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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
2 Functional Summary
• Field Oriented Control (FOC) Servo Controller
– torque (and flux) control mode
– velocity control mode
– position control mode
– update rate 200 kHz (w/ 4 kHz velocity meter sampling frequency)
• PI Controllers
– programmable clipping of inputs and outputs of interim results
– error sum (error integral over time) clipping
– programmable target torque change in time (dTargetTorque/dt) limiter
q
– programmable circular ( UD2 + UQ2 ) limiter
– PI controller clipping status bit vector for real time Monitoring
– Feed Forward Offsets for Target Values
• Supported Motor Types
– FOC3 : three-phase permanent magnet synchronous motors (PMSM)
– FOC2 : two-phase stepper motors
• ADC Engine with Offset Correction and Scaling
– integrated 12 bit ADCs as analog interface for currents and analog encoders
– interface to external AD (LTC2351, 14 bit or 12 bit)
– ADC register to write externally sampled data via SPI communication interface
• Encoder Engine
– open loop position generator (programmable [rpm], [rpm/s]) for initial setup
– digital incremental encoder (ABN resp. ABZ, up to 5MHz)
– secondary digital incremental encoder
– digital hall sensor interface (H1, H2, H3 resp. HU , HV , HW
)
– digital hall sensor interface with interpolation of interim positions
– analog encoder/analog hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
– position multi-turn counter (32 Bit)
• PWM Engine including SVPWM
– programmable PWM frequency within range 25kHz . . . 200kHz
– programmable Brake-Before-Make (BBM) times (high side, low side) 0ns . . . 2.5µs in 10ns steps
– PWM auto scaling for transparent change of PWM frequency during motion
• SPI Communication Interface
– 40 bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits)
– immediate SPI read response (register read access by single datagram)
• Supply Voltages 3.3V, 2.5V, 1.2V
• IO Voltage 3.3V
• Clock Frequency 25MHz
• Package 17mm x 17mm BGA w/ 1mm ball pitch
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