TMC428 ETC-unknow, TMC428 Datasheet
TMC428
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TMC428 Summary of contents
Page 1
... The micro controller is free to do application specific interfacing and high level control functions. Both, the communication with the micro controller and with one to three daisy chained stepper motor drivers take place via two separate 4 wire serial peripheral interfaces. The TMC428 TM* directly connects to SPI smart power stepper motor drivers ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Life support policy TRINAMIC Microchips GmbH does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Microchips GmbH. Life support systems are equipment intended to support or sustain life, and whose failure to ...
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... For those driver chips without serial data send back option, the variant of the TMC428 with two additional chip select outputs is proposed. The TMC428 sends data to the driver chain on demand only, which minimizes the interface traffic and reduces the power consumption ...
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... In VELOCITYMODE, a target velocity is set by the user and the TMC428 takes into account user defined limits of velocity and acceleration. In HOLDMODE, the user sets target velocities, but the TMC428 ignores any limits of velocity and acceleration, to realize arbitrary velocity profiles, controlled completely by the user. ...
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... From the user’s point of view, the TMC428 consists of a set of registers, accessed by an micro controller (µC) via a serial interface in an uniform way. Each time, a µC sends a datagram to the TMC428, it simultaneously receives a datagram from the TMC428. Each datagram contains all necessary information to address and to select between read and write for both, the registers and the on-chip memory ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Pinning There are two package variants of the TMC428 available. The smaller SSOP16 package is sufficient for our TM TMC288 SPI stepper motor drivers with up to three drivers in a chain and for most SPI drivers from other vendors. Some SPI output and can not simply be arranged in a daisy chain to drive more than one motor ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Functional Description and Block Diagram From the user’s point of view, the TMC428 consists of a set of registers of different units and on-chip RAM (see. Figure 4), accessed via the serial µC interface in an uniform way. The serial interface to the micro controller is easy to use ...
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... TMC428 is idle, the low active serial chip select input nSCS_C and also the serial data clock signal SCK_C are set to high. While the signal nSCS_C is high, the TMC428 assigns the status of the internal low active interrupt signal named nINT to the serial data output SDO_C (Figure 5). The serial data input SDI_C of the TMC428 has to be driven by the micro controller. In contrast to other SPI devices, the SDO_C signal of the TMC428 is always driven. It will never be in high impedance ‘ ...
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... Automatic Power-On Reset The TMC428 performs an automatic power-on reset (see ). To be sure, that the power-on reset has been completed before starting communication with the TMC428, one should wait at least for 10 µs before sending the first datagram, which is approximately one datagram at 16 MHz clock frequency (tDATAGRAM16MHzMin = (1+32+ MHz = 12.75 µ ...
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... The bit mapping for each stepper motor driver is composed of so called primary signal bits provided by the micro step unit of the TMC428 individually for each stepper motor. Each primary signal bit is represented by a five bit code word called primary signal code. The order of primary signal bits to be send to the stepper motor driver daisy chain is defined by the order of primary signal code words in the configuration RAM area ...
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... SDO_C) serial interface. Each datagram send to the TMC428 via the pin SDI_C and each datagram received from the TMC428 via the pin SDO_C is 32 bit long. The first bit send is the MSB (most significant bit named sdi_c_bit#31 at Figure 5). The last bit send is the LSB (least significant bit named sdi_c_bit#0 at Figure 5) ...
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... As a default setting, the TMC428 only sends datagrams on demand. Optionally, continuous update – periodic sending of datagrams to the stepper motor driver chain – ...
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... E.g. to change the target position of one stepper motor, a micro controller has to send only one 32 bit datagram to the TMC428. The same is true for changing a target velocity. Some parameters are composed as a single data word at a single address. Those parameters– ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) 32 bit DATAGRAM send from a µC to the TMC428 via pin SDI_C ADDRESS IDX smda ...
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... TMC428 moves the stepper motor that the difference becomes zero. Both, target position x_target and current position x_actual (usually not necessary) may be altered on the fly. To move from one position to another, the ramp generator of TMC428 automatically generates ramp profiles (step pulses with defined frequencies) in consideration of velocity limits v_min and v_max and acceleration limit a_max ...
