TMC222 DATASHEET (V. 1.12 / March 7, 2011) 1 TMC222 – DATASHEET OB1 GND 26 GND OA2 27 24 23 22 VBAT SWI NC VCP CPP CPN TMC 222 QFN32 www.trinamic.com 8 VCP 12 13 14 15 16 NC 11 HW 10 GND 9 open VBAT TST 11 GND 12 SCL 9 10 VDD OB2 CPN CPP VBAT VBAT SDA 13 21 GND 20 14 VBAT OA1 VBAT OB1 VBAT 19 15 OB2 18 OA2 OB2 17 16 OA1 7 OA1 GND 6 HW 28 5 8 29 4 7 GND 30 17 TMC222 6 open 31 3 5 TST 32 2 4 VBAT TRINAMIC Motion Control GmbH & Co. KG Waterloohain 5 D – 22769 Hamburg GERMANY 25 18 1 VDD GND TRINAMIC 3 SWI OB1 19 SCL OA2 20 2 GND 1 SDA GND Micro Stepping Stepper Motor Controller / Driver with Two Wire Serial Interface Top view 1 Features The TMC222 is a combined micro-stepping stepper motor motion controller and driver with RAM and OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings. The TMC222 allows up to four bit of micro stepping and a coil current of up to 800 mA. After initialization it performs all time critical tasks autonomously based on target positions and velocity parameters. Communications to a host takes place via a two wire serial interface. Together with an inexpensive micro controller the TMC222 forms a complete motion control system. The main benefits of the TMC222 are: • • • Motor driver • Controls one stepper motor with four bit micro stepping • Programmable Coil current up to 800 mA • Supply voltage range operating range 8V ... 29V • Fixed frequency PWM current control with automatic selection of fast and slow decay mode • Full step frequencies up to 1 kHz • High temperature, open circuit, short, over-current and under-voltage diagnostics Motion controller • Internal 16-bit wide position counter • Configurable speed and acceleration settings • Build-in ramp generator for autonomous positioning and speed control • On-the-fly alteration of target position • reference switch input available for read out Two wire serial interface • Transfer rates up to 350 kbps • Diagnostics and status information as well as motion parameters accessible • Field-programmable node addresses (32) Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 2 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Motion Control GmbH & Co. KG 2011 Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result form its use. Specifications subject to change without notice. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 3 Table of Contents 1 FEATURES ...................................................................................................................................... 1 2 GENERAL DESCRIPTION .............................................................................................................. 5 2.1 2.2 2.3 2.4 2.5 2.6 Block Diagramm ........................................................................................................................ 5 Position Controller / Main Control ............................................................................................. 5 Stepper Motor Driver ................................................................................................................. 5 Two Wire Serial Interface.......................................................................................................... 5 Miscellaneous ........................................................................................................................... 6 Pin and Signal Descriptions ...................................................................................................... 6 3 TYPICAL APPLICATION ................................................................................................................. 7 4 ORDERING INFORMATION ........................................................................................................... 7 5 FUNCTIONAL DESCRIPTION ........................................................................................................ 8 5.1 Position Controller and Main Controller .................................................................................... 8 5.1.1 Stepping Modes ................................................................................................................. 8 5.1.2 Velocity Ramp .................................................................................................................... 8 5.1.3 Examples for different Velocity Ramps .............................................................................. 9 5.1.4 Vmax Parameter .............................................................................................................. 10 5.1.5 Vmin Parameter ............................................................................................................... 11 5.1.6 Acceleration Parameter ................................................................................................... 11 5.1.7 Position Ranges ............................................................................................................... 12 5.1.8 Secure Position ................................................................................................................ 12 5.1.9 External Switch ................................................................................................................ 12 5.1.10 Motor Shutdown Management ......................................................................................... 13 5.1.11 Reference Search / Position initialization......................................................................... 14 5.1.12 Temperature Management .............................................................................................. 15 5.1.13 Battery Voltage Management .......................................................................................... 16 5.1.14 Internal handling of commands and flags ........................................................................ 17 5.2 RAM and OTP Memory ........................................................................................................... 19 5.2.1 RAM Registers ................................................................................................................. 19 5.2.2 Status Flags ..................................................................................................................... 20 5.2.3 OTP Memory Structure .................................................................................................... 21 5.3 Stepper Motor Driver ............................................................................................................... 21 5.3.1 Coil current shapes .......................................................................................................... 22 5.3.2 Transition Irun to Ihold ..................................................................................................... 23 5.3.3 Chopper Mechanism ........................................................................................................ 24 6 TWO-WIRE SERIAL INTERFACE................................................................................................. 25 6.1 Physical Layer ......................................................................................................................... 25 6.2 Communication on Two Wire Serial Bus Interface ................................................................. 25 6.3 Physical Address of the circuit ................................................................................................ 26 6.4 Write data to TMC222 ............................................................................................................. 26 6.5 Read data from TMC222 ........................................................................................................ 27 6.6 Timing characteristics of the serial interface ........................................................................... 28 6.7 Application Commands Overview ........................................................................................... 29 6.8 Command Description ............................................................................................................ 30 6.8.1 GetFullStatus1 ................................................................................................................. 30 6.8.2 GetFullStatus2 ................................................................................................................. 31 6.8.3 GetOTPParam ................................................................................................................. 31 6.8.4 GotoSecurePosition ......................................................................................................... 32 6.8.5 HardStop .......................................................................................................................... 32 6.8.6 ResetPosition ................................................................................................................... 32 Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 4 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8.7 ResetToDefault ................................................................................................................ 33 6.8.8 RunInit .............................................................................................................................. 33 6.8.9 SetMotorParam ................................................................................................................ 34 6.8.10 SetOTPParam .................................................................................................................. 34 6.8.11 SetPosition ....................................................................................................................... 35 6.8.12 SoftStop ........................................................................................................................... 35 6.9 Positioning Task Example ....................................................................................................... 36 7 FREQUENTLY ASKED QUESTIONS ........................................................................................... 38 7.1 7.2 7.3 7.4 8 Using the bus interface............................................................................................................ 38 General problems when getting started .................................................................................. 38 Using the device ...................................................................................................................... 39 Finding the reference position ................................................................................................. 40 PACKAGE OUTLINE ..................................................................................................................... 41 8.1 8.2 9 SOIC-20 .................................................................................................................................. 