TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
128
34 Table of Figures
FIGURE 1.1 TMC5161 BASIC APPLICATION BLOCK DIAGRAM (MOTION CONTROLLER).................................................................5
FIGURE 1.2 TMC5161 STEP/DIR APPLICATION DIAGRAM.........................................................................................................6
FIGURE 1.3 TMC5161 STANDALONE DRIVER APPLICATION DIAGRAM.........................................................................................6
FIGURE 1.4 AUTOMATIC MOTOR CURRENT POWER DOWN..........................................................................................................8
FIGURE 1.5 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE)......................................................................................................9
FIGURE 2.1 TMC5161-LA PACKAGE AND PINNING QFN (10X10MM²).....................................................................................11
FIGURE 3.1 STANDARD APPLICATION CIRCUIT...........................................................................................................................15
FIGURE 3.2 EXTERNAL GATE VOLTAGE SUPPLY...........................................................................................................................16
FIGURE 3.3 SLOPES, MILLER PLATEAU AND BLANK TIME ...........................................................................................................17
FIGURE 3.4 SIMPLE ESD ENHANCEMENT AND MORE ELABORATE MOTOR OUTPUT PROTECTION..................................................18
FIGURE 4.1 SPI TIMING............................................................................................................................................................21
FIGURE 5.1 ADDRESSING MULTIPLE TMC5160 / TMC5161 VIA SINGLE WIRE INTERFACE USING CHAINING............................25
FIGURE 5.2 ADDRESSING TMC5160 / TMC5161 VIA DIFFERENTIAL INTERFACE, ADDITIONAL FILTERING FOR NAI ................26
FIGURE 7.1 MOTOR COIL SINE WAVE CURRENT WITH STEALTHCHOP (MEASURED WITH CURRENT PROBE)..................................53
FIGURE 7.2 STEALTHCHOP2 AUTOMATIC TUNING PROCEDURE....................................................................................................55
FIGURE 7.3 SCOPE SHOT: GOOD SETTING FOR PWM_REG.......................................................................................................57
FIGURE 7.4 SCOPE SHOT: TOO SMALL SETTING FOR PWM_REG DURING AT#2.......................................................................57
FIGURE 7.5 SUCCESSFULLY DETERMINED PWM_GRAD(_AUTO) AND PWM_OFS(_AUTO)...................................................57
FIGURE 7.6 VELOCITY BASED PWM SCALING (PWM_AUTOSCALE=0).........................................................................................60
FIGURE 7.7 TPWMTHRS FOR OPTIONAL SWITCHING TO SPREADCYCLE...................................................................................61
FIGURE 8.1 CHOPPER PHASES ...................................................................................................................................................64
FIGURE 8.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE
RESISTOR VOLTAGES A AND B).........................................................................................................................................66
FIGURE 8.3 SPREADCYCLE CHOPPER SCHEME SHOWING COIL CURRENT DURING A CHOPPER CYCLE ............................................67
FIGURE 8.4 CLASSIC CONST. OFF TIME CHOPPER WITH OFFSET SHOWING COIL CURRENT..........................................................68
FIGURE 8.5 ZERO CROSSING WITH CLASSIC CHOPPER AND CORRECTION USING SINE WAVE OFFSET..........................................68
FIGURE 10.1 CHOICE OF VELOCITY DEPENDENT MODES.............................................................................................................72
FIGURE 11.1 SHORT DETECTION................................................................................................................................................75
FIGURE 12.1 RAMP GENERATOR VELOCITY TRACE SHOWING CONSEQUENT MOVE IN NEGATIVE DIRECTION ................................78
FIGURE 12.2 ILLUSTRATION OF OPTIMIZED MOTOR TORQUE USAGE WITH TMC5161 RAMP GENERATOR...................................79
FIGURE 12.3 RAMP GENERATOR VELOCITY DEPENDENT MOTOR CONTROL...................................................................................80
FIGURE 12.4 USING REFERENCE SWITCHES (EXAMPLE)..............................................................................................................81
FIGURE 13.1 FUNCTION PRINCIPLE OF STALLGUARD2...............................................................................................................83
FIGURE 13.2 EXAMPLE: OPTIMUM SGT SETTING AND STALLGUARD2 READING WITH AN EXAMPLE MOTOR................................85
FIGURE 14.1 COOLSTEP ADAPTS MOTOR CURRENT TO THE LOAD...............................................................................................88
FIGURE 15.1 STEP AND DIR TIMING, INPUT PIN FILTER .........................................................................................................90
FIGURE 15.2 MICROPLYER MICROSTEP INTERPOLATION WITH RISING STEP FREQUENCY (EXAMPLE: 16 TO 256)......................92
FIGURE 16.1 DIAG OUTPUTS IN STEP/DIR MODE ..................................................................................................................93
FIGURE 16.2 DIAG OUTPUTS WITH SD_MODE=0...................................................................................................................94
FIGURE 17.1 DCSTEP EXTENDED APPLICATION OPERATION AREA...............................................................................................95
FIGURE 17.2 VELOCITY PROFILE WITH IMPACT BY OVERLOAD SITUATION .................................................................................96
FIGURE 17.3 MOTOR MOVING SLOWER THAN STEP INPUT DUE TO LIGHT OVERLOAD. LOSTSTEPS INCREMENTED..................99
FIGURE 17.4 FULL SIGNAL INTERCONNECTION FOR DCSTEP ......................................................................................................99
FIGURE 17.5 DCO INTERFACE TO MOTION CONTROLLER – STEP GENERATOR STOPS WHEN DCO IS ASSERTED........................100
FIGURE 18.1 LUT PROGRAMMING EXAMPLE ............................................................................................................................101
FIGURE 20.1 OUTLINE OF ABN SIGNALS OF AN INCREMENTAL ENCODER................................................................................103
FIGURE 22.1 CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP...................................................................................107
FIGURE 22.2 TUNING STEALTHCHOP AND SPREADCYCLE.........................................................................................................108
FIGURE 22.3 MOVING THE MOTOR USING THE MOTION CONTROLLER.......................................................................................109
FIGURE 22.4 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)..................................................................110
FIGURE 22.5 SETTING UP DCSTEP...........................................................................................................................................111
FIGURE 24.1 STANDALONE OPERATION WITH TMC5161 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES)..................113
FIGURE 28.1 THERMAL PHOTO SHOWING 3.5A RMS OPERATION WITH SPREADCYCLE ON TMC6200-EVAL .........................120
FIGURE 28.2 THERMAL DISTRIBUTION 3.5A RMS OPERATION RUNNING STEALTHCHOP..........................................................120
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