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... This read only register holds the current velocity of the associated stepper motor. Internally, the ramp generator of the TMC428 processes with 20 bits while only 12 bits can be read out as v_actual. So, an actual velocity of zero read out by the micro controller means that the current velocity interval between zero and one ...
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... Table 7 - Current Scale Selection Scheme The automatic motion dependent current scale feature of the TMC428 is provided primarily for micro step operational mode. But it may also be applied for full step or half step drivers, if those provide current control bits. For those drivers, one could initialize the micro step tabular with a constant function, square function or sine wave using the two most significant DAC bits. pmul & ...
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... Instead of direct storage of the parameters p_mul and p_div, the TMC428 stores two parameters called pmul and pdiv, with p_mul = 128 + pmul where pmul = { ..., 127} The reason why p_mul ranges from 128 to 255 is, that p is divided by p_div which is a power of two ranging from 8 to 65536 ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) The parameter p has to be calculated for a given acceleration. This calculation is not done by the TMC428 itself, because this task has to be done only once for a given acceleration limit. The acceleration limit is a stepper motor parameter, which is usually fixed in most applications. If the acceleration limit has to be changed nevertheless, the micro controller could do this task or one could provide a pair of p_mul and p_div in a memory for each acceleration limit a_max required ...
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... The bit vectors ref_conf and ramp_mode are accessed via a common address, because these parameters normally are initialized only once. The bit called lp (latched position read only status bit. The TMC428 has three reference switch inputs. Without additional hardware, three reference switches are available. Per default, each reference switch input is assigned individually to each stepper motor as a left reference switch ...
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... If the interrupt status is inactive, nINT is high (‘1’). The interrupt status is mapped to the most significant bit (31) of each datagram send back to the µC (see page 10) and it is available at the SDO_C pin of the TMC428 if the pin nSCS_C is low. Copyright © 2000, TRINAMIC Microchips GmbH ...
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... Demultiplexing of the multiplexed interrupt status signal at the pin SDO_C could be done using additional hardware. But it is not necessary if the micro controller always disables its interrupt when it sends a datagram to the TMC428 and enables its interrupt input when sending of the datagram is completed. 32 bit DATAGRAM send from a µC to the TMC428 ...
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... The parameter velocity is in range 0 to 2047. The pulse generator of the TMC428 generates one step pulse with each pulse generator clock pulse if the velocity is set to 2047. The change R in the pulse rate per time unit (step frequency change per second – ...
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... JDX is used as index name instead of IDX. datagram_low_word (JDX=%0000) & datagram_high_word (JDX=%0001) The TMC428 stores datagrams send back from the stepper motor driver chain with a total length bits. The register datagram_low_word holds the lower 24 bits of this 48 bits and the register datagram_high_word holds the higher 24 bits of the 48 bits ...
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... There are unused addresses before the power_down address within the address space of the global parameter registers. power_down (JDX=%1000) A write to the register address named power_down sets the TMC428 into the power down mode until it detects a falling edge at the pin nSCS_C. Unused Addresses (JDX={%1001, %1010, %1011, %1100, %1101}) There are also unused addresses after the power_down address within the address space of the global parameter registers ...
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... This feature is available only for the TMC428 within the larger SOIC24 package (TMC428-PI24) where the two additional chip select signals nCS2, nCS3 are available (see Figure 2). The one common chip select signal nSCS_S is used if the bit named csCommonIndividual is ‘ ...
