX=1000, set
VMAX=100000 or
different values
Configure ramp
parameters
Set VSTOP=10, but not
below VSTART. Higher
velocity for abrupt stop.
Set TZEROWAIT to allow
Motor moves, change
VMAX as desired
Is VSTOP relevant
(>>10)?
motor to recover from
jump VSTOP to 0, before
going to VSTART
Set XTARGET
Y
Y
N
New on-the-fly
target?
Set TPOWERDOWN time
not smaller than TZERO-
WAIT time. Min. value is
TZEROWAIT/512
Set acceleration A1 as
desired by application
N
Determine velocity,
where max. motor
torque or current sinks
appreciably, write to V1
Set motion
parameter as
desired
Change of any
parameter desired?
N
Y
N
Set desired maximum
velocity to VMAX
Event_POS_
reached active?
AMAX: Set lower
acceleration than A1 to
allow motor to
Y
accelerate up to VMAX
Target is reached
DMAX: Use same value
as AMAX or higher
D1: Use same value as
A1 or higher
Ready to Move to
Target
Figure 22.3 Moving the motor using the motion controller
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ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)
Enable coolStep
C2
Move the motor by
slowly accelerating
from 0 to VMAX
Monitor CS_ACTUAL and
motor torque during rapid
mechanical load increment
within application limits
operation velocity
Is coil current sine-
shaped at VMAX?
Does CS_ACTUAL reach
IRUN with load before
motor stall?
N
Decrease VMAX
N
Increase SEUP
Y
Set THIGH
To match TSTEP at
VMAX for upper
Finished
coolStep velocity limit
Monitor SG_RESULT value
during medium velocity and
check response with
mechanical load
Does SG_RESULT go down
Y
Increase SGT
to 0 with load?
N
Set TCOOLTHRS
slightly above TSTEP at
the selected velocity for
lower velocity limit
COOLCONF
Enable coolStep basic config.:
SEMIN=1, all other 0
Monitor CS_ACTUAL during
motion in velocity range
and check response with
mechanical load
Does CS_ACTUAL reach
IRUN with load before
motor stall?
Increase SEMIN or
choose narrower
velocity limits
N
C2
Figure 22.4 Enabling coolStep (only in combination with spreadCycle)
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SETTING UP DCSTEP
114
Configure dcStep Stall
Detection
Enable dcStep
CHOPCONF
DCCTRL
Set DC_SG to 1 + 1/16
the value of DC_TIME
Make sure, that TOFF is not less
than 3. Use lowest good TBL.
Set vhighfs and vhighchm
Set VDCMIN
to about 5% to 20% of
the desired operation
velocity
Set TCOOLTHRS
to match TSTEP at a velocity
slightly above VDCMIN for lower
stallGuard velocity limit
DCCTRL
Set DC_TIME depending on TBL:
%00: 17; %01: 25
SW_MODE
Enable sg_stop to stop
the motor upon stall
detection
%10: 37; %11: 55
Start the motor at the
targeted velocity VMAX and
try to apply load
Read out RAMP_STAT to
clear event_stop_sg and
restart the motor
Does the motor reach
VMAX and have good
N
Increase DC_TIME
Accelerate the motor from
torque?
0 to VMAX
Y
Decrease
Does the motor stop during
acceleration?
TCOOLTHRS to raise
the lower velocity
for stallGuard
Restart the motor and try to
slow it down to VDCMIN by
applying load
Y
N
Decrease DC_TIME
or increase TOFF
or increase VDCMIN
Slow down the motor to
VDCMIN by applying load.
Further increase load to
stall the motor.
Does the motor reach
VDCMIN without step loss?
N
Y
Finished or configure
dcStep stall detection
Does the motor stop upon
the first stall?
N
Increase DC_SG
Y
Finished
Figure 22.5 Setting up dcStep
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23 Getting Started
Please refer to the TMC5160 evaluation board to allow a quick start with the device, and in order to
allow interactive tuning of the device setup in your application. Chapter 22 will guide you through the
process of correctly setting up all registers.
23.1 Initialization Examples
SPI datagram example sequence to enable the driver for step and direction operation and initialize
the chopper for spreadCycle operation and for stealthChop at <30 RPM @ 12MHz clock:
SPI send: 0xEC000100C3; // CHOPCONF: TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (spreadCycle)
SPI send: 0x9000061F0A; // IHOLD_IRUN: IHOLD=10, IRUN=31 (max. current), IHOLDDELAY=6
SPI send: 0x910000000A; // TPOWERDOWN=10: Delay before power down in stand still
SPI send: 0x8000000004; // EN_PWM_MODE=1 enables stealthChop (with default PWM_CONF)
SPI send: 0x93000001F4; // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM
SPI sample sequence to enable and initialize the motion controller and move one rotation (51200
microsteps) using the ramp generator. A read access querying the actual position is also shown.
SPI send: 0xA4000003E8; // A1
SPI send: 0xA50000C350; // V1
SPI send: 0xA6000001F4; // AMAX
SPI send: 0xA700030D40; // VMAX
SPI send: 0xA8000002BC; // DMAX
SPI send: 0xAA00000578; // D1
= 1 000 First acceleration
= 50 000 Acceleration threshold velocity V1
= 500 Acceleration above V1
= 200 000
= 700 Deceleration above V1
= 1400 Deceleration below V1
SPI send: 0xAB0000000A; // VSTOP = 10 Stop velocity (Near to zero)
SPI send: 0xA000000000; // RAMPMODE = 0 (Target position move)
// Ready to move!
