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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
3 Functional Description
TMC4670 is a fully integrated controller for field-oriented control (FOC) of either one 2-phase stepper motor
(FOC2) or one 3-phase brushless motor (FOC3). It contains the complete control loop core architecture
(position, velocity, torque) as well as required peripheral interfaces for communication with an application
controller, for feedback (digital encoder, analog interpolator encoder, digital Hall, decoder Hall position
interpolator, analog inputs for current and voltage measurement), and helpful additional IO. It supports
highest control loop speed and PWM frequencies.
The TMC4670 is the building block for the user application that takes care of all real time critical tasks of
field oriented motor control. It decouples the real time field oriented motor control and its real sub-tasks
as current measurement, real time sensor signal processing, real time PWM signal generation from the
user application layer as outlined by figure 17.
Figure 1: Hardware FOC Application Diagram
3.1 Functional Blocks
Application interface, register bank, ADC engine, encoder engine, FOC torque PI controller, velocity PI
controller, position P controller, and PWM engine form the TMC4670. The TMC4670supports 3-phase
PMSM motors (FOC3) and 2-phase PMSM stepper motors (FOC2).
Figure 2: Hardware FOC Block Diagram
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