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... Using high resolution micro stepping driver chips– as provided by TMC289 / TMC288 driver chips –avoids this problem. The TMC428 sends datagrams to the stepper motor driver chain on demand if continuous_update is ‘0’. This reduces the communication traffic. The reference switches are processed while datagrams are send to the stepper motor driver chain only. If reference switches are configured to stop associated stepper motors automatically, the configuration bit continuous_update must be set to ‘ ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) REF1 REF2 REF3 nSCS_C nSCS_S SDI_C SDO_S TMC428 SCK_C SCK_S SDO_C SDI_S CLK V33 V5 TEST GND Figure 13 - Left-Side-Only Reference Switch Configuration for mot1r=0 (and refmux=0) If continuous_update is ‘1’, internal status bits are updated periodically also if all stepper motors are at rest ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Simultanous Start Three Stepper Motors Starting stepper motors simultanously can be achifed by sending successive datagrams starting the stepper motors. If the delay between those datagrams is of the magnitude of some micro seconds, the stepper motors can be considered as started simultanously. Feedding the reference switch signals through the microcontoller (Figure 14) allows exact simultanous start of the stepper motors under software control ...
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... Different stepper motors may step with different micro step resolutions, but the micro step look up table (LUT) is the same for all stepper motors controlled by one TMC428. Any quarter wave period stored in the micro step table is expanded automatically to a full period wave together with its 90° ...
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... So, the TMC428 primarily provides a full set of control signals individually for each of the up to three stepper 2-phase stepper motors respectively stepper motor driver chips of the daisy chain ...
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... NxM bit determines the stepper motor driver positions NxM bit with a value of ‘1’ is stored within the on-chip RAM, the TMC428 will send endless. So, the on-chip RAM has to be configured first. After power-on reset, the registers of the TMC428 are initialized, so that no transmission of datagrams to the stepper motor driver chain is required ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) example datagram configuration for sending from TMC428 to stepper motor driver daisy chain position within datagram driver # 1 (SMDA=%00) driver NxM Table 14 - Datagram Example on-chip RAM configuration for the example NxM & signal code word ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) binary datagram specification 10000000----------001100--001110 : 80000c0e 10000010----------001010--001011 : 82000a0b 10000100----------001000--001001 : 84000809 10000110----------000100--n00110 : 86000406 10001000----------000010--000011 : 88000203 10001010----------100000--000001 : 8a002001 10001100----------010000--010000 : 8c001010 10001110----------010001--010000 : 8e001110 10010000----------010001--010001 : 90001111 ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Initialization of the Micro Step Look-Up-Table The TMC428 provides a look-up-table (LUT values of 6 bit for micro stepping. The micro step LUT can be adapted by storing an arbitrary quarter period of a periodic function to individual stepper motor characteristics common to uses one period of a sine wave function for micro stepping. With that function, the current of one phase is controlled with the sine function where the other phase is controlled with the cosine function ...
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... These 64 values– representing a quarter sine period in the interval [ 0 ... /4 [ which is expanded automatically by the TMC428 to a full sine cosine period –have to be send to the on-chip RAM of the TMC428 by 32 datagrams: ...
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... TMC428 during operation. So, for reach function value (f( automatically gets a pair of function values { expansion of the TMC428– primary proposed for sine cosine microstepping ( sin( )) –also works fine with other micro step controlling functions ...