41 QFN32 ..................................................................................................................................... 42 PACKAGE THERMAL RESISTANCE ........................................................................................... 43 9.1 10 10.1 10.2 10.3 10.4 SOIC-20 Package ................................................................................................................... 43 ELECTRICAL CHARACTERISTICS .......................................................................................... 44 Absolute Maximum Ratings ................................................................................................. 44 Operating Ranges................................................................................................................ 44 DC Parameters .................................................................................................................... 44 AC Parameters .................................................................................................................... 46 REVISION HISTORY ............................................................................................................................. 47 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5 2 General Description 2.1 Block Diagramm SWI SDA SCL HW TST Two Wire Serial Interface Decoder Position Controller DACs Main control & Registers OTP + ROM PWM regulator Y VBAT Voltage Regulator Oscillator Charge Pump VDD VCP 2.2 Reference Voltage & Thermal Monitoring CP2 CP1 Position Controller / Main Control Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control block via the serial interface. These information are stored internally in RAM or OTP memory and are accessible by the position controller. This block takes over all time critical tasks to drive a stepper motor to the desired position under abiding the desired motion parameters. The main controller gets feedback from the stepper motor driver block and is able to arrange internal actions in case of possible problems. Diagnostics information about problems and errors are transferred to the serial interface block. 2.3 Stepper Motor Driver Two H-bridges are employed to drive both windings of a bipolar stepper motor. The internal transistors can reach an output current of up to 800 mA. The PWM principle is used to force the given current through the coils. The regulation loop performs a comparison between the sensed output current and the internal reference. The PWM signals to drive the power transistors are derived from the output of the current comparator. 2.4 OA1 OA2 Sinewave table Serial Interface Controller Test PWM regulator X Two Wire Serial Interface Communication between a host and the TMC222 takes places via the two wire bi-directional serial interface. Motion instructions and diagnostics information are provided to or from the Main Control block. It is possible to connect up to 32 devices on the same bus. Slave addresses are programmable via OTP memory or an external pin. Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG OB1 OB2 6 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 2.5 Miscellaneous Besides the main blocks the TMC222 contains the following: • an internal charge pump used to drive the high side transistors. • an internal oscillator running at 4 MHz +/- 10% to clock the two wire serial interface, the positioning unit, and the main control block • internal voltage reference for precise referencing • a 5 Volts voltage regulator to supply the digital logic • protection block featuring Thermal Shutdown, Power-On-Reset, etc. GND GND 24 23 VBAT VBAT VCP CPP CPN TMC 222 QFN32 8 SDA 13 22 NC 21 GND VBAT 20 14 SWI OB2 19 VBAT VBAT OB1 11 VCP Name SOIC20 QFN32 SDA SCL VDD GND 1 2 3 4,7,14,17 TST open HW 5 6 8 8 9 10 11,14,25,26, 31,32 12 13 15 CPN CPP VCP VBAT OB2 OB1 OA2 OA1 SWI 9 10 11 12, 19 13 15 16 18 20 12 13 14 15 16 NC 11 10 HW 10 CPP 9 GND VBAT open 12 TST 9 GND OB2 CPN NC VBAT OB2 18 15 OA1 17 16 OA1 5 HW 25 4 8 26 7 GND TMC222 7 GND 27 6 OA1 17 OA2 6 28 18 TST open 29 3 5 30 2 GND 31 1 4 32 SCL 3 VDD VBAT OB1 TRINAMIC SCL SWI OA2 19 OB1 2 OA2 20 GND 1 SDA GND Pin and Signal Descriptions VDD 2.6 Top view Description SDA Serial Data input/output SCL Serial Clock input internal supply (needs external decoupling capacitor) ground, heat sink test pin (to be tied to ground in normal operation) must be left open hard-wired serial interface address bit input Hint: This is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; 17 negative connection of external charge pump capacitor 18 positive connection of external charge pump capacitor 19 connection of external charge pump filter capacitor 3-5,20-22 battery voltage supply (Vbb) 23,24 negative end of phase B coil 27,28 positive end of phase B coil 29,30 negative end of phase A coil 1,2 positive end of phase A coil 6 reference switch input; Hint: This is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; 7,16 internally not connected (shields when connected to ground) Table 1: TMC222 Signal Description Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 7 3 Typical Application External Switch Two wire serial Interface 1 SDA SWI 20 Connect to GND or VBAT SWI 1kΩ /1/4W 2.7 nF 2 SCL VBAT 19 3 VDD OA1 18 4 GND GND 17 5 TST OA2 16 6 open OB1 15 GND GND 14 100 nF 100 nF 1 µF Tantalum 7 Connect to GND or VBAT M VBAT 8...29 V 1kΩ /1/4W 8 HW OB2 13 9 CPN VBAT 12 10 CPP VCP 11 100 nF 2.7 nF 220 nF 16 V 220 nF 16 V 100 µF Figure 1: TMC222 Typical Application Notes : • • • • • Resistors tolerance +- 5% 2.7nF capacitors: 2.7nF is the minimum value, 10nF is the maximum value the 1µF and 100µF must have a low ESR value 100nF capacitors must be close to pins VBB and VDD 220nF capacitors must be as close as possible to pins CPN, CPP, VCP and VBB to reduce EMC radiation. 4 Ordering Information Part No. TMC222-PI20 (pre-series marking, same IC as TMC222-SI) TMC222-SI TMC222-LI Package SOIC-20 Peak Current 800 mA Temperature Range -40°C..125°C SOIC-20 QFN32 800mA 800mA -40°C..125°C -40°C..125°C Table 2: Ordering Information Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 8 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5 Functional Description 5.1 Position Controller and Main Controller 5.1.1 Stepping Modes The TMC222 supports up to 16 micro steps per full step, which leads to smooth and low torque ripple motion of the stepping motor. Four stepping modes (micro step resolutions) are selectable by the user (see also Table 11): • • • • 5.1.2 Half step Mode 1/4 Micro stepping 1/8 Micro stepping 1/16 Micro stepping Velocity Ramp A common velocity ramp where a motor drives to a desired position is shown in the figure below. The motion consists of a acceleration phase, a phase of constant speed and a final deceleration phase. Both the acceleration and the deceleration are symmetrical. The acceleration factor can be chosen from a table with 16 entries. (Table 5: Acc Parameter on page 11). A typical motion begins with a start velocity Vmin. During acceleration phase the velocity is increased until Vmax is reached. After acceleration phase the motion is continued with velocity Vmax until the velocity has to be decreased in order to stop at the desired target position. Both velocity parameters Vmin and Vmax are programmable, whereas Vmin is a programmable ratio of Vmax. (See Table 3: Vmax Parameter on page 10 and Table 4: Vmin on page 11). The user has to take into account that Vmin is not allowed to change while a motion is ongoing. Vmax is only allowed to change under special circumstances. (See 5.1.4 Vmax Parameter on page 10). The peak current value to be fed to each coil of the stepper-motor is selectable from a table with 16 possible values. It has to be distinguished between the run current Irun and the hold current Ihold. Irun is fed through the stepper motor coils while a motion is performed, whereas Ihold is the current to hold the stepper motor before or after a motion. More details about Irun and Ihold can be found in 5.3.1. and 5.3.2. Velocity resp. acceleration parameters are accessable via the serial interface. These parameters are written via the SetMotorParam command (see 6.8.9) and read via the GetFullStatus1 command (see 6.8.1). Velocity V [FS/s] Vmax Vmin Xstart State of Motion No Movement Acceleration Phase Xtarget Constant Velocity Deceleration Phase Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG No Movement time [s] TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.1.3 9 Examples for different Velocity Ramps The following figures show some examples of typical motions under different conditions: Velocity V Vmax Vmin Xstart Xtarget_1 Xtarget_2 time Figure 2: Motion with change of target position Velocity V Vmax Vmin Xstart Xtarget_1 Xtarget_2 time Figure 3: Motion with change of target position while in deceleration phase Velocity V Vmax Vmin Xstart Xtarget time Figure 4: Short Motion Vmax is not reached Velocity V Vmax Vmin Xstart Xtarget_1 Xtarget_2 time Figure 5: Linear Zero crossing (change of target position in opposite direction) The motor crosses zero velocity with a linear shape. The velocity can be smaller than the programmed Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to the stepper motor during crossing. Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 10 5.1.4 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Vmax Parameter The desired maximum velocity Vmax can be chosen from the table below: Vmax index Vmax [FS/s] Vmax group 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 A B C D Half-Step Mode [half-steps/s] 197 273 334 395 425 456 486 546 607 668 729 790 912 1091 1457 1945 Stepping Mode 1/4 micro 1/8 micro stepping stepping [micro-steps/s] [micro-steps/s] 395 546 668 790 851 912 973 1091 1213 1335 1457 1579 1823 2182 2914 3891 790 1091 1335 1579 1701 1823 1945 2182 2426 2670 2914 3159 3647 4364 5829 7782 1/16 micro stepping [micro-steps/s] 1579 2182 2670 3159 3403 3647 3891 4364 4852 5341 5829 6317 7294 8728 11658 15564 Table 3: Vmax Parameter Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing. All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing Vmax during a motion take care that the new Vmax value is within the same group. Background: The TMC222 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is equal. When changing Vmax between different groups during a motion, correct positioning is not ensured anymore. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.1.5 11 Vmin Parameter The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below shows the possible rounded values of Vmin given within unit [FS/s]. Vmax group [A...D] and Vmax index [0…15] Vmin Vmax A B C index factor 0 1 2 3 4 5 6 7 8 9 10 11 12 99 136 167 197 213 228 243 273 303 334 364 395 456 0 1 3 4 5 6 6 7 7 8 8 10 10 11 13 1 1/32 6 8 10 11 12 13 14 15 17 19 21 23 27 2 2/32 9 12 15 18 19 21 22 25 27 30 32 36 42 3 3/32 4 4/32 12 16 20 24 26 28 30 32 36 40 44 48 55 5 5/32 15 21 26 30 32 35 37 42 46 52 55 61 71 6 6/32 18 25 30 36 39 42 45 50 55 61 67 72 84 7 7/32 22 30 36 43 46 50 52 59 65 72 78 86 99 8 8/32 24 33 41 49 52 56 60 67 74 82 90 97 112 9 9/32 28 38 47 55 59 64 68 76 84 94 101 111 128 10 10/32 30 42 52 61 66 71 75 84 94 103 112 122 141 11 11/32 34 47 57 68 72 78 83 94 103 114 124 135 156 12 12/32 37 50 62 73 79 85 91 101 112 124 135 147 170 13 13/32 40 55 68 80 86 92 98 111 122 135 147 160 185 14 14/32 43 59 72 86 92 99 106 118 132 145 158 172 198 15 15/32 46 64 78 92 99 107 114 128 141 156 170 185 214 13 546 15 30 50 65 84 99 118 134 153 168 187 202 221 236 256 D 14 729 19 42 65 88 111 134 156 179 202 225 248 271 294 317 340 15 973 26 57 88 118 149 179 210 240 271 301 332 362 393 423 454 Table 4: Vmin values [FS/s] for all Vmin index – Vmax index combinations 5.1.6 Acceleration Parameter The acceleration parameter can be chosen from a wide range of available values as described in the table below. Please note that the acceleration parameter is not to change while a motion is ongoing. 2 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 99 14785 Acc index Acceleration Values in [FS/s ] dependent on Vmax Vmax [FS/s] 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 49 106 473 218 735 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 29570 40047 Table 5: Acc Parameter Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 12 TMC222 DATASHEET (V. 1.12 / March 7, 2011) The amount of equivalent full steps during acceleration phase can be computed by the next equation: 2 − V min 2 Nstep = V max 2 ⋅ Acc 5.1.7 Position Ranges Position information is coded by using two’s complement format. Depending on the stepping mode (See 5.1.1) the position ranges are as listed in the following table: Stepping Mode Half-stepping 1/4 micro-stepping 1/8 micro-stepping 1/16 micro-stepping Position Range -4096…+4095 12 12 (-2 …+2 -1) -8192…+8191 13 13 (-2 …+2 -1) -16384…+16383 14 14 (-2 …+2 -1) -32768…+32767 15 15 (-2 …+2 -1) Full range excursion 8192 half-steps 13 2 16384 micro-steps 14 2 32768 micro-steps 15 2 65536 micro-steps 16 2 Table 6: Position Ranges Target positions can be programmed via serial interface by using the SetPosition command (see 6.8.11). The actual motor position can be read by the GetFullStatus2 command (see 6.8.2). 5.1.8 Secure Position The GotoSecurePosition command drives the motor to a pre-programmed secure position (see 6.8.4). The secure position is programmable by the user. Secure position is coded with 11 bits, therefore the resolution is lower than for normal positioning commands, as shown in the following table. Stepping Mode Half-stepping 1/4 micro stepping 1/8 micro stepping 1/16 micro stepping Secure Position Resolution 4 half steps th 8 micro steps (1/4 ) th 16 micro steps (1/8 ) th 32 micro steps (1/16 ) Table 7: Secure Position Resolution 5.1.9 External Switch SWI Pin SWI (see Figure 1, on page 7) will attempt to source and sink current in/from the external switch pin. This is to check whether the external switch is open or closed, resp. if the pin is connected to ground or Vbat. The status of the switch can be read by using the GetFullStatus1 command. As long as the switch is open, the <ESW> flag is set to zero. The ESW flag just represents the status of the input switch. The SWI input is intended as a physical interface for a mechanical switch that requires a cleaning current for proper operation. The SWI input detects if the switch is open or connected either to ground or to Vbat. The SWI input is not a digital logic level input. The status of the switch does not automatically perform actions as latching of the actual position. Those actions have to be realized by the application software. Important Hint: The SWI is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 13 5.1.10 Motor Shutdown Management The TMC222 is set into motor shutdown mode as soon as one of the following condition occurs: • • • • The chip temperature rises above the thermal shutdown threshold Ttsd. See 5.1.12 Temperature Management on Page 15 The battery voltage drops below UV2 See 5.1.13 Battery Voltage Management on Page 16. An electrical problem occurred, e.g. short circuit, open circuit, etc. In case of such an problem flag <ElDef> is set to one. Chargepump failure, indicated by <CPFail> flag set to one. During motor shutdown the following actions are performed by the main controller: • • H-bridges are set into high impedance mode The target position register TagPos is loaded with the contents of the actual position register ActPos. The two-wire-serial-interface remains active during motor shutdown. To leave the motor shutdown state the following conditions must be true: • • Conditions which led to a motor shutdown are not active anymore A GetFullStatus1 command is performed via serial interface. Leaving the motor shutdown state initiates the following • • • H-bridges in Ihold mode Clock for the motor control digital circuitry is enabled The charge pump is active again Now the TMC222 is ready to execute any positioning command. IMPORTANT NOTE: First, a GetFullStatus1 command has to be executed after power-on to activate the TMC222. Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 14 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.1.11 Reference Search / Position initialization A stepper motor does not provide information about the actual position of the motor. Therefore it is recommended to perform a reference drive after power-up or if a motor shutdown happened in case of a problem. The RunInit command initiates the reference search. The RunInit command consists of a Vmin and Vmax parameter and also position information about the end of first and second motion (6.8.8 RunInit). A reference drive consists of two motions (Figure 6: RunInit): The first motion is to drive the motor into a stall position or a reference switch. The first motion is performed under compliance of the selected Vmax and Vmin parameter and the acceleration parameter specified in the RAM. The second motion has got a rectangular shape, without a acceleration phase and is to drive the motor out of the stall position or slowly towards the stall position again to compensate for the bouncing of the faster first motion to stop as close to the stall position as possible. The maximum velocity of the second motion equals to Vmin. The positions of Pos1 and Pos2 can be chosen freely (Pos1 > Pos2 or Pos1 < Pos2). After the second motion the actual position register is set to zero. Finally, the secure position will be traveled to if it is enabled (different from the most negative decimal value of –1024). Once the RunInit command is started it can not be interrupted by any other command except a condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a HardStop command is received. Furthermore the master has to ensure that the target position of the first motion is not equal to the actual position of the stepper motor and that the target positions of the first and the second motion are not equal. This is very important otherwise the circuit goes into a deadlock state. Once the circuit finds itself in a deadlock state only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave the deadlock state. Velocity V [FS/s] 2nd Motion 1st Motion Vmax Vmin Pos1 Figure 6: RunInit Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Pos2 Position X [FS] TMC222 DATASHEET (V. 1.12 / March 7, 2011) 15 5.1.12 Temperature Management The TMC222 provides an internal temperature monitoring. The circuit goes into shutdown mode if the temperature exceeds threshold Ttsd, furthermore two thresholds are implemented to generate a temperature pre-warning. Low Temperatur <Tinfo> = "01" <TW> = '0' <TSD> = '0' T° < Tlow T° > Tlow Normal Temp. <Tinfo> = "00" <TW> = '0' <TSD> = '0' T° < Ttw & GetFullStatus1 T° < Ttw & GetFullStatus1 T° > Ttw Thermal Warning <Tinfo> = "10" <TW> = '1' <TSD> = '0' T° > Ttw Post Thermal Warning <Tinfo> = "00" <TW> = '1' <TSD> = '0' T° < Ttw T° > Ttsd Thermal Shutdown <Tinfo> = "11" <TW> = '1' <TSD> = '1' SoftStop, if motion Motion = disabled T° > Ttsd T° < Ttsd Post Thermal Shutdown 1 <Tinfo> = "10" <TW> = '1' <TSD> = '1' Motion = disabled T° > Ttw T° < Ttw Post Thermal Shutdown 2 <Tinfo> = "00" <TW> = '1' <TSD> = '1' Motion = disabled Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 16 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.1.13 Battery Voltage Management The TMC222 provides an internal battery voltage monitoring. The circuit goes into shutdown mode if the battery voltage falls below threshold UV2, furthermore one threshold UV1 is implemented to generate a low voltage warning. Vbat > UV1 & GetFullStatus1 Vbat > UV1 & GetFullStatus1 Normal Voltage <UV2> = '0' <StepLoss> = '0' Motion = enabled Vbat > UV1 Vbat < UV1 Low Voltage <UV2> = '0' <StepLoss> = '0' Motion = enabled Vbat < UV2 (no Motion) Vbat < UV2 (Motion) Stop Mode 1 Stop Mode 2 <UV2> = '1' <StepLoss> = '0' Motion = disabled <UV2> = '1' <StepLoss> = '1' HardStop Motion = disabled Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 17 5.1.14 Internal handling of commands and flags The internal handling of commands and flags differs. Commands are handled with different priorities depending on the current state and the current status of internal flags, see figure below. SetPosition or GotoSecurePosition commands are ignored as long as the <StepLoss> flag is set. Details can be found in Table 8: Priority Encoder. Note: A HardStop command is sent by the master or triggered internally in case of an electrical defect or over temperature. A description of the available commands can be found in 6.8 Command Description. A list of the internal flags can be found in 5.2.2 Status Flags. As an example: When the circuit drives the motor to its programmed target position, state “GotoPos” is entered. There are three events which can cause to leave this state: HardStop command received, SoftStop command received or target position reached. If all three events occur at the same time the HardStop command is executed since it has the highest priority. The Motion finished event (target position reached) has the lowest priority and thus will only cause transition to “Stopped” state when both other events do not occur. RunInit Thermal Shutdown HardStop Power On Reset Motion finished RunInit SoftStop HardStop Thermal Shutdown SoftStop HardStop HardStop Motion finished HardStop Thermal Shutdown GotoSecurePosition Stopped ShutDown GetFullStatus1 AND <TSD> + <HS> = 0 SetPosition GotoPos Motion finished Motion finished Figure 7: Internal handling of commands and flags Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG Priorities High Low 18 TMC222 DATASHEET (V. 1.12 / March 7, 2011) State → Command ↓ GetFullStatus2 GetOTPParam Stopped GotoPos RunInit SoftStop HardStop ShutDown motor stopped, Ihold in coils motor motion ongoing motor decelerating motor forced to stop I²C in-frame response OTP refresh; I²C in-frame I²C in-frame response OTP refresh; I²C in-frame no influence on RAM and TagPos I²C in-frame response OTP refresh; I²C in-frame I²C in-frame response OTP refresh; I²C in-frame I²C in-frame response OTP refresh; I²C in-frame I²C in-frame response I²C in-frame