SPI send: 0xADFFFF3800; // XTARGET = -51200 (Move one rotation left (200*256 microsteps)
// Now motor 1 starts rotating
SPI send: 0x2100000000; // Query XACTUAL – The next read access delivers XACTUAL
SPI read;
// Read XACTUAL
For UART based operation it is important to make sure that the CRC byte is correct. The following
example shows initialization for the driver with slave address 1 (NAI pin high). It programs the driver
to spreadCycle mode and programs the motion controller for a constant velocity move and then read
accesses the position and actual velocity registers:
UART write: 0x05 0x01 0xEC 0x00 0x01 0x00 0xC5 0xD3; // TOFF=5, HEND=1, HSTR=4,
// TBL=2, MRES=0, CHM=0
UART write: 0x05 0x01 0x90 0x00 0x01 0x14 0x05 0xD8; // IHOLD=5, IRUN=20, IHOLDDELAY=1
UART write: 0x05 0x01 0xA6 0x00 0x00 0x13 0x88 0xB4; // AMAX=5000
UART write: 0x05 0x01 0xA7 0x00 0x00 0x4E 0x20 0x85; // VMAX=20000
UART write: 0x05 0x01 0xA0 0x00 0x00 0x00 0x01 0xA3; // RAMPMODE=1 (positive velocity)
// Now motor should start rotating
UART write: 0x05 0x01 0x21 0x6B;
UART read 8 bytes;
// Query XACTUAL
UART write: 0x05 0x01 0x22 0x25;
UART read 8 bytes;
// Query VACTUAL
Hint
Tune the configuration parameters for your motor and application for optimum performance.
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TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
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24 Standalone Operation
For standalone operation, no SPI interface is required to configure the TMC5160. All pins with suffix
CFG0 to CFG6 have a special meaning in this mode and can bei tied either to VCC_IO or to GND.
+VM
Optional use lower
voltage down to 12V
22n
100V
100n
16V
100n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
HB2
CB1
470n
charge pump
HS
HS
11.5V Voltage
regulator
Step&Dir input
with microPlyer
100n
2.2µ
2.2µ
5V Voltage
regulator
HB1
BMB1
RG
RG
2R2
VCC
BMB2
LB1
470n
TMC5160
LS
LS
RG
RG
CFG0
CFG1
CFG2
CFG3
CFG4
CFG5
CFG6
Microstep Resolution
8 / 16 / 32 / 64
LB2
SRBH
47R
47R
Configuration
interface
(GND or VCC_IO
level)
Run Current Setting
16 / 18 / 20 / 22 /
24 / 26 / 28 / 31
RS
N
stepper
motor
SRBL
S
Controller
Chopper
+VM
CB
CA2
spreadCycle (GND) /
stealthChop (VCC_IO)
Current Reduction
Enable (VCC_IO)
B.Dwersteg, ©
TRINAMIC 2014
HA2
CA1
B.Dwersteg, ©
TRINAMIC 2014
470n
HS
HS
CB
RG
DIAG1
DIAG0
HA1
BMA1
Index pulse
Driver error
RG
Status out
(open drain)
opt. ext. clock
12-16MHz
BMA2
LA1
CLK_IN
LS
LS
Keep inductivity of the fat
interconnections as small
as possible to avoid
RG
RG
+VIO
3.3V or 5V
I/O voltage
VCC_IO
LA2
undershoot of BM <-5V!
SRAH
100n
47R
47R
Use low inductivity SMD
type, e.g. 1210 or 2512
mode selection
RS
SRAL
resistor for RS
!
pd
Bootstrap capacitors CB
:
220nF for MOSFETs with QG<20nC, 470nF for larger QG
Slope control resistors RG: Adapt to MOSFET to yield slopes of roughly
100ns. Slope must be slower than bulk diode recovery time.
+VIO
Standalone mode
opt. driver enable
Figure 24.1 Standalone operation with TMC5160 (pins shown with their standalone mode names)
To activate standalone mode, tie pin SPI_MODE to GND and pin SD_MODE high. In this mode, the
driver acts as a pure STEP and DIR driver. SPI and single wire are off. The driver works in spreadCycle
mode or stealthChop mode. With regard to the register set, the following settings are activated:
GCONF settings:
GCONF.diag0_error = 1: DIAG0 works in open drain mode and signals driver error.
GCONF.diag1_index = 1: DIAG1 works in open drain mode and signals microstep table index position.
