Trinamic TMC220x/2224步进电机驱动器 datasheet Rev1.09：高性能、静音与广泛应用

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TMC220x_TMC2224 datasheet (Rev1.09) 是德国Trinamic Motion Control GmbH & Co. KG公司提供的高性能步进电机驱动器芯片系列，包括TMC2208和TMC2224型号。这些驱动器专为2相步进电机设计，特别适合在各种应用中实现低噪音、高动态性能和高效能操作。 TMC2208/2224的重要特性包括： 1. **高电流支持**：每个电机线圈可提供高达2安培的峰值电流，确保了强大的动力输出。 2. **多微步接口**：支持STEP/DIR接口，可以设置为2, 4, 8, 16或32个微步，提供了精细控制精度，适用于不同分辨率的需求。 3. **平滑运行**：通过MicroPlyer™插值技术，能够在256微步模式下实现非常平滑的运动，降低震动和噪声。 4. **静音模式**：采用 StealthChop2™技术，实现了近乎无声的电机运转，提升了用户体验。 5. **动态控制**：SpreadCycle™功能提供了高度动态的电机控制，增强了电机响应速度和效率。 6. **低阻耗**：集成的低RDS(on)值，如LS280mΩ（典型值在25°C时）和HS290mΩ，有助于减少功耗。 7. **宽电压范围**：工作电压在4.75V到36V直流之间，适应广泛的应用电压需求。 8. **自动待机节能**：支持自动待机电流减小选项，进一步节省能源。 9. **内置传感器选件**：可选配内部感应电阻，无需外部元件，简化了电路设计。 10. **通信接口**：支持单线UART通信和OTP（One-Time Programmable）配置，便于高级功能的定制。 11. **内置脉冲发生器**：独立的脉冲发生器功能使得驱动器可用于单独的运动控制应用。 12. **全面保护与诊断**：内置全面的保护机制和诊断功能，确保系统稳定性和可靠性。 13. **多种封装选择**：提供QFN和湿可焊QFN封装，以适应不同的机械和环境要求。这些驱动器广泛应用于兼容设计升级的领域，如3D打印机、打印机和POS机、办公室自动化设备、家用自动化、纺织机、缝纫机、安防监控系统（如CCTV）、自动取款机（ATM）以及HVAC系统等，它们在这些场景中提供高效的电机控制和静音体验。

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TMC220X, TMC2224 DATASHEET (Rev. 1.09 / 2019-JUL-17) 13

www.trinamic.com

VCC_IO

TMC22xx

Step&Dir input

5V Voltage

regulator

charge pump

22n

50V

100n

16V

CLK_IN

ENN

GND

DIE PAD

opt. ext. clock

10-16MHz

3.3V or 5V

I/O voltage

100n

microPlyer

Full Bridge A

Full Bridge B

stepper

motor

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

100n

VCP

Analog Scaling

VREF

opt. driver enable

Programmable

Diagnostic

Outputs

Configuration

Interface

MS1

MS2

SPREAD

INDEX

DIAG

Configuration

(GND/open or VCC_IO)

Index pulse

Driver error

PDN/UART

B. Dwersteg, ©

TRINAMIC 2016

Trimmed

CLK oscillator/

selector

UART interface

+ Register Block

Configuration

Memory (OTP)

(not with TMC2202)

(only TMC222x)

stealthChop2

spreadCycle

Integrated

Rsense

IREF

256 Microstep

Sequencer

Step Pulse

Generator

Stand Still

Current

Reduction

STEP

DIR

2.2µ

6.3V

5VOUT

Step and Direction

motion control

REF

Attention:

Start with ENN=high!

Set GCONF.1 or OTP0.6

prior to enabling the driver!