response I²C in-frame response I²C in-frame response I²C in-frame response motor stopped, H-bridges in Hi-Z I²C in-frame response OTP refresh; I²C in-frame I²C in-frame response; if (<TSD> or <HS>) = ‘1’ then → Stopped OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset (note 2) OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset RAM update RAM update RAM update RAM update RAM update RAM update GetFullStatus1 [attempt to clear <TSD> and <HS> flags] ResetToDefault [ActPos and TagPos are not altered] SetMotorParam [Master takes care about proper update] TagPos and ActPos reset TagPos updated; SetPosition →GotoPos If <SecEn> = ‘1’ GotoSecurePosi then TagPos = SecPos; tion →GotoPos RunInit →RunInit TagPos and ActPos reset ResetPosition HardStop SoftStop HardStop TagPos updated TagPos updated If <SecEn> = ‘1’ If <SecEn> = ‘1’ then TagPos = then TagPos = SecPos SecPos →HardStop; <StepLoss> = ‘1’ →SoftStop →HardStop; <StepLoss> = ‘1’ →HardStop; <StepLoss> = ‘1’ →HardStop [ ⇔ (<CPFail> or <UV2> or <ElDef>) = ‘1’ ⇒ <HS> = ‘1’ ] Thermal shutdown [ <TSD> = ‘1’ ] →Shutdown →HardStop →HardStop →Shutdown →SoftStop →SoftStop Motion finished n.a. →Stopped →Stopped →Stopped; TagPos =ActPos →Stopped; TagPos =ActPos n.a. Table 8: Priority Encoder Color code: Command ignored Transition to another state Master is responsible for proper update (see note 5) Notes: 1 2 3 4 5 6 After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after a GetFullStatus1 command (so that the Master could read the <VddReset> flag). A RunInit sequence runs with a separate set of RAM registers. The parameters which are not specified in a RunInit command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced to ‘1’ during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case AccShape at ‘0’ will be taken into account after the RunInit sequence. A GetFullStatus1 command will return the default parameters for Vmax and Vmin stored in RAM. Shutdown state can be left only when <TSD> and <HS> flags are reset. Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided the physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect). A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and Vmin values. This can be done during a RunInit sequence since this motion uses its own parameters, the new parameters will be taken into account at the next SetPosition command. <SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 7 19 <Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped. While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest priority, meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions. If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos register whatever the state) and motion to secure position is forbidden. Other commands like RunInit or ResetPosition will be executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command. 8 9 5.2 RAM and OTP Memory Some RAM registers (e.g. Ihold, Irun) are initialized with the content of the OTP (One Time Programmable) memory. The content of RAM registers that are initialized via OTP can be changed afterwards. This allows user initialization default values, whereas the default values are one time programmable by the user. Some OTP bits are address bits of the TMC222. 5.2.1 RAM Registers Register Mnemonic Actual Position ActPos Length (bit) 16 Target Position TagPos 16 Acceleration Shape AccShape 1 Coil Peak Current Irun 4 Coil Hold Current Ihold 4 Minimum Velocity Vmin 4 Maximum Velocity Vmax 4 Shaft Shaft 1 Acceleration / Deceleration Acc 4 Secure Position SecPos 11 Stepping Mode StepMode 2 Related commands Comment GetFullStatus2 ResetPosition SetPosition GetFullStatus2 ResetPosition GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault GetFullStatus1 SetMotorParam ResetToDefault Actual Position of the Stepper Motor. 16-bit signed Target Position of the Stepper Motor. 16-bit signed GetFullStatus2 ResetToDefault GetFullStatus1 GetFullStatus2 ResetToDefault Reset State 0x0000 0 = Acceleration with Acc Parameter. 1 = Velocity set to Vmin, without acceleration Coil current when motion is ongoing (Table 12: Irun / Ihold Settings) Coil current when motor stands still (Table 12: Irun / Ihold Settings) Start Velocity of the stepper motor (Table 4: Vmin ) Target Velocity of the stepper motor (Table 3: Vmax Parameter) Direction of motion Parameter for acceleration (Table 5: Acc Parameter) Target Position for GotoSecurePosition command (6.8.4 GotoSecurePosition); 11 MSBs of 16-bit position (LSBs fixed to ‘0’) Micro stepping mode (5.1.1 Stepping Modes) Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG OTP Memory 20 5.2.2 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Status Flags The table below shows the flags which are accessable by the serial interface in order to receive information about the internal status of the TMC222. Flag Digital supply Reset Over current in coil A Over current in coil B StepLoss Mnemonic VddReset Length (bit) 1 OVC1 1 OVC2 1 StepLoss 1 SecEn 1 ElDef 1 Temperature Info Tinfo 2 Thermal Warning TW 1 Thermal Shutdown TSD 1 Motion 3 ESW 1 CPFail 1 HS 1 Secure position enabled Electrical Defect Motion Status External Switch Status Charge Pump failure Electrical flag Related Comment Command GetFullStatus1 Set to ‘1’ after power-up or after a micro-cut in the supply voltage to warn that RAM contents may have been lost. Is set to ‘0’ after GetFullStatus1 command. GetFullStatus1 Set to ‘1’ if an over current in coil #1 was detected. Is set to ‘0’ after GetFullStatus1 command. GetFullStatus1 Set to ‘1’ if an over current in coil #2 was detected. Is set to ‘0’ after GetFullStatus1 command. GetFullStatus1 Set to ‘1’ when under voltage, over current or over temperature event was detected. Is set to ‘0’ after GetFullStatus1 command. SetPosition and GotoSecurePosition commands are ignored when <StepLoss> = 1 ‘0’ if SecPos = “100 0000 0000” Internal use ‘1’ otherwise GetFullStatus1 Set to ‘1’ if open circuit or a short was detected, (<OVC1> or <OVC2>). Is. Is set to ‘0’ after GetFullStatus1 command. GetFullStatus1 Indicates the chip temperature “00” = normal temperature “01 = low temperature warning “10” = high temperature warning “11” = motor shutdown GetFullStatus1 Set to one if temperature raises above 145 °C. Is set to ‘0’ after GetFullStatus1 command. GetFullStatus1 Set to one if temperature raises above 155° C. Is set to ‘0’ after GetFullStatus1 command and Tinfo = “00”. GetFullStatus1 Indicates the actual behavior of the position controller. “000”: Actual Position = Target Position; Velocity = 0 “001”: Positive Acceleration; Velocity > 0 “010”: Negative Acceleration; Velocity > 0 “011”: Acceleration = 0 Velocity = maximum pos Velocity “100”: Actual Position /= Target Position; Velocity = 0 “101”: Positive Acceleration; Velocity < 0 “110”: Positive Acceleration; Velocity < 0 “111”: Acceleration = 0 Velocity = maximum neg Velocity GetFullStatus1 Indicates the status of the external switch. ‘0’ = open ‘1’ = close GetFullStatus1 ‘0’ charge pump OK ‘1’ charge pump failure Internal use <CPFail> or <UV2> or <ElDef> Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Reset state ‘1’ ‘0’ ‘0’ ‘0’ n.a. ‘0’ “00” ‘0’ ‘0’ “000” ‘0’ ‘0’ ‘0’ TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.2.3 21 OTP Memory Structure The table below shows where the OTP parameters are stored in the OTP memory. Note: If the OTP memory has not been programmed, or if the RAM has not be programmed by a SetMotorParam command, or if anyhow <VddReset> = ‘1’, any positioning command will be ignored, in order to avoid any consequence due to unwanted RAM content. Please check that the correct supply voltage is applied to the circuit before zapping the OTP (See: Table 21: DC Parameters Supply and Voltage regulator on page 45), otherwise the circuit will be destroyed. OTP Address 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 OTP Bit Order 4 3 7 6 5 OSC3 OSC2 TSD2 OSC1 TSD1 OSC0 TSD0 Irun3 Vmax3 SecPos10. SecPos7 Irun2 Vmax2 SecPos9 SecPos6 Irun1 Vmax1 SecPos8 SecPos5 Irun0 Vmax0 Shaft SecPos4 IREF3 BG3 AD3 Ihold3 Vmin3 Acc3 SecPos3 StepMode1 2 1 0 IREF2 BG2 AD2 Ihold2 Vmin2 Acc2 SecPos2 StepMode0 IREF1 BG1 AD1 Ihold1 Vmin1 Acc1 SecPos1 LOCKBT IREF0 BG0 AD0 Ihold0 Vmin0 Acc0 SecPos0 LOCKBG Table 9 : OTP Memory Structure Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP memory at circuit delivery, they correspond to the calibration of the circuit and are just documented here as an indication. These might vary between different components. These bits (gray within Table 9 : OTP Memory Structure) should not be used after readout. Each OPT bit is at ‘0’ when not zapped. Zapping a bit will set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped. Zapping of a bit already at ‘1’ is disabled, to avoid any damage of the Zener diode. It is important to note that only one single OTP byte can be programmed at the same time (see command SetOTPParam). Once OTP programming is completed, bit LOCKBG can be zapped, to disable unwanted future zapping, otherwise any OTP bit at ‘0’ could still be zapped. LOCKBT Lock bit (zapped before delivery) LOCKBG Protected byte 0x00 to 0x01 0x02 to 0x07 Table 10 : OTP Lock bits The command used to load the application parameters via the serial bus into the RAM prior to an OTP Memory programming is SetMotorParam. This allows for a functional verification before using a SetOTPParam command to program and zap separately one OTP memory byte. A GetOTPParam command issued after each SetOTPParam command allows to verify the correct byte zapping. 