TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet
TMC211-PA20
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TMC211-PA20 Summary of contents
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... The TMC211 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 TMC211 allows up to four bit of microstepping 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 © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) be reasonably However no ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) Table of Contents 1 FEATURES .....................................................................................................................................1 2 GENERAL DESCRIPTION .............................................................................................................5 2 ......................................................................................................................5 LOCK IAGRAMM 2 OSITION ONTROLLER 2 TEPPER OTOR RIVER 2.4 LIN I ..........................................................................................................................6 NTERFACE 2.5 M ........................................................................................................................6 ISCELLANEOUS 2 AND IGNAL ESCRIPTIONS 3 TYPICAL APPLICATION................................................................................................................7 4 ORDERING INFORMATION ..........................................................................................................7 5 FUNCTIONAL DESCRIPTION .......................................................................................................8 5 OSITION ONTROLLER AND 5 ...
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... PACKAGE THERMAL RESISTANCE AND LAYOUT CONSIDERATIONS ............................... 52 9.1 SOIC-20 P ................................................................................................................. 52 ACKAGE 10 ELECTRICAL CHARACTERISTICS ........................................................................................ 53 10 BSOLUTE AXIMUM 10 PERATING ANGES 10 ................................................................................................................ 53 ARAMETERS 10 ................................................................................................................ 55 ARAMETERS 11 REVISION HISTORY................................................................................................................ 56 Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) O ................................................................................... 33 VERVIEW ...................................................................................................... 34 ............................................................................................... 46 XAMPLE ...................................................................................................... 48 ......................................................................... 48 .......................................................................................... 50 R ............................................................................................. 53 ATINGS ........................................................................................................... 53 ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 2 General Description 2.1 Block Diagramm SWI LIN LIN transceiver LIN HW0 slave HW1 HW2 controller Synchronous I/O controller (test) TST VBAT Voltage regulator VDD 2.2 Position Controller / Main Control Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control block via the LIN interface ...
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... LIN Interface Communication between a host and the TMC211 takes places via the bi-directional LIN interface. Motion Instructions and diagnostic information are provided to or from the Main Control block possible to connect up to 128 devices on the same bus. Slave addresses are programmable via OTP memory or external pins ...
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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. TMC211-PA20 (pre-series marking, same IC as TMC211-SA) TMC211-SA Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG HW0 SWI ...
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... Position Controller and Main Controller 5.1.1 Stepping Modes The TMC211 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 5.3 Stepper Motor Driver on page 21. ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 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 TMC211 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 ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 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. Vmin Vmax A index factor ...
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... Pin SWI will alternately attempt to source and sink current in/from the external switch (Figure 1: TMC211 Typical Application on page 7). 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 GetFullStatus or the GetActualPos command. As long as the switch is open, the < ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 5.1.10 Motor Shutdown Management The TMC211 is set into motor shutdown mode as soon as one of the following conditions occur: • The chip temperature rises above the thermal shutdown threshold T Management on Page 15 • The battery voltage drops below UV2 See 5.1.14 Battery Voltage Management on Page 16. ...
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... The circuit will return to normal mode once a valid LIN frame is received while in the Sleep mode (this valid frame can be addressed to another slave). For more information refer to 6.11.15 Sleep Mode on page 45. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005 Motion ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 5.1.13 Temperature Management The TMC211 provides an internal temperature monitoring. The circuit goes into shutdown mode if the temperature exceeds threshold T temperature pre-warning. T° < Ttw & GetFullStatus Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co furthermore two thresholds are implemented to generate a ...
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... Battery Voltage Management The TMC211 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 & GetFullStatus Vbat < UV2 (no Motion) Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 5.1.15 Internal handling of commands and flags Due to the sleep mode, 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. Details can be found in Table 8: Priority Encoder. ...
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... ResetToDefault command is issued during a RunInit sequence, in which case AccShape at ‘0’ will be taken into account after the RunInit sequence. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) GotoPos RunInit ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 4 The <Sleep> flag is set to ‘1’ when a LIN timeout or a Sleep command occurs reset by the next LIN command (<Sleep> is cancelled if not activated yet). 5 Shutdown state can be left only when <TSD> and <HS> flags are reset. 6 Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and provided the physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect) ...
