TMC211 DATASHEET (V. 1.04 / January 7, 2005)
3
Table of Contents
1
2
FEATURES.....................................................................................................................................1
GENERAL DESCRIPTION .............................................................................................................5
2.1
2.2
2.3
2.4
2.5
2.6
BLOCK DIAGRAMM......................................................................................................................5
POSITION CONTROLLER / MAIN CONTROL ...................................................................................5
STEPPER MOTOR DRIVER...........................................................................................................5
LIN INTERFACE..........................................................................................................................6
MISCELLANEOUS........................................................................................................................6
PIN AND SIGNAL DESCRIPTIONS..................................................................................................6
3
4
5
TYPICAL APPLICATION................................................................................................................7
ORDERING INFORMATION ..........................................................................................................7
FUNCTIONAL DESCRIPTION .......................................................................................................8
5.1
POSITION CONTROLLER AND MAIN CONTROLLER.........................................................................8
5.1.1
Stepping Modes................................................................................................................8
Velocity Ramp...................................................................................................................8
Examples for different Velocity Ramps.............................................................................9
Vmax Parameter.............................................................................................................10
Vmin Parameter..............................................................................................................11
Acceleration Parameter ..................................................................................................11
Position Ranges..............................................................................................................12
Secure Position...............................................................................................................12
External Switch ...............................................................................................................12
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.1.7
5.1.8
5.1.9
5.1.10 Motor Shutdown Management........................................................................................13
5.1.11 Reference Search / Position initialization........................................................................14
5.1.12 Sleep Mode.....................................................................................................................14
5.1.13 Temperature Management.............................................................................................15
5.1.14 Battery Voltage Management .........................................................................................16
5.1.15 Internal handling of commands and flags.......................................................................17
5.2
RAM AND OTP MEMORY .........................................................................................................19
5.2.1
RAM Registers................................................................................................................19
Status Flags....................................................................................................................20
OTP Memory Structure...................................................................................................21
5.2.2
5.2.3
5.3
STEPPER MOTOR DRIVER.........................................................................................................21
5.3.1
5.3.2
5.3.3
Coil current shapes.........................................................................................................22
Transition Irun to Ihold....................................................................................................23
Chopper Mechanism.......................................................................................................24
6
LIN INTERFACE...........................................................................................................................25
6.1
GENERAL DESCRIPTION ...........................................................................................................25
PHYSICAL LAYER......................................................................................................................25
ANALOG PART..........................................................................................................................26
SLAVE OPERATIONAL RANGE FOR PROPER SELF SYNCHRONIZATION ...........................................26
PHYSICAL ADDRESS OF THE CIRCUIT.........................................................................................27
ELECTRO MAGNETIC COMPABILITY ...........................................................................................27
ERROR STATUS REGISTER .......................................................................................................27
DYNAMIC ASSIGNMENT OF LIN IDENTIFIERS ..............................................................................28
LIN MESSAGE FRAMES ............................................................................................................29
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.9.1
Writing Frames ...............................................................................................................29
Writing Frame Type#1 (2 or 4 bytes)..............................................................................30
Writing Frame Type#2 (2, 4 or 8 bytes)..........................................................................30
Writing Frame Type#3 (2 bytes) .....................................................................................30
Writing Frame Type#4 (8 bytes) .....................................................................................30
6.9.2
6.9.3
6.9.4
6.9.5
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
