TMC2160 DATASHEET (Rev. 1.02 / 2018-NOV-19)
3
Table of Contents
1
PRINCIPLES OF OPERATION .........................5
11
STALLGUARD2 LOAD MEASUREMENT...68
1.1
KEY CONCEPTS................................................6
CONTROL INTERFACES.....................................6
SOFTWARE......................................................7
MOVING THE MOTOR ......................................8
AUTOMATIC STANDSTILL POWER DOWN.........8
STEALTHCHOP2 & SPREADCYCLE DRIVER........8
STALLGUARD2 – MECHANICAL LOAD SENSING9
COOLSTEP – LOAD ADAPTIVE CURRENT
11.1 TUNING STALLGUARD2 THRESHOLD SGT .....69
11.2 STALLGUARD2 UPDATE RATE AND FILTER ....71
11.3 DETECTING A MOTOR STALL.........................71
11.4 HOMING WITH STALLGUARD.........................71
11.5 LIMITS OF STALLGUARD2 OPERATION..........71
1.2
1.3
1.4
1.5
1.6
1.7
1.8
12
COOLSTEP OPERATION.............................72
12.1 USER BENEFITS.............................................72
12.2 SETTING UP FOR COOLSTEP ..........................72
12.3 TUNING COOLSTEP........................................74
CONTROL......................................................................9
1.9
DCSTEP – LOAD DEPENDENT SPEED CONTROL9
13
STEP/DIR INTERFACE................................75
2
3
PIN ASSIGNMENTS.........................................11
13.1 TIMING.........................................................75
13.2 CHANGING RESOLUTION...............................76
13.3 MICROPLYER AND STAND STILL DETECTION .77
2.1
2.2
PACKAGE OUTLINE........................................11
SIGNAL DESCRIPTIONS .................................11
SAMPLE CIRCUITS..........................................14
14
15
DIAG OUTPUTS...........................................78
DCSTEP..........................................................79
3.1
STANDARD APPLICATION CIRCUIT ................14
EXTERNAL GATE VOLTAGE REGULATOR..........15
CHOOSING MOSFETS AND SLOPE................16
TUNING THE MOSFET BRIDGE.....................18
3.2
3.3
3.4
15.1 USER BENEFITS.............................................79
15.2 DESIGNING-IN DCSTEP.................................79
15.3 STALL DETECTION IN DCSTEP MODE ............80
15.4 DCSTEP WITH STEP/DIR INTERFACE ...........81
4
5
SPI INTERFACE................................................21
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE .........................21
SPI SIGNALS................................................22
TIMING .........................................................23
16
SINE-WAVE LOOK-UP TABLE...................84
16.1 USER BENEFITS.............................................84
16.2 MICROSTEP TABLE........................................84
REGISTER MAPPING.......................................24
17
18
19
EMERGENCY STOP......................................85
QUICK CONFIGURATION GUIDE............86
GETTING STARTED.....................................90
19.1 INITIALIZATION EXAMPLES ...........................90
STANDALONE OPERATION......................91
EXTERNAL RESET ........................................93
CLOCK OSCILLATOR AND INPUT...........93
5.1
5.2
GENERAL CONFIGURATION REGISTERS ..........25
VELOCITY DEPENDENT DRIVER FEATURE
CONTROL REGISTER SET.............................................31
5.3 MOTOR DRIVER REGISTERS...........................34
6
STEALTHCHOP™..............................................44
20
21
22
6.1
AUTOMATIC TUNING.....................................44
STEALTHCHOP OPTIONS................................47
STEALTHCHOP CURRENT REGULATOR.............47
VELOCITY BASED SCALING............................49
COMBINING STEALTHCHOP AND SPREADCYCLE..
.....................................................................51
FLAGS IN STEALTHCHOP................................53
FREEWHEELING AND PASSIVE BRAKING........53
6.2
6.3
6.4
6.5
22.1 USING THE INTERNAL CLOCK........................93
22.2 USING AN EXTERNAL CLOCK.........................93
6.6
6.7
23
24
ABSOLUTE MAXIMUM RATINGS............94
ELECTRICAL CHARACTERISTICS ............94
7
SPREADCYCLE AND CLASSIC CHOPPER...55
24.1 OPERATIONAL RANGE...................................94
24.2 DC AND TIMING CHARACTERISTICS..............95
24.3 THERMAL CHARACTERISTICS..........................97
7.1
7.2
SPREADCYCLE CHOPPER ................................56
CLASSIC CONSTANT OFF TIME CHOPPER.......59
8
SELECTING SENSE RESISTORS....................61
VELOCITY BASED MODE CONTROL............63
DIAGNOSTICS AND PROTECTION.........65
25
LAYOUT CONSIDERATIONS.....................99
9
25.1 EXPOSED DIE PAD........................................99
25.2 WIRING GND..............................................99
25.3 WIRING BRIDGE SUPPLY..............................99
25.4 SUPPLY FILTERING........................................99
25.5 LAYOUT EXAMPLE .......................................100
10
10.1 TEMPERATURE SENSORS................................65
10.2 SHORT PROTECTION......................................65
10.3 OPEN LOAD DIAGNOSTICS............................67
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
