TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
155 / 157
15 Figures Index
1
2
3
4
FOC Basic Principle . . . . . . . . . . .
8
9
20 Analog Encoder (AENC) signal wave-
PID Architectures and Motion Modes
forms . . . . . . . . . . . . . . . . . . . 39
21 Analog Encoder (AENC) Selector &
Scaler w/ Offset Correction . . . . . . 40
22 Encoder Initialization by minimal
Movement . . . . . . . . . . . . . . . . 41
23 Flux Ramping . . . . . . . . . . . . . . 42
24 Advanced PI Controller Structure . . . 44
25 PI Controllers for position, velocity and
current . . . . . . . . . . . . . . . . . . 45
26 Inner FOC Control Loop . . . . . . . . 46
27 FOC Transformations . . . . . . . . . . 47
28 Motion Modes . . . . . . . . . . . . . . 47
29 Biquad Filters in Control Structure . . 50
30 DT1 Element Structure . . . . . . . . . 51
31 BBM Timing . . . . . . . . . . . . . . . 53
32 TMC4671 Pinout with 3 phase Power
stage and BLDC Motor . . . . . . . . . 136
33 TMC4671 Pinout with Stepper Motor 136
34 TMC4671 Pinout with DC Motor or
Voice Coil . . . . . . . . . . . . . . . . . 137
35 Sample Circuit for Interfacing of an En-
coder Signal . . . . . . . . . . . . . . . 144
36 Sample Circuit for Interfacing of a sin-
gle ended analog signal . . . . . . . . 145
37 Phase current measurement: Current
directions for 2 and 3 phase motors . 146
38 Phase current measurement: Current
direction for DC or Voice Coil Motor . 146
39 Current Shunt Amplifier Sample Circuit 147
40 QFN76 Package Outline . . . . . . . . 149
41 Pinout of TMC4671 (Top View) . . . . 150
Orientations UVW (FOC3) and XY (FOC2) 13
Compass Motor Model w/ 3 Phases
UVW (FOC3) and Compass Motor
Model w/ 2 Phases (FOC2) . . . . . . . 13
Hardware FOC Application Diagram . 14
Hardware FOC Block Diagram . . . . . 14
SPI Datagram Structure . . . . . . . . 15
SPI Timing . . . . . . . . . . . . . . . . 16
Connector for Real-Time Monitoring
Interface (Connector Type: Hirose
DF20F-10DP-1V) . . . . . . . . . . . . . 17
5
6
7
8
9
10 UART Read Datagram (TMC4671 regis-
ter read via UART) . . . . . . . . . . . . 18
11 UART Write Datagram (TMC4671 regis-
ter write via UART) . . . . . . . . . . . 18
12 N_POLE_PAIRS - Number of Pole Pairs
(Number of Poles) . . . . . . . . . . . . 22
13 Integer Representation of Angles as 16
bit signed (s16) resp. 16 bit unsigned
(u16) . . . . . . . . . . . . . . . . . . . . 22
14 Delta Sigma ADC Configurations
dsADC_CONFIG (ANALOG (internal),
MCLKO, MCLKI, MDAC) . . . . . . . . . 25
15 ∆Σ ADC Configurations - MDAC
(Comparator-R-C-R as ∆Σ-Modulator) 29
16 ADC Selector and Scaler with Offset
Correction . . . . . . . . . . . . . . . . 34
17 ABN Incremental Encoder N Pulse any-
where between 0° and 360° . . . . . . 36
18 Encoder ABN Timing . . . . . . . . . . 37
19 Hall Sensor Angles . . . . . . . . . . . 38
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