5.3 Stepper Motor Driver The StepMode parameter in SetMotorParam command (6.8.9 SetMotorParam on page 34) is used to select between different stepping modes. Following modes are available: StepMode parameter 00 01 10 11 Mode Half Stepping 1/4 µStepping 1/8 µStepping 1/16 µStepping Table 11: StepMode Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 22 5.3.1 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Coil current shapes The next four figures show the current shapes fed to each coil of the motor in different stepping modes. i t Figure 8: Coil Current for Half Stepping Mode i t Figure 9: Coil Current for 1/4 Micro Stepping Mode i t Figure 10: Coil Current for 1/8 Micro Stepping Mode i t Figure 11: Coil Current for 1/16 Micro Stepping Mode Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 5.3.2 23 Transition Irun to Ihold At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents are then set to their hold values Ihold. The figure below illustrates the mechanism: i t I = Irun I = Ihold Figure 12: Transition Irun to Ihold Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are available for Irun current and 16 values for Ihold current. The table below shows the corresponding current values. Irun / Ihold setting (hexadecimal) 0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 0x9 0xA 0xB 0xC 0xD 0xE 0xF Peak Current [mA] 59 71 84 100 119 141 168 200 238 283 336 400 476 566 673 800 Table 12: Irun / Ihold Settings Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 24 5.3.3 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Chopper Mechanism The chopper frequency is fixed as specified in chapter 10.4 AC Parameters on page 46. The TMC222 uses an intelligent chopper algorithm to provide a smooth operation with low resonance. The TMC222 uses internal measurements to derive current flowing through coils. If the current is less than the desired current, the TMC222 switches a H-bridge in a way that the current will increase. Otherwise if the current is too high, the H-bridge will be switched to decrease the current. For decreasing two modes are available, slow decay and fast decay, whereas fast decay decreases the current faster than slow decay. The figure below shows the chopper behavior. Figure 13: Different Chopper Cycles with Fast and Slow Decay Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 25 6 Two-Wire Serial Interface 6.1 Physical Layer Both SDA and SCL lines are connected to positive supply voltage via a current source or pull-up resistor (see figure below). When there is no traffic on the bus both lines are high. Analog glitch filters are implemented to suppress spikes with a length of up to 50 ns. + 5V SDA line SCL line SCL_IN SCL_IN SDA_IN SCL_OUT SDA_OUT SCL_OUT TMC222 SDA_IN SDA_OUT Master Figure 14: Two Wire Serial Interface - Physical Layer 6.2 Communication on Two Wire Serial Bus Interface Each datagram starts with a Start condition and ends with a Stop condition. Both conditions are unique and cannot be confused with data. A high to low transition on the SDA line while SCL is high indicates a Start condition. A low to high transition on the SDA line while SCL is high defines a Stop condition (see figure below). SDA SCL STOP condition START condition Figure 15: Two Wire Serial Interface - Start / Stop Conditions The SCL clock is always generated by the master. On every rising transition of the SCL line the data on SDA is valid. Data on SDA line is only allowed to change as long as SCL is low (see figure below). SDA SCL data line stable, data valid data change allowed Figure 16: Two Wire Serial Interface - Bit transfer Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 26 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Every byte put on the SDA line must have a length of 8 bits, where the most significant bit (MSB) is transferred first. The number of bytes that can be transmitted to the TCM222 is restricted to 8 bytes. Each byte is followed by an acknowledge bit, which is issued by the receiving node (see figure below). SDA MSB SCL 1 ACK 2 7 8 ACK 9 1 9 STOP condition START condition Figure 17: Two Wire Serial Interface - Data Transfer 6.3 Physical Address of the circuit The circuit must be provided with a physical address in order to discriminate this circuit from other ones on the serial bus. This address is coded on seven bits (two bits are internally hardwired to ‘1’), yielding the theoretical possibility of 32 different circuits on the same bus. It is a combination of four OTP memory bits (see Table 9 : OTP Memory Structure) and one hardwired address bit (pin HW). HW must either be connected to ground or Vbat. When HW is not connected and left floating correct functionality of the serial interface is not guaranteed. Pin HW uses the same principle to check whether it is connected to ground or Vbat like the SWI input (see 5.1.9 External Switch). The TMC222 supports a “general call” address. Therefore the circuit is addressable using either the physical slave address or address “000 0000”. AD6 AD5 '1' '1' AD4 AD3 AD2 AD1 AD0 Physical address HW2 OTP Memory Hardwired Bit OTP_AD3 OTP_AD2 OTP_AD1 OTP_AD0 (Connect to 0 or 1) Figure 18: Two Wire Serial Interface - Physical Address resp. Address Field With un-programmed OTP address bits (OTP_AD3=o, OTP_AD2=o, OTP_AD1=o, OTP_AD0=o) and HW='0' (pin HW @ GND), the slave address resp. the address field of the TMC222 for reading is 11oooo01 (0xC1, 193) and for writing the slave address resp. the address field is 11oooo00 (0xC0, 192). The LSB of the address field selects read (='1') and write (='0'). With un-programmed OTP address bits and HW='1' (pin HW @ Vbat), the slave address resp. the address field of the TMC222 for reading is 11oooo11 (0xC3, 195) and for writing the salve address resp. the address field is 11oooo10 (0xC2, 194). Important Hint: The HW is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; 6.4 Write data to TMC222 A complete datagram consists of the following: a Start condition, the slave address (7 bit), a read/write bit (‘0’ = write, ‘1’ = read), an acknowledge bit, a number of data bytes (8 bit) each followed by an acknowledge bit, and a Stop condition. The acknowledge bit is used to signal to the transmitter the correct reception of the preceding byte, in this case the TMC222 pulls the SDA line low. The TMC222 reads the incoming data at SDA with every rising edge of the SCL line. To finish the transmission the master has to transmit a Stop condition. Some commands for the TMC222 are supporting eight bytes of data, other commands are transmitting two bytes of data. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) S R/W A Slave addr '0' (Write) master to slave 27 DATA DATA A A P (n Bytes + acknowledge) S: Start Condition P: Stop Condition A: Acknowledge (SDA low) A: not Acknowledge (SDA high) slave to master Figure 19: Two Wire Serial Interface - Writing Data to Slave 6.5 Read data from TMC222 When reading data from a slave two datagrams are needed. The first datagram consists of two bytes of data. The first byte consists of the slave address and the write bit. The second byte consists of the address of an internal register of the TMC222. The internal register address is stored in the circuits RAM. The second datagram consists of the slave address and the read bit. Then the master can read the data bits on the SDA line with every rising edge of the SCL line. After each byte of data the master has to acknowledge correct data reception by pulling SDA low. The last byte must not be acknowledged by the master so that the slave knows the end of transmission (see figure below). Dump Internal Address to Slave S Slave addr R/W A internal addr A DATA A P '0' (Write) Read Data from Slave S Slave addr R/W A '1' (Read) master to slave slave to master DATA A P (n Bytes + acknowledge) S: Start Condition P: Stop Condition A: Acknowledge (SDA low) A: not Acknowledge (SDA high) Figure 20: Two Wire Serial Interface - Read Data from Slave Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 28 6.6 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Timing characteristics of the serial interface START START STOP START SDA tf tLOW tr tSU;DAT tf tHD;STA tr tBUF SCL tHD;STA tHD;DAT tHIGH tSU;STA tSU;STO Figure 21: Definition of Timing Parameter Symbol Low level input voltage: Fixed input levels High level input voltage: Fixed input levels Pulse width of spikes which must be suppressed by the input filter Capacitance for each I/O pin SCL Clk frequency <= 100KHz Min. Max. SCL Clk frequency <= 350KHz Min. Max. Unit VIL -0.5(1) 1.5 -0.5(1) 0.3VDD V VIH 3.0 (2) 0.7VDD (2) V tSP n/a n/a 50 50 ns Ci - 10 - 10 pF Table 13: Two Wire Serial Interface - Characteristics of the SDA and SCL I/O Stages Notes (1): If Input voltage = < -0.3 Volts, then 20…100 Ohms resistor must be added in series (2): Maximum VIH = VDDmax + 0.5 Volt n/a: not applicable Parameter Symbol SCL clock frequency Hold time (repeated) START condition. After this period, the first clock pulse is generated. LOW period of the SCL clock HIGH period of the SCL clock Set-up time for a repeated START condition Data set-up time Rise time of both SDA and SCL signals Fall time of both SDA and SCL signals Set-up time for STOP condition Bus free time between a STOP and START condition Capacitive load for each bus line Noise margin at the LOW level for each connected device (including hysteresis) Noise margin at the HIGH level for each connected device (including hysteresis) fSCL SCL Clk frequency <= 100KHz Min. Max. 0 100 SCL Clk frequency <= 350KHz Min. Max. 0 350 Unit KHz tHD;STA 4.0 - 0.6 - µs tLOW tHIGH 4.7 4.0 - 1.3 0.6 - µs µs tSU;STA 4.7 - 0.6 - µs tSU;DAT 250 - 100 - ns tr - 1000 20+0.1Cb(1) 300 ns tf - 300 20+0.1Cb(1) 300 ns tSU;STO 4.0 - 0.6 - µs tBUF 4.7 - 1.3 - µs Cb 0 400 - 400 pF VnL 0.1VDD - 0.1VDD - V VnH 0.2VDD - 0.2VDD - V Table 14: Two Wire Serial Interface - Characteristics of the SDA and SCL bus lines Notes (1): Cb = total capacitance of one bus line in pF. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.7 29 Application Commands Overview Communications between the TMC222 and a Two Wire Serial Bus Master takes place via a set of commands. Reading commands are used to: • Get actual status information, e.g. error flags • Get actual position of the Stepper Motor • Verify the right programming and configuration of the TMC222 Writing commands are used to: • Program the OTP Memory • Configure the TMC222 with motion parameters (e.g. max/min speed, acceleration, stepping mode, etc.) • Provide target positions to the Stepper motor Command Mnemonic GetFullStatus1 GetFullStatus2 GetOTPParam GotoSecurePosition HardStop ResetPosition ResetToDefault RunInit SetMotorParam SetOTPParam SetPosition SoftStop Function Returns complete status of the chip Returns actual, target and secure position Returns OTP parameter Drives motor to secure position Immediate full stop Sets actual position to zero Overwrites the chip RAM with OTP contents Reference Search Sets motor parameter Zaps the OTP memory Programmers a target and secure position Motor stopping with deceleration phase Command Byte (hexadecimal) 0x81 0xFC 0x82 0x84 0x85 0x86 0x87 0x88 0x89 0x90 0x8B 0x8F Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 30 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8 Command Description There are data fields labeled as "N/A = not applicable". Within the command description tables, the contend is normally given as '1'. Data fields labeled by N/A might be reserved for later variants of the TMC222 and the content should be ignored for the TMC222. Concerning response datagrams, the byte 0 is the slave address that is applied for addressing, where the byte 1 is the slave address that is sent back within the response data frame. 