德国TMC2209静音驱动芯片3D打印机用支持堵转检测串口配置寄存器_tmc2209堵转检测

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2209 Datasheet

APPLICATIONS

Compatible Design Upgrade

3D Printers

Printers, POS

Office and home automation

Textile, Sewing Machines

CCTV, Security

ATM, Cash recycler

HVAC

Battery Operated Equipment

FEATURES AND BENEFITS

2-phase stepper motors up to 2.8A coil current (peak), 2A RMS

STEP/DIR Interface with 8, 16, 32 or 64 microstep pin setting

Smooth Running 256 microsteps by MicroPlyer™ interpolation

StealthChop2™ silent motor operation

SpreadCycle™ highly dynamic motor control chopper

StallGuard4™ load and stall detection for StealthChop

CoolStep™ current control for energy savings up to 75%

Low RDSon, Low Heat-Up LS 170mΩ & HS 170mΩ (typ. at 25°C)

Voltage Range 4.75… 29V DC

Low Power Standby to fit standby energy regulations

Internal Sense Resistor option (no sense resistors required)

Passive Braking, Freewheeling, and automatic power down

Single Wire UART & OTP for advanced configuration options

Integrated Pulse Generator for standalone motion

Full Protection & Diagnostics

Compact QFN package with large heat slug

DESCRIPTION

The TMC2209 is an ultra-silent motor driver

IC for two phase stepper motors. TMC2209

pinning is similar to a number of legacy

drivers as well as to the TMC2208.

TRINAMICs sophisticated StealthChop2

chopper ensures noiseless operation,

maximum efficiency and best motor torque.

Its fast current regulation and optional

combination with SpreadCycle allow highly

dynamic motion while adding. StallGuard

for sensorless homing. The integrated

power MOSFETs handle motor currents up

to 2A RMS with protection and diagnostic

features for robust and reliable operation.

A simple to use UART interface opens up

tuning and control options. Store

application tuning to OTP memory.

Industries’ most advanced STEP/DIR

stepper motor driver family upgrades

designs to noiseless and most precise

operation for cost-effective and highly

competitive solutions.

Step/Dir Drivers for Two-Phase Bipolar Stepper Motors up to 2.8A peak – StealthChop™ for Quiet

Movement – UART Interface Option – Sensorless Stall Detection StallGuard4.

BLOCK DIAGRAM



 



TMC2209 DATASHEET (Rev. 1.04 / 2020-FEB-19) 2

www.trinamic.com

APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE

The TMC22xx family scores with power density, integrated power MOSFETs, smooth and quiet

operation, and a congenial simplicity. The TMC2209 covers a wide spectrum of applications from

battery systems to embedded applications with up to 2A motor current per coil. TRINAMICs unique

chopper modes SpreadCycle and StealthChop2 optimize drive performance. StealthChop reduces motor

noise to the point of silence at low velocities. Standby current reduction keeps costs for power

dissipation and cooling down. Extensive support enables rapid design cycles and fast time-to-market

with competitive products.

STANDALONE REPLACEMENT FOR LEGACY STEPPER DRIVER

S/D

0A+

0A-

0B+

TMC22xx

0B-

ERROR, INDEX

S/D

0A+

0A-

0B+

TMC22xx

0B-

UART

CPU

High-Level

Interface

UART INTERFACE FOR FULL DIAGNOSTICS AND CONTROL

Sense Resistors may be omitted

ORDER CODES

Order code

Description

Size [mm

]

TMC2209-LA

00-0173

StealthChop standalone driver; QFN28 (RoHS compliant)

5 x 5

TMC2209-LA-T

00-0173-T

-T denotes tape on reel packing of devices

TMC2209-EVAL

40-0169

Evaluation board for TMC2209 stepper motor driver

85 x 55

ESELSBRÜCKE

40-0098

Connector board fitting to Landungsbrücke

61 x 38

LANDUNGSBRÜCKE

40-0167

Baseboard for TMC2209-EVAL & further evaluation

boards

85 x 55

In this example, configuration is hard

wired via pins. Software based motion

control generates STEP and DIR

(direction) signals, INDEX and ERROR

signals report back status information.

A CPU operates the driver via step and

direction signals. It accesses diagnostic

information and configures the

TMC2209 via the UART interface. The

CPU manages motion control and the

TMC2209 drives the motor and smoo-

thens and optimizes drive performance.

The TMC2209-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 TMC2209 evaluation

board system consists of three parts:

STARTRAMPE (base board),

ESELSBRÜCKE (connector board with

several test points and stand-alone

settings), and TMC2209-EVAL.

