TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
3
Table of Contents
8.2
CLASSIC CONSTANT OFF TIME CHOPPER ......68
1
PRINCIPLES OF OPERATION .........................5
9
SELECTING SENSE RESISTORS....................70
VELOCITY BASED MODE CONTROL.......72
DIAGNOSTICS AND PROTECTION.........74
1.1
KEY CONCEPTS................................................6
CONTROL INTERFACES.....................................7
SOFTWARE......................................................7
MOVING AND CONTROLLING THE MOTOR........8
AUTOMATIC STANDSTILL POWER DOWN.........8
STEALTHCHOP2 & SPREADCYCLE DRIVER........8
STALLGUARD2 – MECHANICAL LOAD SENSING9
COOLSTEP – LOAD ADAPTIVE CURRENT
1.2
1.3
1.4
1.5
1.6
1.7
1.8
10
11
11.1 TEMPERATURE SENSORS................................74
11.2 SHORT PROTECTION......................................74
11.3 OPEN LOAD DIAGNOSTICS ...........................76
12
RAMP GENERATOR.....................................77
CONTROL......................................................................9
12.1 REAL WORLD UNIT CONVERSION.................77
12.2 MOTION PROFILES........................................78
12.3 VELOCITY THRESHOLDS.................................80
12.4 REFERENCE SWITCHES ..................................81
1.9
DCSTEP – LOAD DEPENDENT SPEED CONTROL..
.....................................................................10
1.10 ENCODER INTERFACE.....................................10
2
3
PIN ASSIGNMENTS.........................................11
13
STALLGUARD2 LOAD MEASUREMENT...83
2.1
2.2
PACKAGE OUTLINE........................................11
SIGNAL DESCRIPTIONS .................................11
13.1 TUNING STALLGUARD2 THRESHOLD SGT .....84
13.2 STALLGUARD2 UPDATE RATE AND FILTER ....86
13.3 DETECTING A MOTOR STALL.........................86
13.4 HOMING WITH STALLGUARD.........................86
13.5 LIMITS OF STALLGUARD2 OPERATION..........86
SAMPLE CIRCUITS..........................................15
3.1
STANDARD APPLICATION CIRCUIT ................15
EXTERNAL GATE VOLTAGE REGULATOR..........16
MOSFETS AND SLOPE CONTROL..................17
DRIVER PROTECTION AND EME CIRCUITRY...18
3.2
3.3
3.4
14
COOLSTEP OPERATION.............................87
14.1 USER BENEFITS.............................................87
14.2 SETTING UP FOR COOLSTEP ..........................87
14.3 TUNING COOLSTEP........................................89
4
5
SPI INTERFACE................................................19
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE .........................19
SPI SIGNALS................................................20
TIMING .........................................................21
15
STEP/DIR INTERFACE................................90
15.1 TIMING.........................................................90
15.2 CHANGING RESOLUTION...............................91
15.3 MICROPLYER AND STAND STILL DETECTION .92
UART SINGLE WIRE INTERFACE ................22
5.1
DATAGRAM STRUCTURE.................................22
CRC CALCULATION .......................................24
UART SIGNALS ............................................24
ADDRESSING MULTIPLE SLAVES....................25
5.2
5.3
5.4
16
DIAG OUTPUTS...........................................93
16.1 STEP/DIR MODE.........................................93
16.2 MOTION CONTROLLER MODE........................93
6
7
REGISTER MAPPING.......................................27
17
DCSTEP..........................................................95
6.1
6.2
GENERAL CONFIGURATION REGISTERS ..........28
VELOCITY DEPENDENT DRIVER FEATURE
17.1 USER BENEFITS.............................................95
17.2 DESIGNING-IN DCSTEP.................................95
17.3 DCSTEP INTEGRATION WITH THE MOTION
CONTROLLER..............................................................96
17.4 STALL DETECTION IN DCSTEP MODE ............96
17.5 MEASURING ACTUAL MOTOR VELOCITY IN
DCSTEP OPERATION...................................................97
17.6 DCSTEP WITH STEP/DIR INTERFACE ...........98
CONTROL REGISTER SET.............................................34
6.3
6.4
6.5
RAMP GENERATOR REGISTERS.......................36
ENCODER REGISTERS.....................................41
MOTOR DRIVER REGISTERS...........................43
STEALTHCHOP™..............................................53
7.1
AUTOMATIC TUNING.....................................53
STEALTHCHOP OPTIONS................................56
STEALTHCHOP CURRENT REGULATOR.............56
VELOCITY BASED SCALING............................58
COMBINING STEALTHCHOP AND SPREADCYCLE..
.....................................................................60
FLAGS IN STEALTHCHOP................................62
FREEWHEELING AND PASSIVE BRAKING........62
7.2
7.3
7.4
7.5
18
SINE-WAVE LOOK-UP TABLE.................101
18.1 USER BENEFITS...........................................101
18.2 MICROSTEP TABLE......................................101
19
20
EMERGENCY STOP....................................102
7.6
7.7
ABN INCREMENTAL ENCODER
INTERFACE...............................................................103
8
SPREADCYCLE AND CLASSIC CHOPPER...64
8.1 SPREADCYCLE CHOPPER ................................65
20.1 ENCODER TIMING .......................................104
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