The following settings are affected by the CFG pins in order to ensure correct configuration:
CFG0/CFG1: CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT
CFG1
GND
GND
CFG0
GND
Microstep Setting
8 microsteps, MRES=5
VCC_IO 16 microsteps, MRES=4
32 microsteps, MRES=3
VCC_IO GND
VCC_IO VCC_IO 64 microsteps, MRES=2
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CFG4/CFG3/CFG2: CONFIGURATION OF RUN CURRENT
CFG4
GND
GND
GND
GND
CFG3
GND
GND
CFG2
GND
IRUN Setting
IRUN=16
VCC_IO IRUN=18
IRUN=20
VCC_IO VCC_IO IRUN=22
VCC_IO GND
VCC_IO GND
VCC_IO GND
VCC_IO VCC_IO GND
GND
VCC_IO IRUN=26
IRUN=28
IRUN=24
VCC_IO VCC_IO VCC_IO IRUN=31
CFG5: SELECTION OF CHOPPER MODE
CFG5
GND
VCC_IO
Chopper Setting
spreadCycle operation. (TOFF=3)
stealthChop operation. (GCONF.en_PWM_mode=1)
CFG6: CONFIGURATION OF HOLD CURRENT REDUCTION
CFG6*)
GND
VCC_IO
Chopper Setting
No hold current reduction. IHOLD=IRUN
Reduction to 50%. IHOLD=1/2 IRUN
Hint
Be sure to allow the motor to rest for at least 100ms (assuming a minimum of 10MHz fCLK) before
starting a motion using stealthChop. This will allow the current regulation to set the initial motor
current.
*) CFG6: Attention
CFG6 pin draws significant current (20mA) when driven to a different level than CFG5, because the
output driver tries to make CFG6 level equal to CFG5. Therefore, a 0 Ohm resistor is required to pull
up/down CFG6. Due to this, setting CFG6 different from CFG5 is only recommended with external
VCC_IO supply at 3.3V level.
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25 External Reset
The chip is loaded with default values during power on via its internal power-on reset. In order to
reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry
(VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched
off during operation of the chip. As +5VOUT is the output of the internal voltage regulator, it cannot
be cycled via an external source except by cycling VSA. It is easiest and safest to cycle VCC_IO in order
to completely reset the chip. Also, current consumed from VCC_IO is low and therefore it has simple
driving requirements. Due to the input protection diodes not allowing the digital inputs to rise above
VCC_IO level, all inputs must be driven low during this reset operation. When this is not possible, an
input protection resistor may be used to limit current flowing into the related inputs.
In case, VCC becomes supplied by an external source, make sure that VCC is at a stable value above
the lower operation limit once the reset ends. This normally is satisfied when generating a 3.3V
VCC_IO from the +5V supply supplying the VCC pin, because it will then come up with a certain delay.
26 Clock Oscillator and Input
The clock is the timing reference for all functions: the chopper, the velocity, the acceleration control,
etc. Many parameters are scaled with the clock frequency, thus a precise reference allows a more
deterministic result. The factory-trimmed on-chip clock oscillator provides timing in case no external
clock is easily available.
26.1 Using the Internal Clock
Directly tie the CLK input to GND near to the IC if the internal clock oscillator is to be used. It will be
sufficient for applications, where a velocity precision of roughly +-4% is tolerable.
26.2 Using an External Clock
When an external clock is available, a frequency of 10 MHz to 16 MHz is recommended for optimum
performance. The duty cycle of the clock signal is uncritical, as long as minimum high or low input
time for the pin is satisfied (refer to electrical characteristics). Up to 18 MHz can be used, when the
clock duty cycle is 50%. Make sure, that the clock source supplies clean CMOS output logic levels and
steep slopes when using a high clock frequency. The external clock input is enabled with the second
positive polarity seen on the CLK input.
Hint
Switching off the external clock frequency prevents the driver from operating normally. Therefore an
internal watchdog switches back to internal clock in case the external signal is missing for more than
roughly 32 internal clock cycles.
26.2.1 Considerations on the Frequency
A higher frequency allows faster step rates, faster SPI operation and higher chopper frequencies. On
the other hand, it causes more power dissipation in the TMC5160 digital core and 5V voltage
regulator. Generally a frequency of 10 MHz to 12 MHz should be sufficient for most applications. At
higher clock frequency, the VSA supply voltage should be connected to a lower voltage for
applications working at more than 24V nominal supply voltage. For reduced requirements concerning
the motor dynamics, a clock frequency of down to 8 MHz (or even lower) can be considered.
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27 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.
Parameter
Symbol
Min
Max
Unit
Supply voltage operating with inductive load
Supply and bridge voltage short time peak (limited by
peak voltage on charge pump output and Cxx pins*)
VSA when different from VS
Peak voltages on Cxx bootstrap pins and VCP
Supply voltage V12
Peak voltages on BM pins (due to stray inductivity)
Peak voltages on Cxx bootstrap pins relative to BM
I/O supply voltage on VCC_IO
digital VCC supply voltage (normally supplied by 5VOUT)
Logic input voltage
VVS, VVSA
-0.5
60
64
V
V
VVSMAX
VVSAMAX
VCxCP
V12VOUT
VBMx
VCxBMx
VVIO
VVCC
VI
IIO
-0.5
60
76
14
VVS+6
16
5.5
5.5
VVIO+0.5
+/-500
V
V
V
V
V
V
V
V
mA
-0.5
-6
-0.5
-0.5
-0.5
-0.5
Maximum current to / from digital pins
and analog low voltage I/Os (short time peak current)
5V regulator output current (internal plus external load)
I5VOUT
30
1
mA
W
5V regulator continuous power dissipation (VVSA-5V) * I5VOUT P5VOUT
12V regulator output current (internal plus external load)
12V regulator cont. power dissipation (VVM-12V) * I12VOUT
Junction temperature
Storage temperature
ESD-Protection for interface pins (Human body model,
HBM)
I12VOUT
P12VOUT
TJ
TSTG
VESDAP
20
0.5
150
150
4
mA
W
°C
°C
kV
-50
-55
ESD-Protection for handling (Human body model, HBM)
VESD
1
kV
*) Stray inductivity of power routing will lead to ringing of the supply voltage when driving an
inductive load. This ringing results from the fast switching slopes of the driver outputs in
combination with reverse recovery of the body diodes of the output driver MOSFETs. Even small trace
inductivities as well as stray inductivity of sense resistors can easily generate a few volts of ringing
leading to temporary voltage overshoot. This should be considered when working near the maximum
voltage.