TMC2209 DATASHEET (Rev. 1.04 / 2020-FEB-19)        3 
 
 
 
www.trinamic.com 
Table of Contents 
 
PRINCIPLES OF OPERATION ......................... 4 
1  KEY CONCEPTS ................................................ 5 
2  CONTROL INTERFACES ..................................... 6 
3  MOVING AND CONTROLLING THE MOTOR ........ 6 
4  STEALTHCHOP2 & SPREADCYCLE DRIVER ....... 6 
5  STALLGUARD4 – MECHANICAL LOAD SENSING . 
   ....................................................................... 7 
6  COOLSTEP – LOAD ADAPTIVE CURRENT 
CONTROL ...................................................................... 7 
7  AUTOMATIC STANDSTILL POWER DOWN......... 8 
8  INDEX OUTPUT ................................................ 8 
9  PRECISE CLOCK GENERATOR AND CLK INPUT... 8 
PIN ASSIGNMENTS ........................................... 9 
1  PACKAGE OUTLINE TMC2209 ........................ 9 
2  SIGNAL DESCRIPTIONS TMC2209 .................. 9 
SAMPLE CIRCUITS .......................................... 11 
1  STANDARD APPLICATION CIRCUIT ................ 11 
2  INTERNAL RDSON SENSING .......................... 11 
3  5V ONLY SUPPLY .......................................... 12 
4  CONFIGURATION PINS .................................. 13 
5  HIGH MOTOR CURRENT ................................. 13 
6  LOW POWER STANDBY ................................. 14 
7  DRIVER PROTECTION AND EME CIRCUITRY ... 14 
UART SINGLE WIRE INTERFACE ................ 15 
1  DATAGRAM STRUCTURE ................................. 15 
2  CRC CALCULATION ....................................... 17 
3  UART SIGNALS ............................................ 17 
4  ADDRESSING MULTIPLE SLAVES .................... 18 
REGISTER MAP ................................................. 19 
1  GENERAL REGISTERS ..................................... 20 
2  VELOCITY DEPENDENT CONTROL ................... 25 
3  STALLGUARD CONTROL ................................. 26 
4  SEQUENCER REGISTERS ................................. 28 
5  CHOPPER CONTROL REGISTERS ..................... 29 
STEALTHCHOP™ .............................................. 35 
1  AUTOMATIC TUNING ..................................... 35 
2  STEALTHCHOP OPTIONS ................................ 37 
3  STEALTHCHOP CURRENT REGULATOR ............. 37 
4  VELOCITY BASED SCALING ............................ 39 
5  COMBINE STEALTHCHOP AND SPREADCYCLE . 41 
6  FLAGS IN STEALTHCHOP ............................... 42 
7  FREEWHEELING AND PASSIVE BRAKING ........ 43 
SPREADCYCLE CHOPPER ............................... 45 
1  SPREADCYCLE SETTINGS ............................... 46 
SELECTING SENSE RESISTORS .................... 49 
MOTOR CURRENT CONTROL ........................ 50 
1  ANALOG CURRENT SCALING VREF ............... 51 
INTERNAL SENSE RESISTORS ..................... 53 
STALLGUARD4 LOAD MEASUREMENT ....... 55 
1  STALLGUARD4 VS. STALLGUARD2 ................ 55 
2  TUNING STALLGUARD4 ................................. 56 
3  STALLGUARD4 UPDATE RATE ....................... 56 
4  DETECTING A MOTOR STALL ......................... 56 
5  LIMITS OF STALLGUARD4 OPERATION .......... 56 
COOLSTEP OPERATION ................................. 57 
1  USER BENEFITS ............................................. 57 
2  SETTING UP FOR COOLSTEP .......................... 57 
3  TUNING COOLSTEP ....................................... 59 
STEP/DIR INTERFACE .................................... 60 
1  TIMING ......................................................... 60 
2  CHANGING RESOLUTION ............................... 61 
3  MICROPLYER STEP INTERPOLATOR AND STAND 
STILL DETECTION ....................................................... 62 
4  INDEX OUTPUT ............................................. 63 
INTERNAL STEP PULSE GENERATOR ......... 64 
DRIVER DIAGNOSTIC FLAGS ...................... 65 
1  TEMPERATURE MEASUREMENT ....................... 65 
2  SHORT PROTECTION ...................................... 65 
3  OPEN LOAD DIAGNOSTICS ........................... 66 
4  DIAGNOSTIC OUTPUT ................................... 66 
QUICK CONFIGURATION GUIDE ................ 67 
EXTERNAL RESET ............................................. 71 
CLOCK OSCILLATOR AND INPUT ............... 71 
ABSOLUTE MAXIMUM RATINGS ................. 72 
ELECTRICAL CHARACTERISTICS ................. 72 
1  OPERATIONAL RANGE ................................... 72 
2  DC AND TIMING CHARACTERISTICS .............. 73 
3  THERMAL CHARACTERISTICS.......................... 77 
LAYOUT CONSIDERATIONS ......................... 78 
1  EXPOSED DIE PAD ........................................ 78 
2  WIRING GND .............................................. 78 
3  SUPPLY FILTERING ........................................ 78 
4  LAYOUT EXAMPLE TMC2209 ........................ 79 
PACKAGE MECHANICAL DATA .................... 80 
1  DIMENSIONAL DRAWINGS QFN28 ............... 80 
2  PACKAGE CODES ........................................... 81 
TABLE OF FIGURES ......................................... 82 
REVISION HISTORY ....................................... 83 
REFERENCES ...................................................... 83 

TMC2209 DATASHEET (Rev. 1.04 / 2020-FEB-19) 4

www.trinamic.com

1 Principles of Operation

The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low-cost stepper

driver applications. Their silent drive technology StealthChop enables non-bugging motion control for

home and office applications. A highly efficient power stage enables high current from a tiny package.

