TMC211-PA20 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC211-PA20 Datasheet - Page 3

• Manufacturer Part Number: TMC211-PA20
• Description: Micro Stepping Stepper Motor Controller / Driver with LIN Interface
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC211 DATASHEET (V. 1.04 / January 7, 2005)
Table of Contents
1
2
3
4
5
6
Copyright © 2004-2005 TRINAMIC Motion Control GmbH & Co. KG
2.1
2.2
2.3
2.4
2.5
2.6
5.1
5.2
5.3
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
FEATURES .....................................................................................................................................1
GENERAL DESCRIPTION .............................................................................................................5
TYPICAL APPLICATION................................................................................................................7
ORDERING INFORMATION ..........................................................................................................7
FUNCTIONAL DESCRIPTION .......................................................................................................8
5.1.1
5.1.2
5.1.3
5.1.4
5.1.5
5.1.6
5.1.7
5.1.8
5.1.9
5.1.10
5.1.11
5.1.12
5.1.13
5.1.14
5.1.15
5.2.1
5.2.2
5.2.3
5.3.1
5.3.2
5.3.3
LIN INTERFACE ...........................................................................................................................25
6.9.1
6.9.2
6.9.3
6.9.4
6.9.5
B
P
S
LIN I
M
P
P
RAM
S
G
P
A
S
P
E
E
D
LIN M
LOCK
OSITION
TEPPER
IN AND
OSITION
TEPPER
HYSICAL
NALOG
LAVE OPERATIONAL RANGE FOR PROPER SELF SYNCHRONIZATION
HYSICAL
LECTRO
RROR
YNAMIC
ISCELLANEOUS
ENERAL
Stepping Modes ................................................................................................................8
Velocity Ramp...................................................................................................................8
Examples for different Velocity Ramps.............................................................................9
Vmax Parameter.............................................................................................................10
Vmin Parameter..............................................................................................................11
Acceleration Parameter ..................................................................................................11
Position Ranges..............................................................................................................12
Secure Position...............................................................................................................12
External Switch ...............................................................................................................12
Motor Shutdown Management........................................................................................13
Reference Search / Position initialization........................................................................14
Sleep Mode.....................................................................................................................14
Temperature Management .............................................................................................15
Battery Voltage Management .........................................................................................16
Internal handling of commands and flags .......................................................................17
RAM Registers................................................................................................................19
Status Flags ....................................................................................................................20
OTP Memory Structure...................................................................................................21
Coil current shapes .........................................................................................................22
Transition Irun to Ihold ....................................................................................................23
Chopper Mechanism.......................................................................................................24
Writing Frames ...............................................................................................................29
Writing Frame Type#1 (2 or 4 bytes) ..............................................................................30
Writing Frame Type#2 (2, 4 or 8 bytes) ..........................................................................30
Writing Frame Type#3 (2 bytes) .....................................................................................30
Writing Frame Type#4 (8 bytes) .....................................................................................30
NTERFACE
AND
ESSAGE
D
S
S
P
IAGRAMM
TATUS
A
M
M
M
C
C
D
IGNAL
L
ART
A
OTP M
SSIGNMENT OF
AYER
ONTROLLER
OTOR
ONTROLLER AND
OTOR
ESCRIPTION
DDRESS OF THE CIRCUIT
AGNETIC
..........................................................................................................................26
F
..........................................................................................................................6
R
RAMES
D
........................................................................................................................6
......................................................................................................................25
D
D
EGISTER
EMORY
......................................................................................................................5
ESCRIPTIONS
RIVER
RIVER
C
OMPABILITY
............................................................................................................29
/ M
...........................................................................................................25
...........................................................................................................5
.........................................................................................................19
.........................................................................................................21
LIN I
.......................................................................................................27
AIN
M
AIN
C
..................................................................................................6
DENTIFIERS
ONTROL
C
...........................................................................................27
ONTROLLER
.........................................................................................27
...................................................................................5
..............................................................................28
.........................................................................8
...........................................26
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