28 Electrical Characteristics
28.1 Operational Range
Parameter
Junction temperature
Supply voltage for motor and bridge
Supply voltage VSA
Symbol
TJ
VVS
Min
Max
125
55
50
13
Unit
°C
V
V
V
-40
10
10
10
VVSA
Supply voltage for VSA and 12OUT (internal gate voltage V12VOUT
,
regulator bridged)
VVSA
Lower Supply voltage (reduced spec, short to GND
protection not functional), lower limit depending on VVS
MOSFETs gate threshold voltage and load current
I/O supply voltage on VCC_IO
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8
V
V
VVIO
3.00
5.25
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28.2 DC and Timing Characteristics
DC characteristics contain the spread of values guaranteed within the specified supply voltage range
unless otherwise specified. Typical values represent the average value of all parts measured at +25°C.
Temperature variation also causes stray to some values. A device with typical values will not leave
Min/Max range within the full temperature range.
Power supply current
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Total supply current, driver
disabled IVS + IVSA
Symbol Conditions
Min
Typ
18
Max Unit
24 mA
IS
fCLK=12MHz / internal
clock
VSA supply current (VS and VSA IVSA
separated)
fCLK=12MHz / internal
clock, driver disabled
fCLK=12MHz, 23.4kHz
chopper, no load
fCLK=12MHz
15
25
mA
mA
mA
mA
µA
Total supply current, operating,
MOSFETs AOD4126, IVS + IVSA
Internal current consumption
from 5V supply on VCC pin
Internal current consumption
from 5V supply on VCC pin
IO supply current on VCC_IO
(typ. at 5V)
IS
IVCC
IVCC
IVIO
10
fCLK=16MHz
12.5
15
no load on outputs,
inputs at VIO or GND
Excludes pullup /
30
pull-down resistors
Motor driver section
Parameter
DC- and Timing-Characteristics
VVS = 24.0V; Tj=50°C
Symbol Conditions
Min
Typ
Max Unit
RDSON lowside off driver
RDSON highside off driver
Gate drive current low side
MOSFET turning on at 2V VGS
RONL
RONH
Gate off
Gate off
1.8
2.2
3
3.5
Ω
Ω
ISLPON0
ISLPON2
ISLPON3
ISLPON0
ISLPON2
ISLPON3
DRVSTRENGTH=0
DRVSTRENGTH=2
DRVSTRENGTH=3
DRVSTRENGTH=0
DRVSTRENGTH=2
DRVSTRENGTH=3
BBMCLKS=0
200
400
600
150
300
450
100
mA
mA
mA
mA
mA
mA
ns
Gate drive current high side
MOSFET turning on at 2V VGS
BBM time via internal delay (start tBBM0
of gate switching off to start of
75
BBMTIME=0
gate switching on)
tBBM16
tBBM16
BBMTIME=16
BBMTIME=24
200
375
ns
ns
500
Charge pump
DC-Characteristics
Parameter
Symbol Conditions
Min
Typ
Max Unit
Charge pump output voltage
VVCP-VVS
VVCP-VVS
fCP
operating
V12VOUT - V12VOUT
-
V
2
1
Charge pump voltage threshold
for undervoltage detection
Charge pump frequency
rising, using internal
5V regulator voltage
4.5
5
6.5
V
1/16
fCLKOSC
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Linear regulator
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Symbol Conditions
Min
Typ
5.0
Max Unit
Output voltage
V5VOUT
TJ = 25°C
4.80
5.20
V
Deviation of output voltage over V5VOUT(DEV) drivers disabled
the full temperature range
+/-30
+/-100
mV
TJ = full range
Deviation of output voltage over V5VOUT(DEV) drivers disabled,
+/-50
12.2
mV /
10V
the full supply voltage range
internal clock
TA = 25°C
VVSA = 10V to 30V
Output voltage
V12VOUT
operating, internal
clock
10.8
11.5
V
TJ = 25°C
Clock oscillator and input
Parameter
Clock oscillator frequency
(factory calibrated)
Timing-Characteristics
Symbol Conditions
Min
Typ
11.7
12.0
12.1
10-16
Max Unit
MHz
fCLKOSC
fCLKOSC
fCLKOSC
fCLK
tJ=-50°C
tJ=50°C
tJ=150°C
11.5
4
12.5
MHz
MHz
MHz
External clock frequency
(operating)
18
External clock high / low level
time
External clock timeout detection tCLKH1
in cycles of internal fCLKOSC
tCLKH
tCLKL
/
CLK driven to
0.1 VVIO / 0.9 VVIO
CLK driven high
10
32
ns
48
cycles
fCLKOSC
Short detection
Parameter
DC-Characteristics
Symbol Conditions
Min
Typ
Max Unit
Short to GND / Short to VS
detector delay (Start of gate
switch on to short detected)
Including 100ns filtering time
Short detector level S2VS
(measurement includes drop in
sense resistor)
tSD0
FILT_ISENSE=0
S2xx_LEVEL=6
shortdelay=0
