TMC223 DATASHEET (V. 1.05 / March 7, 2011)
3
Table of Contents
1
2
FEATURES...................................................................................................................................... 1
GENERAL DESCRIPTION .............................................................................................................. 5
2.1
Block Diagramm........................................................................................................................ 5
Position Controller / Main Control ............................................................................................. 5
Stepper Motor Driver................................................................................................................. 5
Two Wire Serial Interface.......................................................................................................... 5
Sensorless Stall Detection ........................................................................................................ 6
Miscellaneous ........................................................................................................................... 6
Pin and Signal Descriptions ...................................................................................................... 7
2.2
2.3
2.4
2.5
2.6
2.7
3
4
5
TYPICAL APPLICATION................................................................................................................. 8
ORDERING INFORMATION ........................................................................................................... 8
FUNCTIONAL DESCRIPTION ........................................................................................................ 9
5.1
Position Controller and Main Controller .................................................................................... 9
5.1.1
Stepping Modes................................................................................................................. 9
Velocity Ramp.................................................................................................................... 9
Examples for different Velocity Ramps............................................................................ 10
Vmax Parameter.............................................................................................................. 11
Vmin Parameter............................................................................................................... 12
Acceleration Parameter ................................................................................................... 12
Position Ranges............................................................................................................... 13
Secure Position................................................................................................................ 13
External Switch ................................................................................................................ 13
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......................................................................................... 14
5.1.11 Reference Search / Position initialization......................................................................... 15
5.1.12 Temperature Management.............................................................................................. 16
5.1.13 Battery Voltage Management .......................................................................................... 17
5.1.14 Internal handling of commands and flags........................................................................ 18
5.2
RAM and OTP Memory........................................................................................................... 20
5.2.1
5.2.2
5.2.3
RAM Registers................................................................................................................. 20
Status Flags..................................................................................................................... 21
OTP Memory Structure.................................................................................................... 22
5.3
5.3.1
5.3.2
5.3.3
Stepper Motor Driver............................................................................................................... 22
Coil current shapes.......................................................................................................... 23
Transition Irun to Ihold..................................................................................................... 24
Chopper Mechanism........................................................................................................ 25
6
TWO-WIRE SERIAL INTERFACE................................................................................................. 26
6.1
Physical Layer......................................................................................................................... 26
Communication on Two Wire Serial Bus Interface ................................................................. 26
Physical Address of the circuit ................................................................................................ 27
Write data to TMC223............................................................................................................. 27
Read data from TMC223 ........................................................................................................ 28
Timing characteristics of the serial interface........................................................................... 29
Application Commands Overview........................................................................................... 30
Command Description ............................................................................................................ 31
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.8.1
6.8.2
6.8.3
6.8.4
6.8.5
GetFullStatus1 ................................................................................................................. 31
GetFullStatus2 ................................................................................................................. 32
GetOTPParam................................................................................................................. 32
GotoSecurePosition......................................................................................................... 33
HardStop.......................................................................................................................... 33
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