Low ESR type

Connect directly

to GND plane

Connect directly

to GND plane

Place near IC with

short path to die pad

optional UART interface

Figure 3.2 Application circuit using RDSon based sensing

3.3 5V Only Supply

22n

50V

100n

16V

ENN

GND

DIE PAD

microPlyer

Full Bridge A

Full Bridge B

4.7-5.4V

stepper

motor

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

100n

VCP

VREF

opt. driver enable

stealthChop2

spreadCycle

Integrated

Rsense

IREF

256 Microstep

Sequencer

Stand Still

Current

Reduction

10µ

6.3V

5VOUT

10R

Use low inductivity SMD

type, e.g. 1206, 0.5W for

and R

Low ESR type

Place near IC with

short path to die pad

Connect directly

to GND plane

Connect directly

to GND plane

VCC_IO

TMC22xx

Step&Dir input

5V Voltage

regulator

charge pump

CLK_IN

opt. ext. clock

10-16MHz

3.3V or 5V

I/O voltage

100n

Analog Scaling

VREF

Programmable

Diagnostic

Outputs

Configuration

Interface

MS1

MS2

SPREAD

INDEX

DIAG

Configuration

(GND/open or VCC_IO)

Index pulse

Driver error

PDN/UART

B. Dwersteg, ©

TRINAMIC 2016

Trimmed

CLK oscillator/

selector

UART interface

+ Register Block

Configuration

Memory (OTP)

(not with TMC2202)

(only TMC222x)

IREF

Step Pulse

Generator

STEP

DIR

Step and Direction

motion control

Optional – bridges the

internal 5V reference

optional UART interface

Figure 3.3 5V only operation

While the standard application circuit is limited to roughly 5.2 V lower supply voltage, a 5 V only

application lets the IC run from a 5 V +/-5% supply. In this application, linear regulator drop must be

TMC220X, TMC2224 DATASHEET (Rev. 1.09 / 2019-JUL-17) 14

www.trinamic.com

minimized. Therefore, the internal 5V regulator is filtered with a higher capacitance. An optional

resistor bridges the internal 5V regulator by connecting 5VOUT to the external power supply. This RC

filter keeps chopper ripple away from 5VOUT. With this resistor, the external supply is the reference

for the absolute motor current and must not exceed 5.5V.

3.4 Configuration Pins

The TMC22xx family members provide three or four configuration pins depending on the package

option. These pins allow quick configuration for standalone operation. Several additional options can

be set by OTP programming. In UART mode, the configuration pins can be disabled in order to set a

different configuration via registers.

PDN_UART: CONFIGURATION OF STANDSTILL POWER DOWN

PDN_UART

Current Setting

GND

Enable automatic power down in standstill periods

VCC_IO

Disable

UART interface

When using the UART interface, the configuration pin should be disabled via

GCONF.pdn_disable = 1. Program IHOLD as desired for standstill periods.

OPTIONS FOR TMC220X DEVICES, ONLY:

MS1/MS2: CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT (TMC220X)

MS2

MS1

Microstep Setting

GND

8 microsteps

GND

VCC_IO

2 microsteps (half step)

VCC_IO

GND

4 microsteps (quarter step)

VCC_IO

16 microsteps

OPTIONS FOR TMC222X DEVICES, ONLY:

SPREAD (ONLY WITH TMC222X): SELECTION OF CHOPPER MODE

SPREAD

Chopper Setting

GND or

Pin open / not

available

StealthChop is selected. Automatic switching to SpreadCycle in dependence of

the step frequency can be programmed via OTP.

VCC_IO

SpreadCycle operation.

MS1/MS2: CONFIGURATION OF MICROSTEP RESOLUTION FOR STEP INPUT (TMC222X)

MS2

MS1

Microstep Setting

GND

4 microsteps (quarter step)

GND

VCC_IO

8 microsteps

VCC_IO

GND

16 microsteps

VCC_IO

32 microsteps

3.5 High Motor Current

When operating at a high motor current, the driver power dissipation due to MOSFET switch on-

resistance significantly heats up the driver. This power dissipation will significantly heat up the PCB

cooling infrastructure, if operated at an increased duty cycle. This in turn leads to a further increase of

driver temperature. An increase of temperature by about 100°C increases MOSFET resistance by

roughly 50%. This is a typical behavior of MOSFET switches. Therefore, under high duty cycle, high

load conditions, thermal characteristics have to be carefully taken into account, especially when

increased environment temperatures are to be supported. Refer the thermal characteristics and the

layout hints for more information. As a thumb rule, thermal properties of the PCB design become

TMC220X, TMC2224 DATASHEET (Rev. 1.09 / 2019-JUL-17) 15

www.trinamic.com

critical for the tiny QFN 5mm x 5mm package at or above 1A RMS motor current for increased periods

of time. Keep in mind that resistive power dissipation raises with the square of the motor current. On

the other hand, this means that a small reduction of motor current significantly saves heat dissipation

and energy.

