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PDF TMC428 Data sheet ( Hoja de datos )
| Número de pieza | TMC428 | |
| Descripción | Intelligent Triple Stepper Motor Controller | |
| Fabricantes | TRINAMIC | |
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TMC428 DATASHEET (v. 2.05 / May 28th, 2010)
TMC428 – DATA SHEET
Intelligent Triple Stepper Motor Controller with
Serial Peripheral Interfaces
1
TRINAMIC® Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg
GERMANY
www.trinamic.com
1 Features
The TMC428 is a miniaturized high performance stepper motor controller. It controls up to three 2-
phase stepper motors. All motors can operate independently. The TMC428 allows up to 6 bit micro
step resolution – corresponding to 64 micro steps per full step – individually selectable for each motor.
Once initialized, it performs all real time critical tasks autonomously based on target positions and
velocities, which can be altered on-the-fly. So, an inexpensive microcontroller together with the
TMC428 forms a complete motion control system. The microcontroller is free to do application specific
interfacing and high level control functions. Both, the communication with the microcontroller and with
one to three daisy chained stepper motor drivers take place via two separate 4 wire serial peripheral
interfaces. The TMC428 directly connects to SPITM* smart power stepper motor drivers.
Controls up to three 2-phase stepper motors
Serial 4-wire interface for µC with easy-to-use protocol
Configurable interface for SPITM motor drivers
Different types of SPITM stepper motor driver chips may be mixed within a single daisy chain
Communication on demand minimizes traffic to the SPITM stepper motor driver chain
Programmable SPITM data rates up to 1 Mbit/s
Wide range for clock frequency – can use CPU clock up to 16 MHz
Internal 24 bit wide position counters
Full step frequencies up to 20 kHz
Read-out facility for actual motion parameters (position, velocity, acceleration) and driver status
Individual micro step resolution of {64, 32, 16, 8, 4, 2, 1} micro steps via built-in sequencer
Programmable 6 bit micro step table with up to 64 entries for a quarter sine-wave period
Built-in ramp generators for autonomous positioning and speed control
On-the-fly change of target motion parameters (like position, velocity, acceleration)
Automatic acceleration dependent current control (power boost)
Low power operation: Only 1.25 mA @ 4 MHz (typ.)
Power down mode with transparent wake-up for normal operation
3.3V or 5V operation with CMOS / TTL compatible IOs (all inputs Schmitt-Trigger)
Available in ultra small 16 pin SSOP package and small 24 pin SOP package
Table of contents, table of figures, table of tables are located at the end of this datasheet.
* SPI is Trademark of Motorola, Inc.
Copyright © 2004-2010, TRINAMIC Motion Control GmbH & Co. KG
1 page  
TMC428 DATASHEET (v. 2.05 / May 28th, 2010)
5
the software point of view, the TMC428 provides a set of registers, accessed by a microcontroller (µC)
via a serial interface in an uniform way. Each datagram contains address bits, a read-write selection
bit, and data bits, to access the registers and the on-chip memory. Each time, the µC sends a
datagram to the TMC428, it simultaneously receives a datagram from the TMC428. This simplifies the
communication with the TMC428 and makes the programming easy. Most microcontrollers have an
SPITM hardware interface, which directly connects to the serial four wire microcontroller interface of the
TMC428. For microcontrollers without SPITM hardware, a software doing the serial communication is
completely sufficient and can easily be implemented.
2.3 Notation of Number Systems & Notation of Two to the Power of n
Decimal numbers are used as usual without additional identification. Binary numbers are identified by a
prefixed % character. Hexadecimal numbers are identified by a prefixed $ character. So, for example
the decimal number 42 in the decimal system is written as %101010 in the binary number system, and
it is written as $2A in the hexadecimal number system. With this, TMC428 datagrams are written as 32
bit numbers (e.g. $1234ABCD = %00010010001101001010101111001101). In addition to the basic
arithmetic operators (+, -, *, /) the operator two to the power of n is required at different sections of this
data sheet. For better readability instead of 2n the notation 2^n is used.
2.4 Signal Polarities
Per default, signals– external and internal –are high active, but the polarity of some signals is
programmable to be inverted. A pre-fixed lower case „n‟ indicates low active signals (e.g. nSCS_C,
nSCS_S). For example the polarity of nSCS_S can be inverted by programming, but also the polarity of
datagram bits can be inverted by programming (see section 9, page 27).
2.5 Units of Motion Parameters
Motion parameters position, velocity, and acceleration are given as integer values within TMC428
specific units. Section 8.14 page 26 explains how to calculate steps, steps per second, steps per
second square from given TMC428 integer values. With a given stepper motor resolution one can
calculate physical units for angle, angular velocity, angular acceleration.
