TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
106
29 Table of Figures
FIGURE 1.1 TMC2160 STEP/DIR APPLICATION DIAGRAM.........................................................................................................5
FIGURE 1.2 TMC2160 STANDALONE DRIVER APPLICATION DIAGRAM.........................................................................................6
FIGURE 1.3 AUTOMATIC MOTOR CURRENT POWER DOWN..........................................................................................................8
FIGURE 1.4 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE)......................................................................................................9
FIGURE 2.1 TMC2160-TA PACKAGE AND PINNING TQFP-EP 48 (7X7MM² BODY, 9X9MM² WITH LEADS)...............................11
FIGURE 3.1 STANDARD APPLICATION CIRCUIT...........................................................................................................................14
FIGURE 3.2 EXTERNAL GATE VOLTAGE SUPPLY...........................................................................................................................15
FIGURE 3.3 MILLER CHARGE DETERMINES SWITCHING SLOPE ....................................................................................................16
FIGURE 3.4 SLOPES, MILLER PLATEAU AND BLANK TIME ...........................................................................................................17
FIGURE 3.5 BRIDGE PROTECTION OPTIONS FOR POWER ROUTING INDUCTIVITY.........................................................................18
FIGURE 3.6 RINGING OF OUTPUT (BLUE) AND GATE VOLTAGES (YELLOW, CYAN) WITH UNTUNED BRIGE...................................19
FIGURE 3.7 SWITCHING EVENT WITH OPTIMIZED COMPONENTS (WITHOUT / AFTER BULK DIODE CONDUCTION)........................19
FIGURE 3.8 EXAMPLE FOR BRIDGE WITH TUNED COMPONENTS (SEE SCOPE SHOTS)...................................................................20
FIGURE 4.1 SPI TIMING............................................................................................................................................................23
FIGURE 6.1 MOTOR COIL SINE WAVE CURRENT WITH STEALTHCHOP (MEASURED WITH CURRENT PROBE)..................................44
FIGURE 6.2 STEALTHCHOP2 AUTOMATIC TUNING PROCEDURE....................................................................................................46
FIGURE 6.3 SCOPE SHOT: GOOD SETTING FOR PWM_REG.......................................................................................................48
FIGURE 6.4 SCOPE SHOT: TOO SMALL SETTING FOR PWM_REG DURING AT#2.......................................................................48
FIGURE 6.5 SUCCESSFULLY DETERMINED PWM_GRAD(_AUTO) AND PWM_OFS(_AUTO)...................................................48
FIGURE 6.6 VELOCITY BASED PWM SCALING (PWM_AUTOSCALE=0).........................................................................................51
FIGURE 6.7 TPWMTHRS FOR OPTIONAL SWITCHING TO SPREADCYCLE...................................................................................52
FIGURE 7.1 CHOPPER PHASES ...................................................................................................................................................55
FIGURE 7.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE
RESISTOR VOLTAGES A AND B).........................................................................................................................................57
FIGURE 7.3 SPREADCYCLE CHOPPER SCHEME SHOWING COIL CURRENT DURING A CHOPPER CYCLE ............................................58
FIGURE 7.4 CLASSIC CONST. OFF TIME CHOPPER WITH OFFSET SHOWING COIL CURRENT..........................................................59
FIGURE 7.5 ZERO CROSSING WITH CLASSIC CHOPPER AND CORRECTION USING SINE WAVE OFFSET..........................................59
FIGURE 9.1 CHOICE OF VELOCITY DEPENDENT MODES...............................................................................................................63
FIGURE 10.1 SHORT DETECTION................................................................................................................................................66
FIGURE 11.1 FUNCTION PRINCIPLE OF STALLGUARD2...............................................................................................................68
FIGURE 11.2 EXAMPLE: OPTIMUM SGT SETTING AND STALLGUARD2 READING WITH AN EXAMPLE MOTOR................................70
FIGURE 12.1 COOLSTEP ADAPTS MOTOR CURRENT TO THE LOAD...............................................................................................73
FIGURE 13.1 STEP AND DIR TIMING, INPUT PIN FILTER .........................................................................................................75
FIGURE 13.2 MICROPLYER MICROSTEP INTERPOLATION WITH RISING STEP FREQUENCY (EXAMPLE: 16 TO 256)......................77
FIGURE 14.1 DIAG OUTPUTS ...................................................................................................................................................78
FIGURE 15.1 DCSTEP EXTENDED APPLICATION OPERATION AREA...............................................................................................79
FIGURE 15.2 MOTOR MOVING SLOWER THAN STEP INPUT DUE TO LIGHT OVERLOAD. LOSTSTEPS INCREMENTED..................82
FIGURE 15.3 FULL SIGNAL INTERCONNECTION FOR DCSTEP ......................................................................................................82
FIGURE 15.4 DCO INTERFACE TO MOTION CONTROLLER – STEP GENERATOR STOPS WHEN DCO IS ASSERTED..........................83
FIGURE 16.1 LUT PROGRAMMING EXAMPLE ..............................................................................................................................84
FIGURE 18.1 CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP.....................................................................................86
FIGURE 18.2 TUNING STEALTHCHOP AND SPREADCYCLE...........................................................................................................87
FIGURE 18.3 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)....................................................................88
FIGURE 18.4 SETTING UP DCSTEP (USING TMC4361 AS MOTION CONTROLLER).......................................................................89
FIGURE 20.1 STANDALONE OPERATION WITH TMC2160 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES)....................91
FIGURE 25.1 LAYOUT EXAMPLE ...............................................................................................................................................101
FIGURE 26.1 DIMENSIONAL DRAWINGS TQFP48-EP.............................................................................................................102
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