MOTION C O N T R O L L E R F O R S T E P P E R A N D P I E Z O M O T O R S I N T E G R A T E D C I R C U ITS TM C 4 57 Step per and Piezo Mo tor Controll er (S-sh ape Ramps) with Enc oder Int erface, easyPID™ Feedbac k Control and Inte grated S equencer M A IN CH A R AC T ER IS T IC S The TMC457 is a high-end single axis micro stepping motion • S-shaped and linear ramps with on-the-fly alteration of all parameters controller for 2-phase bipolar stepper motors, piezo motors • programmable high resolution sequencer with (12bit, 8192 entry) micro step LUT table (Piezo LEGS®). Via step / direction interface 3-phase stepper motors can also be controlled (requires additional TMC332). It • integrated sequencer adds to any microcontroller or processor with SPI interface. It is • incr. encoder interface with flexible up- and down scaling to match drive resolution intended for applications, where a precise and fast, jerk-free motion profile is desired. The TMC457 supports linear and S-shaped • fast and stable easyPID™ PID controller velocity ramps. It’s chopSync™ feature allows high speed • 32 bit registers “from mHz to MHz” movement avoiding resonances. • reference switch processing • position pulse output to trigger ext. events for increased reliability / fault detection. For maximum flexibility all motion control parameters (target • synchronization of multiple axis via step/direction input position, target velocity, acceleration, deceleration and bow) can • integrated chopSync™ for high velocities be changed on-the-fly at any time during motion. • analog high resolution motor driver control via external dual -low cost- 12 bit DAC one capacitor per supply pin RES CLK ENABLE NSCS Host CPU SPI Interface SCK SDI SDO NINT POSCOMP Optional Step/ Dir Input STEP_IN DIR_IN +3.3V • virtual stop sw. (programmable soft limits) tioning using the internal hardware PID regulator easyPID™ and +1.5V An encoder can be added for extremely quick and precise posi- Optional Incremental Encoder STOPL STOPR ENC_A ENC_B ENC_N +1.5V +3.3V ELECTRICAL DATA TMC457 RES I INTERFACE CLK I Interface Section I Motion profile generation I I SPI bus interface Register Block O O O I I I I Sequencer Interrupt control target S-Ramp generator v Trapezoid Ramp generator Pulse generator STEP/ DIR control & status Position Counter Position compare easyPID PID controller STEP DIR Prescaler Stop input processing & virtual stop switches I I I Output Pulse generator Microstep RAM 8192*12 DIR_OUT O XSTEP_OUT O HIRES_OUT O O 2 phase stepper & piezo sequencer O O O O O I TMC24x SPI interface O O O I I Encoder quadrature decoder ChopSync O PHA PHB Classic stepper driver NCS_DAC SCK_DAC SDO_DAC_A SDO_DAC_B PZO_EN Analog control of Stepper / Piezo via DAC (LTC2622) NCS_DRV SCK_DRV SDO_DRV SDI_DRV NANA_SPI TMC246 / TMC249 stepper driver ChopClk • SPI interface to microcontroller • stallGuard™ interface for TMC246/TMC249 family stepper motor drivers Step/Dir Output STDBY_OUT O • 3.3V IO/ 1.5V core • step / direction output (with progr. timing) STEP_OUT O I PID Stop / Reference Switches • energy saving by automatic load angle dependent current control 100n 100n GND INFO synchronized chopper clock PACKAGE • FBGA144 package 13 x 13 mm² • RoHS compliant 10 mm Encoder Scaler & Counter OR DE R C O DE D E S C RI P T I ON TMC457-BC 1-axis motion controller with encoder feedback, FBGA144 package Related product: TMC457-Eval Evaluation board for TMC457 www.trinamic.com – for detailed information and datasheets 93