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... TMC428 during motion of a stepper motor. For calculation of data for the micro step look-up table of the TMC428, one has to replace from 0 to ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Package Outlines and Dimensions Shrink Small Outline Package with 16 Pins (SSOP16, 150 MIL ) of TMC428-I and TMC428-A S TOP VIEW h x 45° N= SIDE VIEW Figure 17 – Package Outline Drawing SSOP16, 150 MILS ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Small Outline Package with 24 Pins (SOIC24) for TMC428-PI24 TOP VIEW h x 45° SIDE VIEW Figure 18 - Package Outline Drawing SOIC24, 300 MILS Dimensions in MILLIMETERS Symbol Min Typ A 2.35 A1 ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Marking Product Name TMC428-I Product ID (at top and bottom) 56563A Package Name SSOP16 – 150 MILS Internal Package Name SSOP16_A Date Code YYWW (year YY and week WW) Lot Number (at bottom only) XXX Logo No Real Size (see note below) ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Characteristics Symbol Parameter VDD3 DC Supply Voltage VI3 DC Input Voltage, 3.3 V I/Os VO3 DC Output Voltage, 3.3 V I/Os VDD5 DC Supply Voltage VI5 DC Input Voltage, 5V I/Os VO5 DC Output Voltage, 5V I/Os VESD ESD Voltage at any I/O Pin VESD5 ESD Voltage at Pin V5 VESD33 ESD Voltage at Pin V33 IMAXIO ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Symbol Parameter ILC Input Leakage Current CIN Input Capacitance Table 23 – Characteristics Symbol Parameter VDD3 DC Supply Voltage VI3 DC Input Voltage VIL3 Low Level Input Voltage VIH3 High Level Input Voltage VLTH3 Low Level Input Voltage Threshold ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Symbol Parameter Conditions ISC16MHZ Supply Current MHz at Tc=25°C ISC4MHZ Supply Current MHz at Tc=25°C ICS0MHZ Supply Current MHz at Tc=25°C IPDN25C Power Down Current Power Down Mode at Tc=25°C, 5V Supply IPDN85C Power Down Current Power Down Mode at Tc=85°C, 5V Supply ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) On-Chip Voltage Regulator The on-chip voltage regulator delivers a 3.3V supply for the core under load with a 4.5 minimum input voltage. An external 470 nF ceramic capacitor has to be connected between the V33 pin (see Figure 19, page 42) and ground, with connections as short as possible. The regulator is internally stable. The output capacitor is only needed for power supply filtering, not for feedback loop stabilization ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Power-On-Reset The TMC428 is equipped with a static and dynamic reset with internal hysteresis (see Figure 21). So, it performs an automatic reset during power-on. If the power supply voltage goes below a threshold, an automatic power on reset is performed also. Symbol Parameter VDD ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Example for Calculation of p_mul and p_div for the TMC428 /* PROGRAM EXAMPLE 'pmulpdiv.c' : How to Calculate p_mul & p_div for the TMC428 */ #include <math.h> #include <stdio.h> #include <stdlib.h> #include <string.h> void CalcPMulPDiv(int a_max, int ramp_div, int pulse_div, int *p_mul, int *p_div, double *PIdeal, double *PBest) ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Table of Figures F 1: TMC428 IGURE APPLICATION ENVIRONMENT WITH F 2 – IGURE SAGE OF RIVERS WITHOUT ERIAL ATA F 3: TMC428 ............................................................................................................................................................. 6 IGURE PIN OUT F 4: TMC428 ................................................................................................................................. 7 IGURE FUNCTIONAL BLOCK DIAGRAM µC IGURE IMING DIAGRAM OF THE SERIAL ...
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... TMC428 DATA SHEET (V. 1.00 / February 12, 2001) Table of Contents FEATURES..................................................................................................................................................1 GENERAL DESCRIPTION.............................................................................................................................3 NOTATION OF NUMBER SYSTEMS.............................................................................................................5 PINNING ....................................................................................................................................................6 FUNCTIONAL DESCRIPTION AND BLOCK DIAGRAM...................................................................................7 SERIAL PERIPHERAL INTERFACES................................................................................................................8 Serial Peripheral Interface for µC ........................................................................................................8 Automatic Power-On Reset ................................................................................................................9 Serial Peripheral Interface to Stepper Motor Driver Chain ...................................................................9 Simple Datagram Examples ..............................................................................................................12 ADDRESS SPACE PARTITIONS ..................................................................................................................13 Read and Write ...
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... INITIALIZATION OF THE MICRO STEP LOOK-UP-TABLE .............................................................................35 Micro Step Enhancement .................................................................................................................37 Partial look-up table initialization option...........................................................................................38 PACKAGE OUTLINES AND DIMENSIONS ..................................................................................................39 Shrink Small Outline Package with 16 Pins (SSOP16, 150 MIL ) of TMC428-I and TMC428-A ...........39 Small Outline Package with 24 Pins (SOIC24) for TMC428-PI24........................................................40 MARKING................................................................................................................................................41 CHARACTERISTICS ..................................................................................................................................42 ON-CHIP VOLTAGE REGULATOR .............................................................................................................45 POWER-ON-RESET ...