shortdelay=1
S2VS_LEVEL=15
S2VS_LEVEL=6
0.5
0.85
1.1
µs
tSD1
VBM
1.1
1.4
0.55
1.6
1.56
0.625
2.2
1.72
0.70
µs
V
V
Short detector level S2G
VS - VBM
S2G_LEVEL=15;
VS<52V
S2G_LEVEL=15;
VS<55V
S2G_LEVEL=6;
VS<50V
1.2
1.56
1.9
V
V
V
0.85
0.46
0.625
0.80
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Detector levels
Parameter
DC-Characteristics
Symbol Conditions
Min
Typ
Max Unit
VVSA undervoltage threshold for
RESET
VUV_VSA
VVSA rising
3.6
4
4.6
V
V5VOUT undervoltage threshold for VUV_5VOUT
RESET
VVCC_IO undervoltage threshold for VUV_VIO
RESET
V5VOUT rising
3.5
2.5
V
VVCC_IO rising (delay
typ. 10µs)
2.0
3.0
V
VVCC_IO undervoltage detector
hysteresis
VUV_VIOHYST
0.3
V
Overtemperature prewarning
120°C
Overtemperature shutdown
136 °C
Overtemperature shutdown
143 °C
Overtemperature shutdown
150 °C
TOTPW
Temperature rising
Temperature rising
Temperature rising
Temperature rising
100
120
136
143
150
140
°C
°C
°C
°C
TOT136
TOT143
TOT150
135
170
Sense resistor voltage levels
DC-Characteristics
fCLK=16MHz
Parameter
Symbol Conditions
Min
Typ
325
Max Unit
mV
Sense input peak threshold
voltage (low sensitivity)
(VSRxH-VSRxL)
VSRT
GLOBALSCALER=0
csactual=31
sin_x=248
Hyst.=0; IBRxy=0
Sense input tolerance / motor
current full scale tolerance
-using internal reference
ICOIL
GLOBALSCALER=0
-5
+5
%
Digital pins
DC-Characteristics
Parameter
Symbol Conditions
Min
-0.3
0.7 VVIO
Typ
Max Unit
Input voltage low level
Input voltage high level
Input Schmitt trigger hysteresis
VINLO
VINHI
VINHYST
0.3 VVIO
VVIO+0.3
V
V
V
0.12
VVIO
Output voltage low level
Output voltage high level
Input leakage current
Pullup / pull-down resistors
Digital pin capacitance
VOUTLO
VOUTHI
IILEAK
RPU/RPD
C
IOUTLO = 2mA
IOUTHI = -2mA
0.2
V
V
µA
kΩ
pF
VVIO-0.2
-10
132
10
200
166
3.5
28.3 Thermal Characteristics
The following table shall give an idea on the thermal resistance of the package. The thermal
resistance for a four layer board will provide a good idea on a typical application. Actual thermal
characteristics will depend on the PCB layout, PCB type and PCB size. The thermal resistance will
benefit from thicker CU (inner) layers for spreading heat horizontally within the PCB. Also, air flow will
reduce thermal resistance.
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123
Parameter
Symbol Conditions
Typ
Unit
Typical power dissipation
PD
stealthChop or spreadCycle, 40 or
20kHz chopper, 24V, internal supply
regulators
0.6
W
Thermal resistance junction to
ambient on a multilayer board
RTMJA
Dual signal and two internal power
plane board (2s2p) as defined in
JEDEC EIA JESD51-5 and JESD51-7
(FR4, 35µm CU, 70mm x 133mm,
d=1.5mm)
21
K/W
Thermal resistance junction to
board
RTJB
RTJC
PCB temperature measured within
1mm distance to the package leads
8
3
K/W
K/W
Thermal resistance junction to
case
Junction temperature to heat slug of
package
Table 28.1 Thermal characteristics TQFP48-EP
The thermal resistance in an actual layout can be tested by checking for the heat up caused by the
standby power consumption of the chip. When no motor is attached, all power seen on the power
supply is dissipated within the chip.
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29 Layout Considerations
29.1 Exposed Die Pad
The TMC5160 uses its die attach pad to dissipate heat from the gate drivers and the linear regulator to
the board. For best electrical and thermal performance, use a reasonable amount of solid, thermally
conducting vias between the die attach pad and the ground plane. The printed circuit board should
have a solid ground plane spreading heat into the board and providing for a stable GND reference.
29.2 Wiring GND
All signals of the TMC5160 are referenced to their respective GND. Directly connect all GND pins under
the device to a common ground area (GND, GNDP, GNDA and die attach pad). The GND plane right
below the die attach pad should be treated as a virtual star point. For thermal reasons, the PCB top
layer shall be connected to a large PCB GND plane spreading heat within the PCB.