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... Status Charge Pump CPFail failure Electrical flag HS Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Related Command 1 GetFullStatus 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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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 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 been 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 © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005 ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 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 55. The TMC211 uses an intelligent chopper algorithm to provide a smooth operation with low resonance. The TMC211 uses internal measurements to derive current flowing through coils. If the current is less than the desired current, the TMC211 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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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6 LIN Interface 6.1 General Description The LIN (Local Interconnect Network serial communication protocol that is used mainly for distributed mechatronic systems in automotive applications. The LIN implementation in the TMC211 corresponds to one slave node which follows to LIN specification rev. 1.2. Features: • ...
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... Ground shift between Master node and Slave node < ± 1 Volt It is highly recommended to use the same type of reverse battery voltage protection diode for the Master and the Slave nodes. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) 50% T_tr_R 95% ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6.5 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 LIN bus. This address is coded on seven bits, yielding the theoretical possibility of 128 different circuits on the same bus combination of four OTP memory bits (see 5.2.3 OTP Memory Structure) and three hardwired address bits (pins HW0, HW1 and HW2) ...
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... Dynamic assignment done at start-up Command assignment via Dynamic ID during operation Figure 17: Principle of dynamic command assignment Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Dynamic Identifiers Writing Frame Structure Bit6 Bit5 Bit4 Bit3 ...
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... According to the LIN specification there is only a fixed amount of identifiers available. In order to expand the amount of identifiers resp. the amount of commands different types of writing frames are introduced. The TMC211 supports four different writing frames. The following figures illustrate the differences. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG ...
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... This type of frame requires that there are as many dynamically assigned identifiers as there are TMC211 circuits connected to the LIN bus using this command. 6.9.5 Writing Frame Type#4 (8 bytes) 8 data bytes writing frame with fixed identifier 0x3C ...
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... Reading Frames When using reading frames the master initiates the communication by sending a header field, which contains the synchronization and identifier field. The TMC211 supports two types of identifiers: • Direct ID: The identifier points to a particular slave node. As described in the LIN specification the slave sends the data as in-frame response. Direct ID gives the fastest access to the required data. • ...
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... Type#8 preparing frame uses the reserved identifier 0x3C, followed by the application command 0x80, then the particular reading command and the physical address is provided to the slave. ID Data1 ID [7:0] AppCMD [7:0] Identifier AppCMD 0x3C 0x80 Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) ID Data1 Data2 ID [7:0] CMD [6:0] AD [6:0] Physical Identifier Command Address ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6.10 Application Commands Overview Communications between the TMC211 and a LIN 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 TMC211 Writing commands are used to: • ...
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... Identifier 1 AppCMD 2 Command 3 Slave Address Master 4 Data4 5 Data5 6 Data6 7 Data7 8 Data8 Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Structure bit 7 bit 6 bit 5 bit ESW ActPos [15:8] ActPos [7:0] ElDef UV2 VddReset StepLoss Structure bit 7 bit 6 bit 5 ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) After type#7 or type#8 preparing frame the master sends reading frame type#6 to retrieve the circuit’s in-frame response: GetActualPos indirect ID reading frame (type#6) Source Byte Content Master 0 Identifier 1 Slave Address 2 ActualPosition 3 4 Status Slave 5 Do not care 6 Do not care ...
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... Content 0 Identifier 1 AppCMD 2 Command 3 Slave Address Master 4 Data4 5 Data5 6 Data6 7 Data7 8 Data8 Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Structure bit 7 bit 6 bit 5 bit ID4 1 CMD [6:0] = 0x01 1 AD [6:0] Structure bit 7 bit 6 bit 5 bit ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) After type#7 or type#8 preparing frame the master sends two successive LIN type#6 reading frames to retrieve the circuit’s in-frame responses not mandatory to send the second reading frame if position information are not needed by the application. GetFullStatus indirect ID reading frame 1 (type#6) ...
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... OTP Memory 7 OTP Memory 8 OTP Memory HW[2:0]: Not stored in OTP memory, the hardwired address is returned by GetOTPParam as if stored at address 0x02 of the OTP memory. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Structure bit 7 bit 6 Bit 5 bit ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6.11.4 GetStatus This command is provided to the circuit by the LIN master to get a quick status (compared to that of GetFullStatus command) of the circuit and the stepper motor. The following flags are attempt to reset: <TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2> and <VddReset> ...