The TMC2209 requires just a few control pins on its tiny package. It allows selection of the most

important setting: the desired microstep resolution. A choice of 8, 16, 32 or 64 microsteps, or from

fullstep up to 1/256 step adapts the driver to the capabilities of the motion controller.

Even at low microstepping rate, the TMC2209 offers a number of unique enhancements over

comparable products: TRINAMICs sophisticated StealthChop2 chopper plus the microstep enhancement

MicroPlyer ensure noiseless operation, maximum efficiency and best motor torque. Its fast current

regulation and optional combination with SpreadCycle allow for highly dynamic motion. Protection

and diagnostic features support robust and reliable operation. A simple-to-use 8 bit UART interface

opens up more tuning and control options. Application specific tuning can be stored to on-chip OTP

memory. Industries’ most advanced step & direction stepper motor driver family upgrades designs to

noiseless and most precise operation for cost-effective and highly competitive solutions.

22n

50V

100n

16V

ENN

GND

DIE PAD

microPlyer

Full Bridge A

Full Bridge B

stepper

motor

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

Use low inductivity SMD

type, e.g. 1206, 0.5W for

and R

100n

VCP

VREF

opt. driver enable

stealthChop2

spreadCycle

Integrated

Rsense

IREF

256 Microstep

Sequencer

Stand Still

Current

Reduction

2.2µ

6.3V

5VOUT

Analog current

scaling or leave

open

Low ESR type

Place near IC with

short path to die pad

Connect directly

to GND plane

Connect directly

to GND plane

VCC_IO

TMC2209

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 or VCC_IO)

Index pulse

Driver error

PDN/UART

B. Dwersteg, ©

TRINAMIC 2016

Trimmed

CLK oscillator/

selector

UART interface

+ Register Block

Configuration

Memory (OTP)

optional UART interface

IREF

Step Pulse

Generator

STEP

DIR

Step and Direction

motion control

stallGuard4

coolStep

STDBY

opt. low power standby

Figure 1.1 TMC2209 basic application block diagram

THREE MODES OF OPERATION:

OPTION 1: Standalone STEP/DIR Driver (Legacy Mode)

A CPU (µC) generates step & direction signals synchronized to additional motors and other

components within the system. The TMC2209 operates the motor as commanded by the configuration

pins and STEP/DIR signals. Motor run-current either is fixed, or set by the CPU using the analog input

VREF. The pin PDN_UART selects automatic standstill current reduction. Feedback from the driver to

TMC2209 DATASHEET (Rev. 1.04 / 2020-FEB-19) 5

www.trinamic.com

the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN

pin.

OPTION 2: Standalone STEP/DIR Driver with OTP pre-configuration

Additional options enabled by pre-programming OTP memory (label UART & OTP):

+ Tuning of the chopper to the application for application tailored performance

+ Cost reduction by switching the driver to internal sense resistor mode

+ Adapting the automatic power down level and timing for best application efficiency

S/D

0A+

0A-

0B+

TMC22xx

0B-

ERROR, INDEX

CPU

High-Level

Interface

TXD only or bit

bang UART

Other drivers

External pre-

programming

Figure 1.2 Stand-alone driver with pre-configuration

To enable the additional options, either one-time program the driver’s OTP memory, or store

configuration in the CPU and transfer it to the on-chip registers following each power-up. Operation

uses the same signals as Option 1. Programming does not need to be done within the application - it

can be executed during testing of the PCB! Alternatively, use bit-banging by CPU firmware to configure

the driver. Multiple drivers can be programmed at the same time using a single TXD line.

OPTION 3: STEP/DIR Driver with Full Diagnostics and Control

Similar to Option 2, but pin PDN_UART is connected to the CPU UART interface.

Additional options (label UART):

+ Detailed diagnostics and thermal management

+ Passive braking and freewheeling for flexible, lowest power stop modes

+ More options for microstep resolution setting (fullstep to 256 microstep)

+ Software controlled motor current setting and more chopper options

+ Use StallGuard for sensorless homing and CoolStep for adaptive motor current and cool motor

This mode allows replacing all control lines like ENN, DIAG, INDEX, MS1, MS2, and analog current

setting VREF by a single interface line. This way, only three signals are required for full control: STEP,

DIR and PDN_UART. Even motion without external STEP pulses is provided by an internal

programmable step pulse generator: Just set the desired motor velocity. However, no ramping is

provided by the TMC2209.

1.1 Key Concepts

The TMC2209 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.

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 cycle-by-cycle current control for highest dynamic movements.

MicroPlyer™ Microstep interpolator for obtaining full 256 microstep smoothness with lower

resolution step inputs starting from fullstep

StallGuard4™ Sensorless homing safes end switches and warns in case of motor overload

CoolStep™ Uses StallGuard measurement in order to adapt the motor current for best efficiency

and lowest heat-up of motor and driver

UART

UART OTP

剩余82页未读，继续阅读

醉美520

2022-01-07

我日就一个规格书？

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