Attention
Place the TMC5160 near to the MOSFET bridge and sense resistor GND in order to avoid ringing
leading to GND differences and to dangerous inductive peak voltages.
29.3 Wiring Bridge Supply
The power bridge will draw the full coil current in pulses with extremely high dI/dt. Thus, any
inductivity between VS supply filtering and the MOSFETs can lead to severe voltage spikes. This has to
be avoided. Avoid any bend in the supply traces between filtering capacitors and MOSFET switches,
and keep distance as small as possible. Especially for high current, use a separate plane for the supply
voltage, and a sufficient number and capacity for supply filtering. Use an additional capacitor for the
IC VS pin, as additional ripple voltage would cause severe current spikes on the charge pump
capacitor. A tiny series resistor can be added to avoid this.
Attention
Keep supply voltage ripple low, by using sufficient filtering capacity close to the MOSFET bridge.
29.4 Supply Filtering
The 5VOUT output voltage ceramic filtering capacitor (2.2 to 4.7 µF recommended) should be placed as
close as possible to the 5VOUT pin, with its GND return going directly to the GNDA pin. This ground
connection shall not be shared with other loads or additional vias to the GND plane. Use as short and
as thick connections as possible. For best microstepping performance and lowest chopper noise an
additional filtering capacitor should be used for the VCC pin to GND, to avoid digital part ripple
influencing motor current regulation. Therefore, place a ceramic filtering capacitor (470nF
recommended) as close as possible (1-2mm distance) to the VCC pin with GND return going to the
ground plane. VCC can be coupled to 5VOUT using a 2.2 Ω or 3.3 Ω resistor in order to supply the
digital logic from 5VOUT while keeping ripple away from this pin. A 100 nF filtering capacitor should
be placed as close as possible to the VSA pin to ground plane. Make sure, that VS does not see
excessive voltage spikes caused by bridge operation and place a 100 nF or larger filter capacitor to
GND close to the VS pin.
Please carefully read chapters 3.3 and 3.4 to understand the special considerations with regard to
layout and component selection for the external MOSFET power bridges.
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125
29.5 Layout Example
Schematic (TMC5160+MOSFETs shown)
1- Top Layer (assembly side)
2- Inner Layer (GND)
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126
3- Inner Layer (supply VS)
4- Bottom Layer
Components
Figure 29.1 Layout example
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127
30 Package Mechanical Data
30.1 Dimensional Drawings TQFP48-EP
Drawings not to scale.
Figure 30.1 Dimensional drawings TQFP48-EP
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128
Parameter
total thickness
stand off
mold thickness
lead width (plating)
lead width
lead frame thickness
(plating)
Ref
A
A1
A2
b
b1
c
Min
Nom
Max
1.2
0.15
1.05
0.27
0.23
0.2
-
-
-
1
0.22
0.2
-
0.05
0.95
0.17
0.17
0.09
lead frame thickness
body size X (over pins)
body size Y (over pins)
body size X
body size Y
lead pitch
c1
D
E
D1
E1
e
L
L1
1
2
3
R1
R2
S
0.09
-
9.0
9.0
7.0
7.0
0.5
0.6
1 REF
3.5°
-
12°
12°
-
-
-
0.16
lead
footprint
0.45
0.75
0°
0°
7°
-
13°
13°
-
11°
11°
0.08
0.08
0.2
4.9
4.9
0.2
-
exposed die pad size X
exposed die pad size Y
package edge tolerance
lead edge tolerance
coplanarity
M
N
5
5
5.1
5.1
0.2
0.2
0.08
0.08
0.05
aaa
bbb
ccc
ddd
eee
lead offset
mold flatness
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129
30.2 Dimensional Drawings QFN-WA
Figure 30.2 Dimensional drawings wettable QFN
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130
Parameter
total thickness
stand off
mold thickness
lead frame thickness
lead width
Ref
A
A1
A2
A3
b
Min
0.8
Nom
Max
0.9
0.05
0.85
0.035
0.65
0.203
0.25
8.0
0
0.2
0.3
body size X
D
body size Y
E
8.0
lead pitch
e
0.5
exposed die pad size X
exposed die pad size Y
lead length
J
K
L
L1
aaa
bbb
ccc
ddd
eee
R
6.15
6.15
0.35
0.3
6.25
6.25
0.4
0.4
0.1
0.1
0.08
0.1
6.35
6.35
0.45
0.45
lead length
package edge tolerance
mold flatness
coplanarity
lead offset
exposed pad offset
half-cut depth
half-cut depth
0.1
0.075
S
0.075
30.3 Package Codes
Type
Package
Temperature range
-40°C ... +125°C
Code & marking
TMC5160-TA
TMC5160-TA
TMC5160-WA
…-T
TQFP-EP48 (RoHS)
QFN8x8 wettable
-40°C ... +125°C
TMC5160-WA
-T denotes tape on reel packing (order option)
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31 Design Philosophy
The TMC50XX and TMC51XX family brings premium functionality, reliability and coherence previously
reserved to costly motion control units to smart applications. Integration at street level cost was
possible by squeezing know-how into a few mm² of layout using one of the most modern smart
power processes. The ICs comprise all the knowledge gained from designing motion controller and
driver chips and complex motion control systems for more than 20 years. We are often asked if our
motion controllers contain software – they definitely do not. The reason is that sharing resources in
software leads to complex timing constraints and can create interrelations between parts which
should not be related. This makes debugging of software so difficult. Therefore, the IC is completely
designed as a hardware solution, i.e. each internal calculation uses a specially designed dedicated
arithmetic unit. The basic philosophy is to integrate all real-time critical functionality in hardware, and
to leave additional starting points for highest flexibility. Parts of the design go back to previous ICs,
starting from the TMC453 motion controller developed in 1997. Our deep involvement, practical testing
and the stable team ensure a high level of confidence and functional safety.
