TMC429 控制芯片Stepdir 输出

TMC429

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TMC429 DATASHEET (v. 1.03/ November 5, 2010) - preliminary - 1

TMC429 – DATA SHEET

Intelligent Triple Stepper Motor Controller with

Serial Peripheral Interfaces and Step Direction

– Full Compatible Successor of the TMC428 –

TRINAMIC

Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg

GERMANY

www.trinamic.com

1 Features

The TMC429 is a miniaturized high performance stepper motor controller. It controls up to three 2-

phase stepper motors. All motors can operate independently. The TMC429 allows up to 6 bit micro

step resolution via SPI™ – 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 TMC429 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 TMC429 directly connects to SPI

TM*

smart power stepper motor drivers or

via step-direction interface.

• Controls up to three stepper motors

• Serial 4-wire interface for µC with easy-to-use protocol

• Configurable interface for SPI

motor drivers

• Step / Direction (S/D) interface

• Different types of SPI

stepper motor driver chips may be mixed within a single daisy chain

• Communication on demand minimizes traffic to the SPI

stepper motor driver chain

• Programmable SPI

data rates up to 1 Mbit/s

• Wide range for clock frequency – can use CPU clock up to 32 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 1.25mA @ 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, small 24 pin SOP package, and 32 pin QFN 5x5mm

Table of contents, table of figures, table of tables are located at the end of this datasheet.

SPI is Trademark of Motorola, Inc.

TMC429 DATASHEET (v. 1.03/ November 5, 2010) - preliminary - 3

2 TMC429 vs. TMC428

The TMC429 is the 100% functional compatible and pin compatible successor of the TMC428. The

TMC429 can be used as a TMC428 in existing hardware / software environments. There are some

additional functions of the TMC429 that are mapped in register address ranges that where indicated

reserverd addresses for later versions. Without access to these additional registers of the TMC429, the

TMC429 behaves identically as a TMC428. The TMC429 has a step/direction interface that perfect fits

to the TRINAMIC stepper motor driver family TMC260, TMC261, and TMC262. The TMC428 can be

clocked up to 16MHz where the TMC429 can be clocked with up to 32MHz. Registers, that are

available for the TMC429 only are labled with _429 (e.g. register if_configuration_429). The additional

TMC429 registers are described in sections 10.4, 10.5, 10.6,10.7, 10.9 and their sub-sections.

3 General Description

The TMC429 is a miniaturized high performance stepper motor controller with a unique price /

performance ratio for both, high volume automotive and for demanding industrial motion control

applications. Once initialized, the TMC429 controls up to three 2-phase stepper motors. Its low price

makes it attractive also for applications, where only one or two stepper motors have to be controlled

simultaneously.

The TMC429 performs all real time critical tasks autonomously. Thus a low cost microcontroller is

sufficient to perform the tasks of initialization, application specific interfacing, and to specify target

positions and velocities. The TMC429 allows on-the-fly change of all motion target parameters also

during motion. Any other parameter may be changed at any time– also during motion –which does not

make sense in any case, but this uniform access to any TMC429 register simplifies application

programming. Read-back option for all internal registers simplifies programming. With its internal

position counters, the TMC429 can perform up to 2

steps respectively micro steps fully independent

from the microcontroller. The step resolution– individually programmable for each stepper motor –

ranges from full step (1 ‘’micro step’’ is one full step), half step (2 ‘’micro steps’’ per full step), up to 6

bit micro stepping (64 micro steps per full step) for precise positioning and noiseless stepper motor

rotation (Table 9-8, page 29). Optionally, the micro step table– common for all motors –can be adapted

to motor characteristics to further reduce torque ripple.

The TMC429 has got serial interfaces for communication with the microcontroller and for the stepper

motor drivers. The serial interface for the microcontroller uses a fixed length of 32 bits with a simple

protocol, directly connecting to SPI

interfaces. The serial interface to the stepper motor drivers is

flexibly configurable for different types– even from different vendors –with up to 64 bit length for the

SPI daisy chain. TRINAMIC smart power stepper motor drivers TMC236, TMC239 and TMC246,

TMC249 perfectly fit to the TMC429. Without additional hardware, drivers with same serial interface

polarities of chip select and clock signals may be mixed in a single chain. To mix drivers with different

serial interface polarities, additional inverters (e.g. 74HC04, 74HC14) are required. For those driver

chips without serial data output, two additional variants of the TMC429 with two additional chip select

outputs are available. The TMC429 sends data to the driver chain on demand only, which minimizes

the interface traffic and reduces the power consumption.

