TMC222-SI TRINAMIC, TMC222-SI Datasheet
TMC222-SI
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TMC222-SI Summary of contents
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... 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 800 mA. After initialization it performs all time critical tasks autonomously based on target positions and velocity parameters ...
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... Specifications subject to change without notice. Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) be reasonably However no ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) Table of Contents 1 FEATURES................................................................................................................................1 2 GENERAL DESCRIPTION ........................................................................................................5 2.1 Block Diagramm..................................................................................................................5 2.2 Position Controller / Main Control ........................................................................................5 2.3 Stepper Motor Driver...........................................................................................................5 2.4 Two Wire Serial Interface....................................................................................................5 2.5 Miscellaneous .....................................................................................................................6 2.6 Pin and Signal Descriptions.................................................................................................6 3 TYPICAL APPLICATION...........................................................................................................7 4 ORDERING INFORMATION......................................................................................................7 5 FUNCTIONAL DESCRIPTION ...
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... SOIC-20............................................................................................................................41 8.2 QFN32 ..............................................................................................................................42 9 PACKAGE THERMAL RESISTANCE .....................................................................................43 9.1 SOIC-20 Package .............................................................................................................43 10 ELECTRICAL CHARACTERISTICS ....................................................................................44 10.1 Absolute Maximum Ratings ...........................................................................................44 10.2 Operating Ranges..........................................................................................................44 10.3 DC Parameters..............................................................................................................44 10.4 AC Parameters..............................................................................................................46 REVISION HISTORY......................................................................................................................47 Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) ...
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... 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 possible to connect devices on the same bus. Slave addresses are programmable via OTP memory or an external pin. Copyright © ...
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... 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 • ...
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... ESR value • 100nF capacitors must be close to pins V • 220nF capacitors must be as close as possible to pins CPN, CPP Ordering Information Part No. TMC222-PI20 (pre-series marking, same IC as TMC222-SI) TMC222-SI TMC222-LI Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG SDA SWI 20 SCL VBAT ...
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... Position Controller and Main Controller 5.1.1 Stepping Modes The TMC222 supports 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): • ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5.1.3 Examples for different Velocity Ramps The following figures show some examples of typical motions under different conditions: Velocity V V max V min Figure 2: Motion with change of target position Velocity V V max V min Figure 3: Motion with change of target position while in deceleration phase ...
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... All 16 entries for the Vmax parameter are divided into four groups 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 © ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5.1.5 Vmin Parameter The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax 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]. ...
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... 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. Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 T Management on Page 15 • The battery voltage drops below UV2 See 5.1.13 Battery Voltage Management on Page 16. ...
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... 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] V max V min Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007 Motion st 1 Motion Pos1 Figure 6: RunInit ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5.1.12 Temperature Management The TMC222 provides an internal temperature monitoring. The circuit goes into shutdown mode if the temperature exceeds threshold T temperature pre-warning. T° < Ttw & GetFullStatus1 Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co furthermore two thresholds are implemented to generate a ...
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... 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 < UV2 (no Motion) Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 ...
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... SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”) Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) GotoPos RunInit motor motion ...
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... 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 ...
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... Charge Pump CPFail failure Electrical flag HS Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) Related Command 1 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. ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5.2.3 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 the RAM has not be programmed by a SetMotorParam command anyhow <VddReset> = ‘1’, any positioning command will be ignored, in order to avoid any consequence due to unwanted RAM content ...
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... Figure 8: Coil Current for Half Stepping Mode i Figure 9: Coil Current for 1/4 Micro Stepping Mode i Figure 10: Coil Current for 1/8 Micro Stepping Mode i Figure 11: Coil Current for 1/16 Micro Stepping Mode Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5.3.2 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 Both currents Irun and Ihold are parameterizeable using the command SetMotorParam ...
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... 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 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 ...
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... 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 © ...
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... 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 ...
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... Table 14: Two Wire Serial Interface - Characteristics of the SDA and SCL bus lines Notes (1 total capacitance of one bus line in pF. b Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) START SU;DAT f HD;STA ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 6.7 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 • ...
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... 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 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 6.8.2 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 ...
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... Status' indicate if the motor is at rest (velocity=0). Byte Content bit 7 0 Slave Address 1 1 ResetPosition 1 Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) GotoSecurePosition command bit 6 bit 5 bit 4 1 OTP3 OTP2 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 6.8.7 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’ ...
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... Slave Address 1 1 SetOTPParam OTP Address 1 5 Pbit Note: N/A = not applicable Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) SetMotorParam command Structure bit 6 bit 5 bit 4 1 OTP3 OTP2 Irun(3:0) Vmax(3:0) ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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: • ...
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... 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 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 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 Figure 24: Positioning Example: Motion finished Afterwards the actual status and position can be verified by GetFullStatus1 and GetFullStatus2 commands ...
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... 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 © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 7.3 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 ...
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... 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 © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 8 Package Outline 8.1 SOIC-20 Figure 25: Package Outline SOIC-20 A UNIT max 2.65 0.30 2.45 0.25 0.49 0.10 2.25 0.36 inches 0.10 0.012 0.096 0.01 0.019 0.004 0.089 0.014 Table 16: SOIC-20 Mechanical Data Note: inch dimensions are derived from the original mm dimensions Copyright © ...
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... REF MIN 0.80 0.00 0.576 NOM 0.02 0.615 0.203 MAX 0.90 0.05 0.654 Unit Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007 0.2 PIN1 I. Figure 26: Package Outline QFN32 0.25 0.24 0.3 0.42 7 6.75 7 0.35 0.6 ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 • ...
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... Tlow Low Temperature Warning Table 20: DC Parameters Thermal Warning and shutdown (*) NO more than 100 cumulated hours in life time above Ttsd Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) (*) Vbat <= 18V Vbat <= 29V Table 18: Operating Ranges ...
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... TMC222 DATASHEET (V. 1.06 / March 15, 2007) Supply and Voltage regulator Symbol Pin(s) Parameter Vbb Nominal operating supply range (*) VbbOTP Supply Voltage for OTP zapping VBB UV1 Low voltage high threshold UV2 Stop voltage low threshold Ibat Total current consumption Vdd Internal regulated output ...
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... Turn-On transient time OB1 Tbfall Turn-Off transient time OB2 Table 27: AC Parameters Motor Driver Copyright © 2004-2007 TRINAMIC Motion Control GmbH & Co. KG TMC222 DATASHEET (V. 1.06 / March 15, 2007) Test condition Table 25: AC Parameters Power-Up Test condition Test condition Between 10% and 90% Min ...
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... RunInit Command (section 6.8.8, page 33) 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 ( for updated data sheets and application notes on this 47 ...