Pay special attention to good thermal properties of your PCB layout, when going for 1A RMS current

or more.

An effect which might be perceived at medium motor velocities and motor sine wave peak currents

above roughly 1.4A peak is a slight sine distortion of the current wave when using SpreadCycle. It

results from an increasing negative impact of parasitic internal diode conduction, which in turn

negatively influences the duration of the fast decay cycle of the SpreadCycle chopper. This is, because

the current measurement does not see the full coil current during this phase of the sine wave,

because an increasing part of the current flows directly from the power MOSFETs’ drain to GND and

does not flow through the sense resistor. This effect with most motors does not negatively influence

the smoothness of operation, as it does not impact the critical current zero transition. The effect does

not occur with StealthChop.

3.6 Driver Protection and EME Circuitry

Some applications have to cope with ESD events caused by motor operation or external influence.

Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset

or even a destruction of the motor driver, depending on their energy. Especially plastic housings and

belt drive systems tend to cause ESD events of several kV. It is best practice to avoid ESD events by

attaching all conductive parts, especially the motors themselves to PCB ground, or to apply electrically

conductive plastic parts. In addition, the driver can be protected up to a certain degree against ESD

events or live plugging / pulling the motor, which also causes high voltages and high currents into

the motor connector terminals. A simple scheme uses capacitors at the driver outputs to reduce the

dV/dt caused by ESD events. Larger capacitors will bring more benefit concerning ESD suppression,

but cause additional current flow in each chopper cycle, and thus increase driver power dissipation,

especially at high supply voltages. The values shown are example values – they may be varied

between 100pF and 1nF. The capacitors also dampen high frequency noise injected from digital parts

of the application PCB circuitry and thus reduce electromagnetic emission. A more elaborate scheme

uses LC filters to de-couple the driver outputs from the motor connector. Varistors in between of the

coil terminals eliminate coil overvoltage caused by live plugging. Optionally protect all outputs by a

varistor to GND against ESD voltage.

Full Bridge A

Full Bridge B

stepper

motor

OA1

OA2

OB1

OB2

Driver

470pF

100V

470pF

100V

470pF

100V

470pF

100V

Full Bridge A

Full Bridge B

stepper

motor

OA1

OA2

OB1

OB2

Driver

470pF

100V

470pF

100V

50Ohm @

100MHz

50Ohm @

100MHz

50Ohm @

100MHz

50Ohm @

100MHz

Fit varistors to supply voltage

rating. SMD inductivities

conduct full motor coil

current.

470pF

100V

470pF

100V

Varistors V1 and V2 protect

against inductive motor coil

overvoltage.

V1A, V1B, V2A, V2B:

Optional position for varistors

in case of heavy ESD events.

BRB

BRA

100nF

16V

100nF

16V

V1A

V1B

V2A

V2B

Figure 3.4 Simple ESD enhancement and more elaborate motor output protection

TMC220X, TMC2224 DATASHEET (Rev. 1.09 / 2019-JUL-17) 16

www.trinamic.com

4 UART Single Wire Interface

The UART single wire interface allows control of the TMC22xx 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 danger of wrong or missed commands even in the event of electro-magnetic

disturbance. The automatic baud rate detection makes this interface easy to use.

4.1 Datagram Structure

4.1.1 Write Access

UART WRITE ACCESS DATAGRAM STRUCTURE

each byte is LSB…MSB, highest byte transmitted first

0 … 63

sync + reserved

8 bit slave

address

RW + 7 bit

32 bit data

CRC

0…7

8…15

16…23

24…55

56…63

Reserved (don’t cares

but included in CRC)

SLAVEADDR=0

address

data bytes 3, 2, 1, 0

(high to low byte)

CRC

…

A sync nibble precedes each transmission to and from the TMC22xx and is embedded into the first

transmitted byte, followed by an addressing byte (0 for TMC22xx). 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

SWIOP) and ends with a stop bit (logic 1, high level on SWIOP). 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 bytewise. 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 f

CLK

/16 due to the required stability of the baud clock.

The slave address SLAVEADDR is always 0 for the TMC22xx.

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.

UART

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