Bernhard Dwersteg, CTO and founder
32 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.
33 ESD Sensitive Device
The TMC5160 is an ESD sensitive CMOS device 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 defect or decreased
reliability.
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132
34 Table of Figures
FIGURE 1.1 TMC5160 BASIC APPLICATION BLOCK DIAGRAM (MOTION CONTROLLER).................................................................5
FIGURE 1.2 TMC5160 STEP/DIR APPLICATION DIAGRAM.........................................................................................................6
FIGURE 1.3 TMC5160 STANDALONE DRIVER APPLICATION DIAGRAM.........................................................................................6
FIGURE 1.4 AUTOMATIC MOTOR CURRENT POWER DOWN..........................................................................................................8
FIGURE 1.5 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE)......................................................................................................9
FIGURE 2.1 TMC5160-TA PACKAGE AND PINNING TQFP-EP 48 (7X7MM² BODY, 9X9MM² WITH LEADS)...............................11
FIGURE 2.2 TMC5160-WA PACKAGE AND PINNING QFN-WA (8X8MM²) ...............................................................................11
FIGURE 3.1 STANDARD APPLICATION CIRCUIT...........................................................................................................................15
FIGURE 3.2 EXTERNAL GATE VOLTAGE SUPPLY...........................................................................................................................16
FIGURE 3.3 MILLER CHARGE DETERMINES SWITCHING SLOPE ....................................................................................................17
FIGURE 3.4 SLOPES, MILLER PLATEAU AND BLANK TIME ...........................................................................................................18
FIGURE 3.5 BRIDGE PROTECTION OPTIONS FOR POWER ROUTING INDUCTIVITY.........................................................................19
FIGURE 3.6 RINGING OF OUTPUT (BLUE) AND GATE VOLTAGES (YELLOW, CYAN) WITH UNTUNED BRIGE...................................20
FIGURE 3.7 SWITCHING EVENT WITH OPTIMIZED COMPONENTS (WITHOUT / AFTER BULK DIODE CONDUCTION)........................20
FIGURE 3.8 EXAMPLE FOR BRIDGE WITH TUNED COMPONENTS (SEE SCOPE SHOTS)...................................................................21
FIGURE 4.1 SPI TIMING............................................................................................................................................................24
FIGURE 5.1 ADDRESSING MULTIPLE TMC5160 VIA SINGLE WIRE INTERFACE USING CHAINING................................................28
FIGURE 5.2 ADDRESSING MULTIPLE TMC5160 VIA THE DIFFERENTIAL INTERFACE, ADDITIONAL FILTERING FOR NAI..............29
FIGURE 7.1 MOTOR COIL SINE WAVE CURRENT WITH STEALTHCHOP (MEASURED WITH CURRENT PROBE)..................................56
FIGURE 7.2 STEALTHCHOP2 AUTOMATIC TUNING PROCEDURE....................................................................................................58
FIGURE 7.3 SCOPE SHOT: GOOD SETTING FOR PWM_REG.......................................................................................................60
FIGURE 7.4 SCOPE SHOT: TOO SMALL SETTING FOR PWM_REG DURING AT#2.......................................................................60
FIGURE 7.5 SUCCESSFULLY DETERMINED PWM_GRAD(_AUTO) AND PWM_OFS(_AUTO)...................................................60
FIGURE 7.6 VELOCITY BASED PWM SCALING (PWM_AUTOSCALE=0).........................................................................................63
FIGURE 7.7 TPWMTHRS FOR OPTIONAL SWITCHING TO SPREADCYCLE...................................................................................64
FIGURE 8.1 CHOPPER PHASES ...................................................................................................................................................67
FIGURE 8.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE
RESISTOR VOLTAGES A AND B).........................................................................................................................................69
FIGURE 8.3 SPREADCYCLE CHOPPER SCHEME SHOWING COIL CURRENT DURING A CHOPPER CYCLE ............................................70
FIGURE 8.4 CLASSIC CONST. OFF TIME CHOPPER WITH OFFSET SHOWING COIL CURRENT..........................................................71
FIGURE 8.5 ZERO CROSSING WITH CLASSIC CHOPPER AND CORRECTION USING SINE WAVE OFFSET..........................................71
FIGURE 10.1 CHOICE OF VELOCITY DEPENDENT MODES.............................................................................................................75
FIGURE 11.1 SHORT DETECTION................................................................................................................................................78
FIGURE 12.1 RAMP GENERATOR VELOCITY TRACE SHOWING CONSEQUENT MOVE IN NEGATIVE DIRECTION ................................81
FIGURE 12.2 ILLUSTRATION OF OPTIMIZED MOTOR TORQUE USAGE WITH TMC5160 RAMP GENERATOR...................................82