2.6 Representation of Signed Values by Two’s Complement
Those motion parameters that have to cover negative and positive motion direction as well are
processed as signed numbers represented by two‟s complement as usual. Signed motion parameters
are x_target, x_actual, v_target, v_actual, a_actual, a_threshold (pls. refer section 8.9, page 18). Limit
motion parameters as v_min, v_max, a_max, are represented as unsigned binary numbers.
2.7 Tables of Contents
A table of contents, a table of figures, and a table of tables are located at the end of the data sheet.
3 Package Variants
The TMC428 is available in three different package variants, qualified for the industrial temperature
range. An additional variant is available for the automotive temperature range. The package outlines
and dimensions are included within this data sheet (page 45-47.)
part number
TMC428-I
TMC428-PI24
TMC428-A
TMC428-DI20
Package
SSOP16 – 150 mils, 16 pins, plastic package, industrial (-40°C ... +85°C)
RoHS compliant since date code 0424 (YYWW = WW 24 / 2004)
SOP24 – 300 mils, 24 pins, plastic package, industrial (-40°C ... +85°C)
RoHS compliant since date code 0518 (YYWW = WW 18 / 2005)
SSOP16 – 150 mils, 16 pins, plastic package, automotive (-40°C ... +125°C)
DIL20 – 300 mils, 20 pins, plastic package, industrial (-40°C ... +85°C)
[This package variant is not recommended for new designs]
Table 3-1: TMC428 package variants
JEDEC Drawing
MO-137 (150 mils)
MS-013 (300 mils)
MO-137 (150 mils)
MS-001 (300 mils)
Copyright © 2004-2010, TRINAMIC Motion Control GmbH & Co. KG
5 Page 
TMC428 DATASHEET (v. 2.05 / May 28th, 2010)
11
The timing of the serial driver interface is programmable in a wide range. The clock divider provides 16
up to 512 clock cycles (tCLK) for a serial driver interface data clock period. The default duration of a
clock period (tSCKCL+tSCKCH) of the signal nSCS_S is 16+16=32 clock periods of the clock signal
CLK. The minimal duration of a serial interface clock period (tSCKCL+tSCKCH) is 8+8=16 clock cycles
of signal CLK as outlined in Figure 6-3. Also, the polarities of the signals nSCS_S and SCK_S are
programmable to use driver chips from other vendors with inverted polarities without additional glue
logic. The input SDI_S of the serial driver interface must always be driven to a defined level. So, to
avoid high impedance („Z‟) at that input pin while the stepper motor driver chain is idle, a pull-up
resistor or a pull-down resistor of 10 K is required at that input.
6.4 Datagram Structure
The microcontroller (µC) communicates with the TMC428 via the four wire (nSCS_C, SCK_C, SDI_C,
SDO_C) serial interface. Each datagram sent to the TMC428 via the pin SDI_C and each datagram
received from the TMC428 via the pin SDO_C is 32 bits long. The first bit sent is the MSB (most
significant bit named sdi_c_bit#31 at Figure 6-1). The last bit sent is the LSB (least significant bit
named sdi_c_bit#0 in Figure 6-1). During reception of a datagram, the TMC428 immediately sends
back a datagram of the same length to the microcontroller. This datagram is the result of the request
from the microcontroller.
With each 32 bit wide datagram the microcontroller sends to the TMC428, it simultaneously receives a
32 bit wide datagram. A read request is distinguished from a write request by one datagram bit named
RW. The TMC428 immediately sends back requested read data in the lower 24 datagram bits. Status
bits are sent back in the higher 8 datagram bits. Datagrams sent from the microcontroller to the
TMC428 have the form:
32 bit DATAGRAM sent from µC to the TMC428 via pin SDI_C
33222222222211111111119876543210
1098765432109876543210
ADDRESS
DATA
Table 6-3 : 32 bit DATAGRAM structure sent from µC (MSB sent first)
The 32 bit wide datagrams sent to the TMC428 are assorted in four groups of bits: RRS (register RAM
select) selecting either registers or on-chip RAM; ADDRESS bits addressing memory within the
register set or within the RAM area; RW (read / not write (RW=1 : read / RW=0 : write)) bit
distinguishing between read access and write access; DATA bits for write access– for read access
these bits are don’t care and should be set to „0„. Different internal registers of the TMC428 have
different lengths. So, for some registers only a subset of these 24 data bits is used. Unused data bits
should be set to „0„ for clearness. Some addresses select more than a single register mapped together
into the 24 data bit space.
The 32 bit wide datagrams received by the µC from the TMC428 contain two groups of bits: STATUS
BITS and DATA BITS. The status bits, sent back with each datagram, carry the most important
information about internal states of the TMC428 and the settings of the reference switches. These
datagrams have the form:
Copyright © 2004-2010, TRINAMIC Motion Control GmbH & Co. KG
11 Page | ||
| Páginas | Total 30 Páginas | |
| PDF Descargar | [ Datasheet TMC428.PDF ] | |
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