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... Content 0 Identifier Master 1 Command 2 Slave Address Note: * according to parity calculation ID [4:0]: Dynamically allocated identifier to general purpose 2 data bytes writing frame. Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Structure bit 7 bit 6 bit 5 Bit ID4 1 CMD [6:0] = 0x06 ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6.11.9 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); • ...
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... Slave Address Master 4 OTP Address 5 OTP Data 6 Do not care 7 Do not care 8 Do not care Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Structure bit 7 bit 6 bit 5 Bit AppCMD = 0x80 1 CMD [6:0] = 0x09 Broad ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 6.11.12 SetPosition This command is provided to the circuit by the Master to drive a 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> ...
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... ID [3:0]: Dynamically allocated identifier to SetPositionShort command with 8 data bytes. ADn [3:0]: Motor #n physical address least significant bits Posn [10:0]: Unsigned 11-bit position set point for Motor #n Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Pin HW0 Pin HW1 Tied to Vdd ...
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... INH is immediately activated. The initial state of INH signal is ensured by an internal power-on-reset circuitry inside the wake-up control. The TMC211 can be immediately forced to sleep mode to reduce current consumption down to Isleep by sending the sleep mode command depicted below: Sleep Mode Command with reserved ID (type#4) ...
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... Positioning Task Example The TMC211 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 18: Positioning Example: Initial situation. Stop Position 0 Figure 18: 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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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) SetPosition This command will cause the stepper motor to move to the desired target position. See 6.11.12 SetPosition on page 42. After the motion has been finished the situation looks like as described in Figure 20: Positioning Example: Motion finished. Stop Figure 20: Positioning Example: Motion finished Afterwards the actual status and position can be verified by using GetFullStatus commands ...
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... Second, the idea of reserving address 0 for OTP physical address programming during system installation and defective parts replacement reduces the number to 120. Third, the TMC211 has faster and slower types of the GetActualPos, GetStatus and SetPosition commands. The faster types of course can satisfy harder real-time requirements but can only be addressed to 8 different physical devices ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 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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... The 11-bit position data fields of the TMC211 SetPositionShort commands are coded in two’s complement format with bit 0 representing half-steps resulting in a position range of –1024…+1023 half-steps. Hence only a quarter of the range of the other position data fields described above is covered. Note, that SetPositionShort command is valid for half-stepping mode only and is ignored for other stepping modes ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 8 Package Outline 8.1 SOIC-20 Figure 21: 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 Note: inch dimensions are derived from the original mm dimensions Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG ...
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... PCB ground plane layout condition given in the figure below and with • PCB thickness = 1.6mm • 1 layer • Copper thickness = 35µm Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) 2 × (10mm × 23mm) Figure 22: Layout consideration ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 10 Electrical Characteristics 10.1 Absolute Maximum Ratings Parameter Vbat Supply Voltage Vlin Bus input voltage Tamb Ambient temperature under bias Tst Storage temperature Electrostatic discharge voltage on LIN pin (**) Vesd Electrostatic discharge voltage on other pins Table 19: Absolute Maximum Ratings (*) The circuit functionality is not guaranteed (**) Human body model (100pF via 1.5 KΩ ...
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... Cbuffer External Buffer Capacitor Cpump CPP External pump Capacitor CPN Table 28: DC Parameters Charge Pump Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Test condition Test condition (*) Unloaded Outputs (**) 8V < Vbb < 18V (***) Cload = 1µF (+100nF cer.) Vbb < ...
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... TMC211 DATASHEET (V. 1.04 / January 7, 2005) 10.4 AC Parameters Power-Up Symbol Pin(s) Parameter Tpu Power-Up time Table 29: AC Parameters Power-Up Switch Input and hardwired address input HW2 Symbol Pin(s) Parameter Tsw SWI Scan Pulse Period HW2 Tsw_on Scan Pulse Duration Table 30: AC Parameters Switch Input and hardwired address input ...
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... TRINAMIC Motion Control GmbH & Co request to info@trinamic.com Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG TMC211 DATASHEET (V. 1.04 / January 7, 2005) Date concerning cross references, drawings in PDF ESW is zero when switch is open; table Priority Encoder: made shaded cells more distinguishable ...