FIGURE 12.3 RAMP GENERATOR VELOCITY DEPENDENT MOTOR CONTROL...................................................................................83
FIGURE 12.4 USING REFERENCE SWITCHES (EXAMPLE)..............................................................................................................84
FIGURE 13.1 FUNCTION PRINCIPLE OF STALLGUARD2...............................................................................................................86
FIGURE 13.2 EXAMPLE: OPTIMUM SGT SETTING AND STALLGUARD2 READING WITH AN EXAMPLE MOTOR................................88
FIGURE 14.1 COOLSTEP ADAPTS MOTOR CURRENT TO THE LOAD...............................................................................................91
FIGURE 15.1 STEP AND DIR TIMING, INPUT PIN FILTER .........................................................................................................93
FIGURE 15.2 MICROPLYER MICROSTEP INTERPOLATION WITH RISING STEP FREQUENCY (EXAMPLE: 16 TO 256)......................95
FIGURE 16.1 DIAG OUTPUTS IN STEP/DIR MODE ..................................................................................................................96
FIGURE 16.2 DIAG OUTPUTS WITH SD_MODE=0...................................................................................................................97
FIGURE 17.1 DCSTEP EXTENDED APPLICATION OPERATION AREA...............................................................................................98
FIGURE 17.2 VELOCITY PROFILE WITH IMPACT BY OVERLOAD SITUATION .................................................................................99
FIGURE 17.3 MOTOR MOVING SLOWER THAN STEP INPUT DUE TO LIGHT OVERLOAD. LOSTSTEPS INCREMENTED................102
FIGURE 17.4 FULL SIGNAL INTERCONNECTION FOR DCSTEP ....................................................................................................102
FIGURE 17.5 DCO INTERFACE TO MOTION CONTROLLER – STEP GENERATOR STOPS WHEN DCO IS ASSERTED........................103
FIGURE 18.1 LUT PROGRAMMING EXAMPLE ............................................................................................................................104
FIGURE 20.1 OUTLINE OF ABN SIGNALS OF AN INCREMENTAL ENCODER................................................................................106
FIGURE 22.1 CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP...................................................................................110
FIGURE 22.2 TUNING STEALTHCHOP AND SPREADCYCLE.........................................................................................................111
FIGURE 22.3 MOVING THE MOTOR USING THE MOTION CONTROLLER.......................................................................................112
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133
FIGURE 22.4 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)..................................................................113
FIGURE 22.5 SETTING UP DCSTEP...........................................................................................................................................114
FIGURE 24.1 STANDALONE OPERATION WITH TMC5160 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES)..................116
FIGURE 29.1 LAYOUT EXAMPLE ...............................................................................................................................................126
FIGURE 30.1 DIMENSIONAL DRAWINGS TQFP48-EP.............................................................................................................127
FIGURE 30.2 DIMENSIONAL DRAWINGS WETTABLE QFN........................................................................................................129
35 Revision History
Version
Date
Author
Description
BD= Bernhard Dwersteg
First version of datasheet based on datasheet TMC5130 V1.13.
Added QFN package and product picture
Added new EVAL layout screenshots
Adapted pinning for QFN wettable package (47 pins!), added
preliminary package dimensions
V0.14
V0.15
V0.9
2017-APR-13
2017-APR-28
2017-MAY-04
2017-MAY-15
BD
BD
BD
BD
V0.91
Added hints for automatic tuning process.
Some text enhancements, higher operating voltage limit
UV VCCIO → 2V min.
Link corrected, OTP read table addr. corr.
Reduced peak operation voltage limits
Added some Attention boxes or converted to Hint
S2G detector thresholds fixed for final product, Corrected TPFD time
formula
V0.92
V0.93
V0.94
V1.00
2017-MAY-31
2017-SEP-07
2017-SEP-14
2017-NOV-18
BD
BD
BD
BD
V1.01
2017-NOV-29
BD
SWIOP/N → SWP/N, CFG6 errata
Exchanged Title graphics for -WA, minor fixes of text.
Added errata / limitations for initial tuning of AT#1 / AT#2 phase
Corrected 52V and 55V limits for S2GND detector, minor corrections
Added hints for tuning MOSFET bridge, added wiring bridge supply
V1.02
V1.04
V1.06
V1.07
V1.08
2017-DEZ-14
2018-MAY-02
2018-JUN-06
2018-OCT-18
2018-NOV-19
BD
BD
BD
BD
BD
Table 35.1 Document Revisions
36 References
[TMC5160-EVAL] TMC5160-EVAL Manual
[AN001]Trinamic Application Note 001 - Parameterization of spreadCycle™, www.trinamic.com
[AN002]Trinamic Application Note 002 - Parameterization of stallGuard2™ & coolStep™,
www.trinamic.com
[AN003] Trinamic Application Note 003 - dcStep™, www.trinamic.com
Calculation sheet TMC5160_Calculations.xlsx
www.trinamic.com
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