TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
2
APPLICATION EXAMPLE: RELIABLE CONTROL USING STEP/DIR
The TMC4210 scores with its autonomous handling of all real time critical tasks. By offloading the
motion control function to the TMC4210, the stepper motor can be operated reliably with very little
demand for service from the microcontroller. Software only needs to send target positions, and the
TMC4210 generates precisely timed step pulses by hardware. Parameters for the motor can be
changed on the fly while software retains full control. This way, high precision and reliable operation
is achieved while costs are kept down.
TMC4210+TMC2660-EVAL EVALUATION BOARD
This evaluation board is a development
platform for applications based on the
TMC4210 and the TMC2660 stepper motor
driver IC. The board features USB and CAN
interfaces for communication with control
software running on a PC. The power
TMC2660
MOSFETs of the TMC2660 support drive
currents up to 2.8A RMS at 29V.
The control software provides a user-friendly
GUI for setting control parameters and
visualizing the dynamic response of the
motor.
LOGIC OF THE CONTROLLER/DRIVER CHAIN
DIAGNOSTICS
VELOCITY
ACCELERATION
TARGET POSITION
STEP AND DIRECTION
POWER
SIGNALS
CPU
TMC4210
DRIVER
M
HOME & STOP
DIAGNOSTICS
SYSTEM WITH TMC4210 AND TMC2660
Mechanical Feedback or virtual
stop switch
REF_L, REF_R
+VM
TMC2660
s
T
E
F
S
O
M
VSA / B
OA1
.
l
c
n
i
r
TMC4210
e
v
i
VCC_IO
r
D
Half Bridge 1
Half Bridge 1
Position
counter
Reference switch
processing
2 phase
stepper
motor
N
STEP_IN
DIR_IN
sine table
4*256 entry
OA2
S
chopper
x
OB1
nSCS_C
SCK_C
SDI_C
STEP_OUT
DIR_OUT
Half Bridge 2
Half Bridge 2
Step &
Direction pulse
generation
OB2
SPI to master
Linear RAMP
generator
STEP/DIR
BRA / B
RSA / B
nINT_SDO_C
CSN
SCK
SDI
coolStep™
RSENSE
RSENSE
SPI control,
Config & diags
SDO
l
o
r
t
n
Interrupt
controller
Position
comparator
2 x current
comparator
o
c
2 x DAC
n
Protection
& diagnostics
o
i
stallGuard2™
t
o
M
CLK
SG_TST
Realtime event trigger
Virtual stop switch
)
*
1K
Motion command SPI
*) Connect 1K resistor to nINT_SDO_C to use
the SPI interface. Another possibility is to use
a tristate output (e.g., 74HC1G125) as shown
below.
User CPU
l
o
r
t
nINT_SDO_C
SDO
System interfacing
n
o
c
m
e
t
s
y
nSCS_C
S
ORDER CODES
Order code
TMC4210-I
TMC4210+2660-EVAL
Description
1-axis Step/Dir motion controller, SSOP16-package
Evaluation board for TMC4210 and TMC2660 chipset
Size
6 x 5 mm2
55 x 85 mm2
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
