TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
3
TABLE OF CONTENTS
10.3
10.4
10.5
DETECTING A MOTOR STALL
HOMING WITH STALLGUARD
LIMITS OF STALLGUARD2 OPERATION
44
44
44
1
PRINCIPLES OF OPERATION
4
1.1
1.2
1.3
1.4
1.5
KEY CONCEPTS
CONTROL INTERFACES
MOVING AND CONTROLLING THE MOTOR
STALLGUARD2 – MECHANICAL LOAD SENSING
COOLSTEP – LOAD ADAPTIVE CURRENT CONTROL5
4
4
5
5
11 COOLSTEP OPERATION
45
11.1
11.2
11.3
USER BENEFITS
SETTING UP FOR COOLSTEP
TUNING COOLSTEP
45
45
47
2
3
PIN ASSIGNMENTS
7
12 STEP/DIR INTERFACE
48
2.1
2.2
PACKAGE OUTLINE
SIGNAL DESCRIPTIONS
7
7
12.1
12.2
12.3
TIMING
48
49
CHANGING RESOLUTION
MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION
SAMPLE CIRCUITS
10
3.1
3.2
3.3
3.4
3.5
3.6
STANDARD APPLICATION CIRCUIT
5 V ONLY SUPPLY
ONE MOTOR WITH HIGH CURRENT
EXTERNAL 5V POWER SUPPLY
OPTIMIZING ANALOG PRECISION
DRIVER PROTECTION AND EME CIRCUITRY
10
11
12
12
13
13
49
51
53
53
54
54
13 QUICK CONFIGURATION GUIDE
14 GETTING STARTED
14.1
INITIALIZATION EXAMPLES
15 EXTERNAL RESET
4
5
SPI INTERFACE
15
16 CLOCK OSCILLATOR AND CLOCK INPUT
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE
SPI SIGNALS
TIMING
15
16
17
16.1
16.2
16.3
USING THE INTERNAL CLOCK
USING AN EXTERNAL CLOCK
CONSIDERATIONS ON THE FREQUENCY
54
54
54
UART SINGLE WIRE INTERFACE
18
17 ABSOLUTE MAXIMUM RATINGS
18 ELECTRICAL CHARACTERISTICS
55
55
55
5.1
5.2
5.3
5.4
DATAGRAM STRUCTURE
CRC CALCULATION
UART SIGNALS
18
20
20
21
18.1
18.2
OPERATIONAL RANGE
DC CHARACTERISTICS AND TIMING
CHARACTERISTICS
ADDRESSING MULTIPLE SLAVES
56
59
6
REGISTER MAPPING
23
18.3
THERMAL CHARACTERISTICS
6.1
6.2
6.3
GENERAL CONFIGURATION REGISTERS
CURRENT SETTING
MOTOR DRIVER REGISTERS
24
26
27
19 LAYOUT CONSIDERATIONS
60
19.1
19.2
19.3
19.4
19.5
EXPOSED DIE PAD
WIRING GND
SUPPLY FILTERING
SINGLE DRIVER CONNECTION
LAYOUT EXAMPLE
60
60
60
60
61
7
8
CURRENT SETTING
32
33
34
7.1
SENSE RESISTORS
SPREADCYCLE AND CLASSIC CHOPPER
8.1
8.2
8.3
SPREADCYCLE CHOPPER
CLASSIC CONSTANT OFF TIME CHOPPER
RANDOM OFF TIME
35
38
39
20 PACKAGE MECHANICAL DATA
62
20.1
20.2
DIMENSIONAL DRAWINGS
PACKAGE CODES
62
62
9
DRIVER DIAGNOSTIC FLAGS
40
21 DISCLAIMER
63
63
64
65
65
9.1
9.2
9.3
TEMPERATURE MEASUREMENT
SHORT TO GND PROTECTION
OPEN LOAD DIAGNOSTICS
40
40
40
22 ESD SENSITIVE DEVICE
23 TABLE OF FIGURES
24 REVISION HISTORY
25 REFERENCES
10 STALLGUARD2 LOAD MEASUREMENT
41
10.1
10.2
TUNING STALLGUARD2 THRESHOLD SGT
STALLGUARD2 UPDATE RATE AND FILTER
42
44
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
