TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15)
3
Table of Contents
1
PRINCIPLES OF OPERATION .........................5
8
SPREADCYCLE AND CLASSIC CHOPPER...59
1.1
KEY CONCEPTS................................................7
CONTROL INTERFACES.....................................7
SOFTWARE......................................................7
MOVING AND CONTROLLING THE MOTOR........8
STEALTHCHOP DRIVER.....................................8
STALLGUARD2 – MECHANICAL LOAD SENSING8
COOLSTEP – LOAD ADAPTIVE CURRENT
8.1
SPREADCYCLE CHOPPER................................60
CLASSIC CONSTANT OFF TIME CHOPPER ......63
RANDOM OFF TIME ......................................64
CHOPSYNC2 FOR QUIET 2-PHASE MOTOR ....65
1.2
1.3
1.4
1.5
1.6
1.7
8.2
8.3
8.4
9
ANALOG CURRENT CONTROL AIN.............66
SELECTING SENSE RESISTORS...............67
INTERNAL SENSE RESISTORS.................69
VELOCITY BASED MODE CONTROL.......71
DRIVER DIAGNOSTIC FLAGS..................73
10
11
12
13
CONTROL......................................................................9
1.8
1.9
DCSTEP – LOAD DEPENDENT SPEED CONTROL9
ENCODER INTERFACE.......................................9
2
3
PIN ASSIGNMENTS.........................................10
13.1 TEMPERATURE MEASUREMENT.......................73
13.2 SHORT TO GND PROTECTION.......................73
13.3 OPEN LOAD DIAGNOSTICS ...........................73
2.1
2.2
PACKAGE OUTLINE........................................10
SIGNAL DESCRIPTIONS .................................10
SAMPLE CIRCUITS..........................................13
14
RAMP GENERATOR.....................................74
3.1
STANDARD APPLICATION CIRCUIT ................13
REDUCED NUMBER OF COMPONENTS.............14
INTERNAL RDSON SENSING..........................14
EXTERNAL 5V POWER SUPPLY ......................15
PRE-REGULATOR FOR REDUCED POWER
14.1 REAL WORLD UNIT CONVERSION.................74
14.2 MOTION PROFILES........................................75
14.3 VELOCITY THRESHOLDS.................................77
14.4 REFERENCE SWITCHES ..................................78
14.5 EXTERNAL STEP/DIR DRIVER ......................79
3.2
3.3
3.4
3.5
DISSIPATION..............................................................16
3.6
3.7
3.8
5V ONLY SUPPLY..........................................17
HIGH MOTOR CURRENT.................................18
DRIVER PROTECTION AND EME CIRCUITRY...20
15
STALLGUARD2 LOAD MEASUREMENT...80
15.1 TUNING STALLGUARD2 THRESHOLD SGT .....81
15.2 STALLGUARD2 UPDATE RATE AND FILTER ....83
15.3 DETECTING A MOTOR STALL.........................83
15.4 HOMING WITH STALLGUARD.........................83
15.5 LIMITS OF STALLGUARD2 OPERATION..........83
4
5
SPI INTERFACE................................................21
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE .........................21
SPI SIGNALS................................................22
TIMING .........................................................23
16
COOLSTEP OPERATION.............................84
UART SINGLE WIRE INTERFACE ................24
16.1 USER BENEFITS.............................................84
16.2 SETTING UP FOR COOLSTEP ..........................84
16.3 TUNING COOLSTEP........................................86
5.1
DATAGRAM STRUCTURE.................................24
CRC CALCULATION .......................................26
UART SIGNALS ............................................26
ADDRESSING MULTIPLE SLAVES....................27
5.2
5.3
5.4
17
STEP/DIR INTERFACE................................87
17.1 TIMING.........................................................87
17.2 CHANGING RESOLUTION...............................88
17.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION.......................................................89
6
7
REGISTER MAPPING.......................................29
6.1
6.2
GENERAL CONFIGURATION REGISTERS ..........30
VELOCITY DEPENDENT DRIVER FEATURE
CONTROL REGISTER SET.............................................33
18
DIAG OUTPUTS...........................................90
6.3
6.4
6.5
RAMP GENERATOR REGISTERS.......................35
ENCODER REGISTERS.....................................40
MOTOR DRIVER REGISTERS...........................42
18.1 STEP/DIR MODE.........................................90
18.2 MOTION CONTROLLER MODE........................90
19
DCSTEP..........................................................92
STEALTHCHOP™..............................................51
19.1 USER BENEFITS.............................................92
19.2 DESIGNING-IN DCSTEP.................................92
19.3 DCSTEP INTEGRATION WITH THE MOTION
CONTROLLER..............................................................93
19.4 STALL DETECTION IN DCSTEP MODE ............93
19.5 MEASURING ACTUAL MOTOR VELOCITY IN
DCSTEP OPERATION...................................................94
19.6 DCSTEP WITH STEP/DIR INTERFACE ...........95
7.1
TWO MODES FOR CURRENT REGULATION......51
AUTOMATIC SCALING....................................52
VELOCITY BASED SCALING............................54
COMBINING STEALTHCHOP AND SPREADCYCLE
56
FLAGS IN STEALTHCHOP................................57
FREEWHEELING AND PASSIVE BRAKING........58
7.2
7.3
7.4
7.5
7.6
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