Hint: Unused reference switch inputs (REF1, REF2, and REF3) should be pulled to ground (Figure

3-3). With this one can connect reference switches that connect to +5V resp. +3.3V when pushed.

Concerning different reference switch configurations please refer to Figure 10-4, Figure 10-5, Figure

10-7.

TMC429 DATASHEET (v. 1.03/ November 5, 2010) - preliminary - 5

10K

SCK_S

SDO_S

SDI_S

nSCS_S

SDO

CSN

SDI

SCK

SDO

CSN

SDI

SCK

SDO

CSN

SDI

SCK

TMC23x / TMC24x TMC23x / TMC24x TMC23x / TMC24x

REF2 REF3

REF1

TEST GND

µC

SCK

MOSI

MISO

SDI_C

nSCS_C

SCK_C

SDO_C

CLK

V5V33

470

+5 V

1K 1K

Reference Switch Inputs

(active high)

SM#3 SM#2 SM#1

TMC428-I /

TMC428-A

100 nF

*For details concerning electrical connections of

the TMC236 / TMC239 / TMC246 / TMC249

refer to its datasheet.

* * *

Note:

output SDO_C will

nerver be high impedance

Figure 3-3: TMC428 application environment with TMC428 in SSOP16 package

10K

SCK_S

SDO_S

SDI_S

nSCS_S

nSCS

SDI

SCK

nSCS

SDI

SCK

nSCS

SDI

SCK

Driver

w/o SDO

Driver

w/o SDO

REF2 REF3

REF1

TEST GND

µC

SCK

MOSI

MISO

SDI_C

nSCS_C

SCK_C

SDO_C

CLK

CLK V5V33

470 nF

+5 V

SM#3 SM#2 SM#1

TMC428-PI24 /

TMC428-DI20

nSCS2

nSCS3

SDO

V5 GND

Note:

output SDO_C will

nerver be high impedance

Driver

w/o SDO

Figure 3-4: Usage of drivers without serial data output (SDO) with TMC428 in larger packages

(*the DI20 package variant is not recommended for new designs)

3.1 Step Frequencies

The maximum SPI

data rate is the clock frequency divided by 16. The maximum step frequency

depends on the total length of the datagrams sent to the SPI

stepper motor driver chain. At a clock

frequency of 16 MHz, with a daisy chain of three SPI

stepper motor drivers of 16 bit datagram length

each, the maximum full step frequency is 16 MHz / 16 / ( 3 * 16 ). This is approximately 20 kHz and

that is much higher than needed for typical stepper motors. But, the micro step rate may be higher,

even if the stepper motor driver does not see all micro steps due to SPI

data rate limit, as long as the

number of skipped micro steps is less than a full step. In this respect, one should remember, that at

high step rates– respectively pulse rates –the differences between micro stepping and full step

excitation vanishes.

3.2 Modes of Motion

The TMC428 has four different modes of motion, programmable individually for each stepper motor,

named RAMP_MODE, SOFT_MODE, VELOCITY_MODE, and HOLD_MODE. For positioning

applications the RAMP_MODE is most suitable, whereas for constant velocity applications the

VELOCITY_MODE is. In RAMP_MODE, the user just sets the position and the TMC428 calculates a

trapezoidal velocity profile and drives autonomously to the target position. During motion, the position

may be altered arbitrarily. The SOFT_MODE is similar to the RAMP_MODE, but the decrease of the

velocity during deceleration is done with a soft, exponentially shaped velocity profile. In

VELOCITY_MODE, a target velocity is set by the user and the TMC429 takes into account user

defined limits of velocity and acceleration. In HOLD_MODE, the user sets target velocities, but the

TMC429 ignores any limits of velocity and acceleration, to realize arbitrary velocity profiles, controlled

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