6.8.1 GetFullStatus1 This command is provided to the circuit by the Master to get a complete status of the circuit and of the stepper-motor. The parameters sent via the two wire serial bus to the Master are: • • • • • • • coil peak and hold current values (Irun and Ihold) maximum and minimum velocities for the stepper-motor (Vmax and Vmin) direction of motion clockwise / counterclockwise (Shaft) stepping mode (StepMode) (Table 11: StepMode on page 21) acceleration (deceleration) for the Stepper motor (Acc) acceleration shape (AccShape) status information: • motion status <Motion [2:0]> • over current flags for coil A <OVC1> and coil B <OVC2> • digital supply reset <VddReset> • charge pump status <CPFail> • external switch status <ESW> • step loss <StepLoss> • electrical defect <ElDef> • under voltage <UV2> • temperature information <Tinfo> • temperature warning <TW> • temperature shutdown <TSD> Byte Content 0 1 Slave Address GetFullStatus1 Byte 0 1 2 3 4 5 6 7 8 Content Slave Address Address Irun & Ihold Vmax & Vmin Status 1 Status 2 Status 3 N/A N/A bit 7 1 1 GetFullStatus1 command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 0 GetFullStatus1 command (Response) Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 1 1 OTP3 OTP2 Irun (3:0) Vmax (3:0) AccShape StepMode(1:0) Shaft VddReset StepLoss ElDef UV2 TSD Motion(2:0) ESW OVC1 1 1 1 1 1 1 1 1 1 1 Note: N/A = not applicable Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 OTP0 0 bit 1 HW 0 bit 0 0 1 bit 2 bit 1 bit 0 OTP0 HW 1 OTP1 OTP0 HW Ihold (3:0) Vmin (3:0) ACC(3:0) TW Tinfo(1:0) 1 OVC2 CPFail 1 1 1 1 1 1 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8.2 31 GetFullStatus2 This command is provided to the circuit by the Master to get the actual position of the stepper-motor. The position is provided by the circuit in 16-bit format, with the 3 LSBs at ‘0’ when in half stepping mode (StepMode = “00”). Furthermore programmed target position and secure position are also provided. Byte 0 1 Content Slave Address GetFullStatus2 Byte Content 0 1 2 3 4 5 6 7 8 Slave Address Address Actual Position 1 Actual Position 2 Target Position 1 Target Position 2 Secure Position Secure Position N/A bit 7 1 1 GetFullStatus2 command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 1 1 1 1 GetFullStatus2 command (Response) Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 1 1 OTP3 OTP2 ActPos(15:8) ActPos(7:0) TagPos(15:8) TagPos(7:0) SecPos(7:0) 1 1 1 1 1 1 1 1 1 1 bit 2 OTP0 1 bit 1 HW 0 bit 0 0 0 bit 2 OTP0 OTP1 bit 1 HW OTP0 bit 0 1 HW 1 SecPos(10:8) 1 1 Note: N/A = not applicable 6.8.3 GetOTPParam This command is provided to the circuit by the master to read the content of the OTP Memory. For more information refer to Table 9 : OTP Memory Structure on page 21. Byte Content 0 1 Slave Address GetOTPParam Byte Content 0 1 2 3 4 5 6 7 8 Slave Address OTP byte 0 OTP byte 1 OTP byte 2 OTP byte 3 OTP byte 4 OTP byte 5 OTP byte 6 OTP byte 7 bit 7 1 1 GetOTPParam command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 0 GetOTPParam command (Response) Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 OTP@0x00 OTP@0x01 OTP@0x02 OTP@0x03 OTP@0x04 OTP@0x05 OTP@0x06 OTP@0x07 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 OTP0 0 bit 1 HW 1 bit 0 0 0 bit 2 OTP0 bit 1 HW bit 0 1 32 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8.4 GotoSecurePosition This command is provided by the Master to one or all the stepper-motors to move to the secure position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled and the GotoSecurePosition command is ignored. 0 1 GotoSecurePosition command Structure bit 7 bit 6 bit 5 bit 4 bit 3 Slave Address 1 1 OTP3 OTP2 OTP1 GotoSecurePosition 1 0 0 0 0 6.8.5 HardStop Byte Content bit 2 OTP0 1 bit 1 HW 0 bit 0 0 0 This command is internally triggered when an electrical problem is detected in one or both coils, leading to switch off the H-bridges. If this problem is detected while the motor is moving, the <StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety reasons. HardStop command Byte Content 0 1 Slave Address HardStop 6.8.6 ResetPosition Structure bit 7 bit 6 1 1 1 0 bit 5 OTP3 0 bit 4 OTP2 0 bit 3 OTP1 0 bit 2 OTP0 1 bit 1 HW 0 bit 0 0 1 This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order to allow for an initialization of the stepper-motor position. Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section 5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0). Byte Content 0 1 Slave Address ResetPosition bit 7 1 1 ResetPosition command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 0 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 OTP0 1 bit 1 HW 1 bit 0 0 0 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8.7 33 ResetToDefault This command is provided to the circuit by the Master in order to reset the whole slave node into the initial state. ResetToDefault will for instance overload the RAM with the reset state of the register parameters. This is another way for the Master to initialize a slave node in case of emergency, or simply to refresh the RAM content. Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos register in order to avoid an attempt to position the motor to ‘0’. Byte Content 0 1 Slave Address ResetToDefault 6.8.8 bit 7 1 1 ResetToDefault command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 0 bit 2 OTP0 1 bit 1 HW 1 bit 0 0 1 RunInit This command is provided to the circuit by the Master in order to initialize positioning of the motor by seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on page 14. It leads to a sequence of the following commands: • • • • • • SetMotorParam(Vmax, Vmin); SetPosition(Pos1); SetMotorParam(Vmin, Vmin); SetPosition(Pos2); ResetPosition GotoSecurePosition Once the RunInit command is started it can not be interrupted by any other command except when a condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the final travel to the secure position is omitted. The master has to ensure that the target position of the first motion is not equal to the actual position of the stepper motor and that the target positions of the first and second motion are different, too. This is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave the deadlock state. Byte Content 0 1 2 3 4 5 6 7 8 Slave Address RunInit N/A N/A Vmax Vmin Position1 byte 1 Position1 byte 2 Position2 byte 1 Position2 byte 2 bit 7 1 1 1 1 RunInit command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 1 1 1 1 1 1 1 1 1 Vmax(3:0) TagPos1(15:8) TagPos1(7:0) TagPos2(15:8) TagPos2(7:0) Note: N/A = not applicable Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 bit 1 OTP0 HW 0 0 1 1 1 1 Vmin(3:0) bit 0 0 0 1 1 34 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 6.8.9 SetMotorParam This command is provided to the circuit by the Master to set the values for the following stepper motor parameters in RAM: coil peak current value (Irun) coil hold current value (Ihold) maximum velocity for the Stepper-motor (Vmax) minimum velocity for the Stepper-motor (Vmin) acceleration shape (AccShape) stepping mode (StepMode) direction of the Stepper-motor motion (Shaft) acceleration (deceleration) for the Stepper-motor (Acc) secure position for the Stepper-motor (SecPos) • • • • • • • • • If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position is disabled and the GotoSecurePosition command is ignored. Byte Content 0 1 2 3 4 5 6 7 8 Slave Address SetMotorParam N/A N/A Irun & I hold Vmax & Vmin Status SecurePos StepMode SetMotorParam command Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 1 1 OTP3 OTP2 OTP1 OTP0 HW 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Irun(3:0) Ihold(3:0) Vmax(3:0) Vmin(3:0) SecPos(10:8) Shaft Acc(3:0) SecPos(7:0) AccShape StepMode[1:0] bit 0 0 1 1 1 Note: N/A = not applicable 6.8.10 SetOTPParam This command is provided to the circuit by the Master in order to zap the OTP memory. The OTPA address (OTPA) addresses the OTP word (please refer section 5.2.3, page 21) within the OTP Memory structure. The Pbit byte represents the bit pattern to be programmed, where a one programs an un-programmed OTP bit. For example, if one wants to OTP the defaults to Irun := 0xD and Ihold = 0x5, one has to execute the SetOTPParam with OTPA = 0x03 and Pbit := 0xD5. Those OTP bits that are un-programmed can be programmed to '1' by corresponding Pbit chosen as '1' . For OTP the supply voltage Vbat has to be within the valid range specified as VbbOTP within Table 21, page 45. Byte 0 1 2 3 4 5 Content Slave Address SetOTPParam N/A N/A OTP Address Pbit bit 7 1 1 1 1 1 SetOTPParam command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 1 0 1 1 1 1 1 1 1 1 1 1 1 1 Pbit(7:0) Note: N/A = not applicable Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 OTP0 0 1 1 bit 1 HW 0 1 1 OTPA(2:0) bit 0 0 0 1 1 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 35 6.8.11 SetPosition This command is provided to the circuit by the Master to drive the motor to a given position relative to the zero position, defined in number of half or micro steps, according to StepMode[1:0] value. SetPosition will not be performed if one of the following flags is set to one: temperature shutdown <TSD> under voltage <UV2> step loss <StepLoss> electrical defect <ElDef> • • • • Byte 0 1 2 3 4 5 Content Slave Address SetPosition N/A N/A Position byte1 Position byte2 bit 7 1 1 1 1 SetPosition command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 1 1 1 1 1 1 1 1 1 TagPos(15:8) TagPos(7:0) bit 2 OTP0 0 1 1 bit 1 HW 1 1 1 bit 0 0 1 1 1 Note: N/A = not applicable 6.8.12 SoftStop If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in the following cases: • • The chip temperature rises above the Thermal shutdown threshold. The Master requests a SoftStop. Byte Content 0 1 Slave Address SoftStop bit 7 1 1 SoftStop command Structure bit 6 bit 5 bit 4 bit 3 1 OTP3 OTP2 OTP1 0 0 0 1 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG bit 2 OTP0 1 bit 1 HW 1 bit 0 0 1 36 6.9 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Positioning Task Example The TMC222 has to perform a positioning task, where the actual position of the stepper motor is unknown. The desired target position is 3000 µsteps away from position 0. See figure below. Stop ? Actual Position = unknown ? Target Position = 3000 X [µsteps] ? Position 0 Figure 22: Positioning Example: Initial situation The following sequence of commands has to be sent to the slave in order to complete the scenario described above (assumed after power on): GetFullStatus1 The command is used to read the current status of the TMC222. Electrical or environmental problems will be reported, furthermore the circuit leaves the shutdown state and is ready for action. See 6.8.1 GetFullStatus1 on page 30. GetFullStatus2 The circuit will enter a deadlock state if the actual position corresponds to the first target position of the RunInit command. This command is used to read the actual position. The master must take care that both positions are containing different values. For deadlock conditions see 5.1.11 Reference Search / Position initialization on page 14. SetMotorParam In order to drive the stepper motor with a desired motion parameters like torque, velocity, aso. the SetMotorParam command must issued. See 6.8.9 SetMotorParam on page 34. RunInit Hence the actual position is unknown, a position initialization has to be performed. The first motion must drive the stepper motor into the stop for sure. The second motion is a very short motion to bring the motor out of the stop. The actual position is then set to zero automatically after the second motion is finished. See 6.8.8 RunInit on page 33. After reference search the situation is as depicted in the figure below. Actual position of the stepper motor corresponds to zero, the target position is 3000 µsteps away from the actual position. Stop Actual Position =0 Target Position = 3000 X [µsteps] Figure 23: Positioning Example: Situation after reference search Now the positioning command SetPosition can be issued in order to drive the stepper motor to the desired position. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 37 SetPosition This command will cause the stepper motor to move to the desired target position. See 6.8.11 SetPosition on page 35. After the motion has been finished, the situation is as depicted in the figure below. Stop Actual Position = Target Position = 3000 X [µsteps] Figure 24: Positioning Example: Motion finished Afterwards the actual status and position can be verified by GetFullStatus1 and GetFullStatus2 commands. The master can check if a problem, caused by electrical or temperature problems, occurred. Furthermore the actual position is read. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 38 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 7 Frequently Asked Questions 7.1 Using the bus interface Q: How many devices can be operated on the same bus? A: 32 devices can be discriminated by means of the physical address. However, it depends on some factors if this high number really makes sense. First of all it has to be checked if each device can be serviced under any circumstances in the maximum allowed time taking the bus speed and the individual real-time requirements of each device into account. Second, the idea of reserving address 0 for OTP physical address programming during system installation and defective parts replacement reduces the number to 30. Q: How to program the OTP physical address bits of a device if there are more devices connected to the same bus? A: The problem here is that all new devices are shipped with the OTP physical address bits set to zero making it difficult to address just one device with the SetOTPParam command. Use HW input as chip select line to address just one device by SetOTPParam. If this is impractible since the HW input is hardwired or not controllable for any other reason the only alternative is to assemble and program one device after the other. I.e., assemble only first device and program the desired non-zero address, then assemble the second device and program the desired non-zero address, and so on until all devices are assembled and programmed. This is also a good service concept when replacing defective devices in the field: The idea is that all devices are programmed to different non-zero physical addresses at production/installation time. Once a defective device is being replaced the replacement part can easily be addressed by SetOTPParam since it is the only part with physical address zero. 7.2 General problems when getting started Q: What is the meaning of ElDef? A: The ElDef flag (‘Electrical Defect’) is the logical ORing of the OVC1 and OVC2 flags. OVC1 is set to one in case of an overcurrent (coil short) or open load condition (selected coil current is not reached) for coil A. OVC2 is the equivalent for coil B. Q: What could be the reason for ElDef / OVC1 / OVC2 being set to one? A: There are a number of possible causes: • • • • Motor not connected ( open load) Connected motor has shorted coils ( overcurrent) or broken coils ( open load) Motor coils connected to the wrong device pins Selected coil current can not be reached ( open load) due to high coil impedance or low supply voltage. Solution: Select a lower coil run/hold current or rise the supply voltage. Generally: the calculated voltage required to reach a desired coil current at a given coil resistance (V = I • R) must be significantly lower than actual supply voltage due to the coil inductivity. Q: Should the external switch be normally closed or open when the reference position is hit? A: The SWI input resp. the ESW flag have neither effect on any internal state machine nor on command processing, even not on the RunInit command. ESW must be polled by software using GetFullStatus1 command. The software can simply be adapted to whatever state the switch is in when the reference position is hit, i.e. closed or open. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 7.3 39 Using the device Q: What is the meaning of the ‘Shaft’ bit? A: The Shaft bit determines the rotating direction of the motor, i.e. clockwise or counter-clockwise rotation. Q: How to generate an interrupt when the target position is reached? A: This is not possible. The device hasn’t any interrupt output at all. Just poll ActPos or Motion[2:0] using an appropriate command. Q: How can I ensure that I always get consistent data for ActPos and ESW? A: There isn’t a single command to read both ActPos and ESW simultaneously. GetFullStatus1 will read ESW whereas GetFullStatus2 will read ActPos. Thus it is not possible to read consistent values as long as a motion is in progress. Q: How to specify a second target position to go to immediately after a first target position has been reached? A: This is possible using the RunInit command. Note, that after the second target position has been reached the internal position counter ActPos is reset to zero. Q: Is it possible to change Vmax on-the-fly? A: Yes, it is, if the new velocity is in the same group as the old one (see Vmax Parameters). Otherwise correct positioning is not ensured anymore. Vmax values are divided into four groups: • • • • group A: Vmax index = 0 group B: Vmax index = 1, 2, 3, 4 ,5 or 6 group C: Vmax index = 7, 8, 9, 10 ,11 or 12 group D: Vmax index = 13, 14 or 15 Q: Is it possible to change the stepping mode on-the-fly? A: Yes, it is possible and it has immediate effect on the current motion. Q: How to operate in continuous velocity mode rather than positioning (ramp) mode? A: There is no velocity mode. The device was designed primarily for positioning tasks so for each motion there has to be specified a target position by the respective command. However, velocity mode can be emulated by repeating the following two commands again and again: • • Read ActPos using GetFullStatus2 command Set lower 16 bits of [ActPos+32767] as the next target position using SetPosition command For real continuous motion this sequence has to be repeated before the current target position has been reached. Q: Which units, formats and ranges does position information have? A: All 16-bit position data fields in commands and responses are coded in two’s complement format with bit 0 representing 1/16 micro-steps. Hence a position range of –32768…+32767 in units of 1/16 micro-steps is covered regardless of the selected stepping mode (1/2, 1/4, 1/8 or 1/16 micro-stepping). The difference between the stepping modes is the resolution resp. the position of the LSB in the 16-bit position data field: it’s bit 0 for 1/16, bit 1 for 1/8, bit 2 for 1/4 and bit 3 for 1/2 micro-stepping. The position range can be regarded as a circle since position –32768 is just 1/16 micro-step away from position +32767. The device will always take the shortest way from the current to the target position, i.e., if the current position is +32767 and the target position is –32768 just 1/16 micro-step will be executed. 65535 1/16 micro-steps in the opposite direction can be achieved for example by two consecutive SetPosition commands with target positions 0 and –32768. The 11-bit secure position data field can be treated as the upper 11 MSBs of the 16-bit position data fields described above with the 5 LSBs hardwired to zero. Hence it covers the same position range with a reduced resolution: The position range is –1024…+1023 in units of two full-steps. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 40 7.4 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Finding the reference position Q: How do I find a reference position? A: The recommended way is to use the RunInit command. Two motions are specified through RunInit. The first motion is to reach the mechanical stop. Its target position should be specified far away enough so that the mechanical stop will be reached from any possible starting position. There is no internal stall detection so that at the end of the first motion the step motor will bounce against the mechanical stop loosing steps until the internal target position is reached. The second motion then can be used either to drive in the opposite direction out of the mechanical stop right into the reference position which is a known number of steps away from the mechanical stop. Or the second motion can slowly drive a few steps in the same direction against the mechanical stop to compensate for the bouncing of the faster first motion and stop as close to the mechanical stop as possible. Q: Can the SWI input help in finding a reference position? Not directly. The current state of the SWI input is reflected by the ESW flag which can only be polled using the command GetFullStatus1. The SWI input resp. the ESW flag have neither influence on any internal state machine nor on command processing. The recommended way to find a reference position is to use the RunInit command. Alternatively one could initiate a long distance motion at very low speed using SetPosition and then poll ESW as frequently as possible to be able to stop the motion using HardStop right in the moment the switch position is reached. Then one would reset the internal position counters ActPos and TagPos using the ResetPosition command. Q: What is the logic of the ESW flag? A: The ESW flag reflects the state of the SWI input. ESW is set to one if SWI is high or low, i.e. pulled to VBAT or to GND. ESW is set to zero if SWI is left open, i.e. floating. ESW is updated synchronously with ActPos every 1024 µs. Q: Is it possible to swap the logic of the ESW flag? A: No, it’s not. Actually this is not necessary since the ESW flag must be polled and evaluated by software anyway. The state of ESW has neither effect on any internal state machine nor on command processing. Q: What else is important for the RunInit command? A: The first target position of RunInit must be different from the current position before sending RunInit and the second target position must be different from the first one. Otherwise a deadlock situation can occur. During execution of RunInit only Get… commands should be sent to the device. Q: Does the second motion of RunInit stop when the ESW flag changes, or does it continue into the mechanical stop? A: Neither nor. The SWI input resp. the ESW flag have neither effect on any internal state machine nor on command processing, i.e. the RunInit command is not influenced by SWI / ESW. The same is true for the mechanical stop: as there isn’t any internal stall detection the RunInit command can not detect a mechanical stop. When the mechanical stop is hit the first or second motion of RunInit (or the motion of any other motion command) will be continued until the internal position counter ActPos has reached the target position of this motion. This results in the motor bouncing against the mechanical stop and loosing steps. The intention of the second motion of RunInit is to drive out of the mechanical stop (reached by the first motion) to the desired reference position at a known distance from the mechanical stop or to drive slowly against the mechanical stop again to compensate for the bouncing of the first motion and to come to a standstill as close to the mechanical stop as possible. Q: Does RunInit reset the position? A: Yes, it does. After the second motion of RunInit has been finished the internal position counter ActPos is reset to zero. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.12 / March 7, 2011) 41 8 Package Outline 8.1 SOIC-20 Figure 25: Package Outline SOIC-20 UNIT mm inches A max A1 . 2.65 0.30 0.10 0.10 0.012 0.004 A2 A3 bp 2.45 0.25 0.49 2.25 0.36 0.096 0.01 0.019 0.089 0.014 c D(1) E(1) 0.32 0.23 0.013 0.009 13.0 12.6 0.51 0.49 7.6 1.27 7.4 0.30 0.050 0.29 e HE L 10.65 1.4 10.00 0.419 0.055 0.394 Table 16: SOIC-20 Mechanical Data Note: inch dimensions are derived from the original mm dimensions Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Lp 1.1 0.4 0.043 0.016 Q v w y 1.1 0.25 0.25 0.1 1.0 0.043 0.01 0.01 0.004 0.039 Z(1) theta 0.9 0.4 0.035 0.016 8° 0° 42 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 8.2 QFN32 E1 E D D1 32 1 Top view J C Side view 24 C 17 16 25 EXPOSED DIE ATTACH PAD 9 32 1 (0 .2 ) b 6) 01 .1 (1 8 L (A3) R 0.2 PIN1 I.D. A1 R A P A2 e K e/2 0°~12° Bottom view Figure 26: Package Outline QFN32 REF MIN NOM MAX Unit A 0.80 0.90 mm A1 0.00 0.02 0.05 mm A2 0.576 0.615 0.654 mm A3 0.203 mm b 0.25 0.3 0.35 mm C 0.24 0.42 0.6 mm D D1 E E1 e 7 6.75 7 6.75 0.65 mm mm mm mm mm J 5.37 5.47 5.57 mm K 5.37 5.47 5.57 mm L 0.35 0.4 0.45 mm P 45 deg. Hint: The exposed die attached pad is electrical ground. This pad should be connected to ground or can be left open. It is recommended to connect it to ground for cooling. Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG R 2.185 2.385 mm TMC222 DATASHEET (V. 1.12 / March 7, 2011) 43 9 Package Thermal Resistance 9.1 SOIC-20 Package The junction case thermal resistance is 28°C/W, leading to a junction ambient thermal resistance of 63°C/W, with the PCB ground plane layout condition given in the figure below and with • • • PCB thickness = 1.6mm 1 layer Copper thickness = 35µm 2 × (10mm × 23mm) Figure 27: Layout consideration Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 44 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 10 Electrical Characteristics 10.1 Absolute Maximum Ratings Parameter Vbat Tamb Tst Vesd (**) Supply Voltage Ambient temperature under bias (*) Storage temperature Electrostatic discharge voltage on pins Min -0.3 -50 -55 -2 Max +35 +150 +160 +2 Unit V °C °C kV Min +8 -40 -40 Max +29 +125 +85 Unit V °C °C Typ 800 Max Unit mA Table 17: Absolute Maximum Ratings (*) The circuit functionality is not guaranteed (**) Human body model (100pF via 1.5 KΩ) 10.2 Operating Ranges Parameter Vbat Supply Voltage (Vbb) Operating temperature range Top Vbat <= 18V Vbat <= 29V Table 18: Operating Ranges 10.3 DC Parameters Motor Driver Symbol Pin(s) IMSmax Peak OA1 IMSmax OA2 RMS OB1 RDSon OB2 IMSL Parameter Max current through motor coil in normal operation Max RMS current through coil in normal operation On resistance for each pin (including bond wire) Leakage current Test condition Min 570 To be confirmed by characterization HZ Mode, 0V < V(pin) < Vbb -50 mA 1 Ω +50 µA Max 152 Unit °C °C °C Table 19: DC Parameters Motor Driver Thermal Warning and shutdown Symbol Pin(s) Parameter Ttw Thermal Warning Ttsd (*) Thermal Shutdown Tlow Low Temperature Warning Test condition Min 138 Table 20: DC Parameters Thermal Warning and shutdown (*) NO more than 100 cumulated hours in life time above Ttsd Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Typ 145 Ttw + 10 Ttw - 155 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Supply and Voltage regulator Symbol Pin(s) Parameter Vbb Nominal operating supply range (*) VbbT85 Nominal operating supply range (*) for temperature < 85°C VBB VbbOTP Supply Voltage for OTP zapping UV1 Low voltage high threshold UV2 Stop voltage low threshold Ibat Total current consumption Vdd IddStop VddReset IddLim Internal regulated output VDD (**) Digital current consumption Digital supply reset level (***) Current limitation 45 Test condition Min 6.5 6.5 8.5 8.8 8.1 Unloaded Outputs 8V < Vbb < 18V Cload = 1µF (+100nF cer.) Vbb < UV2 Typ 9.4 8.5 10 4.75 5 Max 18 29 Unit V V 9.5 9.8 8.9 V V V mA 5.25 V 4.4 40 mA V mA 2 Pin shorted to ground Table 21: DC Parameters Supply and Voltage regulator (*) Communication over serial bus is operating. Motor driver is disabled when Vbb < UV2. (**) Pin VDD must not be used for any external supply. (***) The RAM content will not be altered above this voltage Switch Input and hardwired address input HW Symbol Pin(s) Parameter Rt_OFF Switch OFF resistance (*) Rt_ON Switch ON resistance (*) SWI Vbb_sw Vbb range for guaranteed HW operation of SWI and HW Vmax_sw Maximum Voltage Ilim_sw Current limitation Test condition Switch to GND or Vbat Min 10 Typ 6 T < 1s Short to GND or Vbat Max 2 Unit kΩ kΩ 18 V 40 V mA Max Unit Vdd Vdd Vdd 30 Table 22: DC Parameters Switch Input and hardwired address input (*) External resistance value seen from pin SWI or HW, including 1kΩ series resistor Test pin Symbol Vhigh Vlow HWhyst Pin(s) TST Parameter Input level high Input level low Hysteresis Test condition Min 0.7 Typ 0.3 0.075 Table 23: DC Parameters Test pin Charge Pump Symbol Pin(s) Vcp VCP Cbuffer Cpump CPP CPN Parameter Output Voltage Test condition Vbb > 15V Vbb > 8V External Buffer Capacitor External pump Capacitor Table 24: DC Parameters Charge Pump Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Min Vbb+10 Vbb+5.8 220 220 Typ Max Vbb+12.5 Vbb+15 470 470 Unit V V nF nF 46 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 10.4 AC Parameters Power-Up Symbol Tpu Pin(s) Parameter Power-Up time Test condition Min Typ Max 10 Unit ms Min 921 Typ 1024 1/16 Max 1127 Unit µs Tsw Max 22 Unit kHz ns ns Table 25: AC Parameters Power-Up Switch Input and hardwired address input HW Symbol Pin(s) Parameter Tsw SWI Scan Pulse Period HW Tsw_on Scan Pulse Duration Test condition Table 26: AC Parameters Switch Input and hardwired address input Motor Driver Symbol Pin(s) Fpwm OA1 OA2 Tbrise OB1 Tbfall OB2 Parameter PWM frequency Turn-On transient time Turn-Off transient time Test condition Between 10% and 90% Table 27: AC Parameters Motor Driver Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Min 18 Typ 20 350 250 TMC222 DATASHEET (V. 1.12 / March 7, 2011) 47 Revision History Version up to 0.90p 0.91p 0.92p 0.93p 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08 1.09 1.10 1.11 1.12 Date (Initials) Comments July 9, 2003 before v. 0.90 changes on unpublished internal versions only September 18, 2003 pins renamed according to TRINAMIC conventions; corrections concerning cross references, drawings in PDF January 28, 2004 Order Code Update (Table 2: Ordering Information, page 7) April 23, 2004 New TRINAMIC logo; Table 5: Acc Parameter, page 11: combined cells with same value; ESW is zero when switch is open (section 5.1.9, page 12); Table 9 : OTP Memory Structure on page 21: corrections concerning bit mappings (exchanged locations of SecPos10… SecPos8 and StepMode1… StepMode 0); corrected command descriptions August 24, 2004 velocity groups integrated into Vmax table; corrected and enhanced Vmin table; corrected meaning of Shaft bit; FAQ included nd September 15, 2004 Updated Ordering Information; improved description of 2 motion of RunInit in Reference Search / Position initialization; combined tables for Irun and Ihold; some corrections to DC Parameters; added final travel to secure position during RunInit; reworked Internal handling of commands and flags October 1, 2004 New company address January 7, 2005 Order code updated (Table 2: Ordering Information, page 7); GetFullStatus1 (section 6.8.1, page 30) byte 1 (address) corrected; hint concerning ResetPosition added (section 6.8.6, page 32) October 21, 2005 Unit [FS/s] for Vmin added for Table 4 page 11, hint concerning OTP memory (section 5.2, page 19); notes concerning "N/A = not applicable" added due to customer requests, general hint concerning N/A added and hint concerning slave address (byte 0) vs. slave address (byte) of response datagrams added (section 6.8, page 30); hints added concerning the SWI switch input and its ESW flag (section 5.1.9, page 12); hints concerning physical address (section 6.3, page 26); GetFullStatus1 command (Response) Byte 1 Structure corrected (section 6.8.1, page 30); GetFullStatus2 command (Response) Byte 1 Structure corrected (section 6.8.2, page 31); explanations and cross reference for OTP from section 6.8.10, page 34 to section 5.2.3 page 21; labeling indices of contend for TagPos 1 & 2 corrected for the RunInit Command (section 6.8.8, page 33) March 15, 2007 QFN32 package information added: Pin and Signal description to section 2.6 page 6, Ordering information to 4 page 7, Package Outline information to 8 page 41; Comment to 5.1.11, page 14: positions of Pos1 and Pos2; orientation of marking outline for TMC222 symbols referring to the SOIC package adapted to real marking (p. 1, p. 6) August 8, 2007 QFN pinning on page 1 corrected, was bottom view before. July 14, 2008 fixed MSBs (bit #7, bit #6, bit #5) of return byte #1 (Address) of GetFullStatus1 (section 6.8.1 GetFullStatus1, page 30) corrected to ‘1’; fixed MSBs (bit #7, bit #6, bit #5) of return byte #1 (Address) of GetFullStatus2 (section 6.8.2 GetFullStatus2, page 31) corrected to ‘1’; internal calibration parameters that can be read out via GetOTPParam grayed within table Table 9 : OTP Memory Structure (section 5.2.3 OTP Memory Structure, page 21) and hint added that these bits should not be used after read out; July 17, 2008 references to Table 9 : OTP Memory Structure corrected; color of fixed MSBs of GetFullStatus1/2 corrected (were green); numbering of tables corrected (#10 was missing) nd March 2 , 2009 (LL) GetActualPos (part of GetFullStatus2) corrected in Table 8: Priority Encoder, page 18 (GetActualPos => GetFullStatus2) November 25, 2009 (LL) Hint concerning connecting exposed ground for cooling added (section 8.2, page 42); operating supply voltage range (VbbT85 parameter added for temperature < 85°C (VbbT85 Table 21, page 45) March 7, 2011 (LL) Hints concerning usage of HW pin and SWI pin added Table 1: TMC222 Signal Description, page 6; section 5.1.9 External Switch SWI, page 12; section 6.3 Physical Address of the circuit, page 26; Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG 48 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Please refer to www.trinamic.com for updated data sheets and application notes on this product and on other products. The TMCtechLIB CD-ROM including data sheets, application notes, schematics of evaluation boards, software of evaluation boards, source code examples, parameter calculation spreadsheets, tools, and more is available from TRINAMIC Motion Control GmbH & Co. KG by request to [email protected] Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG