TMC236_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC236_1 Datasheet

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TMC236_1

Manufacturer Part Number
TMC236_1
Description
High current, low power dissipation microstep stepper motor driver with protection / diagnostics and SPI Interface
Manufacturer
TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Datasheet
1.TMC236_1.pdf (27 pages)
TMC236/A DATA SHEET (V2.06 / 2009-Jul-30)
TRINAMIC
Sternstraße 67
D – 20357 Hamburg
GERMANY
WWW.TRINAMIC.COM
Features
The TMC236 / TMC236A (1) is a dual full bridge driver IC for bipolar stepper motor control
applications. It is realized in a HVCMOS technology combined with Low-RDS-ON high efficiency
MOSFETs (pat. pend.). It allows driving a coil current of up to 1500mA even at high environment
temperatures. Its low current consumption and high efficiency together with the miniature package
make it a perfect solution for embedded motion control and for battery powered devices. The low
power dissipation makes the TMC236 an optimum choice for drives, where a high reliability is desired.
Internal DACs allow microstepping as well as smart current control. The device can be controlled by a
serial interface (SPI™
overvoltage protection are integrated.
Copyright © 2004, TRINAMIC Motion Control GmbH & Co KG
(1) The term TMC236 in this datasheet always refers to the TMC236A and the TMC236. The major
Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals
Short circuit, overvoltage and over temperature protection integrated
Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage
Integrated 4 bit DACs allow up to 16 times microstepping via SPI (can be expanded to 64
microsteps)
Any resolution via analog control
Mixed decay feature for smooth motor operation
Slope control user programmable to reduce electromagnetic emissions
Chopper frequency programmable via a single capacitor or external clock
Current control allows cool motor and driver operation
Internal open load detector
7V to 34V motor supply voltage (A-type)
Up to 1500mA output current and more than 800mA at 105°C
3.3V or 5V operation for digital part
Low power dissipation via low RDS-ON power stage
Standby and shutdown mode available
differences in the older TMC236 are explicitly marked with “non-A-type”. The TMC236A brings a
number of enhancements and is fully backward compatible to the TMC236
®
Motion Control GmbH & Co KG
i
) or by analog / digital input signals. Short circuit, temperature, undervoltage and
TMC236/A – DATA SHEET
High current, low power dissipation microstep
stepper
diagnostics and SPI Interface
motor
driver
with
protection
1
/

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TMC236_1 Summary of contents

Page 1

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) ® TRINAMIC Motion Control GmbH & Sternstraß – 20357 Hamburg GERMANY WWW.TRINAMIC.COM Features The TMC236 / TMC236A ( dual full bridge driver IC for bipolar stepper motor control ...

Page 2

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) FEATURES.............................................................................................................................................. 1 PINNING .................................................................................................................................................. 5 P .................................................................................................................................... 5 ACKAGE CODES PQFP44 D ............................................................................................................................ 6 IMENSIONS APPLICATION CIRCUIT / BLOCK DIAGRAM ....................................................................................... ...................................................................................................................................... 7 IN UNCTIONS LAYOUT CONSIDERATIONS ................................................................................................................ 8 CONTROL VIA ...

Page 3

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30 ........................................................................................................................... 24 ROPAGATION IMES U SPI ................................................................................................................... 24 SING THE INTERFACE SPI ................................................................................................................... 24 ILTER ONLY TYPE ESD PROTECTION ............................................................................................................................... 25 APPLICATION NOTE: EXTENDING THE MICROSTEP RESOLUTION ............................................. ...

Page 4

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Life support policy TRINAMIC Motion Control GmbH & does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control ...

Page 5

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Pinning ANN 1 2 OA1 3 VSA 4 5 TMC 236 / 236A OA2 6 QFP44 7 OA1 8 BRA 9 10 OA2 11 Package codes Type Package TMC236A PQFP44 TMC236 PQFP44 (1) ICs ...

Page 6

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) PQFP44 Dimensions Copyright © 2004, TRINAMIC Motion Control GmbH & REF MIN 0.09 G 0.05 H 0.30 I 0.45 ...

Page 7

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Application Circuit / Block Diagram TMC236A OSC OSC 1nF Under- VCC voltage 100nF Tem- perature [MDBN] SCK [PHA] SDI [ERR] SDO [PHB] CSN ENN VCC/2 SPE ANN [MDAN] stand alone mode Pin Functions Pin ...

Page 8

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Layout Considerations For optimal operation of the circuit a careful board layout is important, because of the combination of high current chopper operation coupled with high accuracy threshold comparators. Please pay special attention to ...

Page 9

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Control via the SPI Interface The SPI data word sets the current and polarity for both coils. By applying consecutive values, describing a sine and a cosine wave, the motor can be driven in ...

Page 10

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Typical winding current values Current setting Percentage of current CA3..0 / CB3..0 0000 0% 0001 6.7% 0010 13.3% ... ... 1110 93.3% 1111 100% The current values correspond to a standard 4 Bit DAC, ...

Page 11

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Open load detection Open load is signaled, whenever there are more than 14 oscillator cycles without PWM switch off. Note that open load detection is not possible while coil current is set to “0000”, ...

Page 12

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Protection Functions Overcurrent protection and diagnosis The TMC236 uses the current sense resistors on the low side to detect an overcurrent: Whenever a voltage above 0.61V is detected, the PWM cycle is terminated at ...

Page 13

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Chopper Principle Chopper cycle / Using the mixed decay feature The TMC236 uses a quiet fixed frequency chopper. Both coils are chopped with a phase shift of 180 degrees. The mixed decay option is ...

Page 14

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Adapting the sine wave for smooth motor operation After reaching the target current in each chopper cycle, both, the slow decay and the fast decay cycle reduce the current by some amount. Especially the ...

Page 15

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Classical non-SPI control mode (stand alone mode) The driver can be controlled by analog current control signals and digital phase signals. To enable this mode, tie pin SPE to GND. In this mode, the ...

Page 16

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Calculation of the external components Sense Resistor Choose an appropriate sense resistor (R current is reached, when the coil current setting is programmed to “1111”. This results in a current sense trip voltage of ...

Page 17

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Making the circuit short circuit proof In practical applications, a short circuit does not describe a static condition, but can be of very different nature. It typically involves inductive, resistive and capacitive components. Worst ...

Page 18

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Oscillator Capacitor The PWM oscillator frequency can be set by an external capacitor. The internal oscillator uses a 28k resistor to charge / discharge the external capacitor to a trip voltage of 2/3 Vcc ...

Page 19

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Slope Control Resistor The output-voltage slope of the full bridge outputs can be controlled to reduce noise on the power supply and on the motor lines and thus electromagnetic emission of the circuit. It ...

Page 20

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Symbol Parameter V Supply voltage (A-type Supply voltage (non-A-type Supply and bridge voltage max. 20000s MD (non-A-type: ...

Page 21

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) DC Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage and temperature range unless otherwise specified. Typical characteristics represent the average value of all parts. Logic supply voltage: V ...

Page 22

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) V High input voltage threshold OSCH (input OSC) V Low input voltage threshold OSCL (input OSC threshold voltage VTD (referenced to VS) V SRA / SRB voltage at TRIP DAC=”1111” V SRA ...

Page 23

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Thermal Characteristics Symbol Parameter R Thermal resistance bridge transistor junction to THA12 ambient, one bridge chopping, fixed polarity R Thermal resistance bridge transistor junction to THA22 ambient, two bridges chopping, fixed polarity R Thermal ...

Page 24

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) SPI Interface Timing t ES ENN CSN SCK SDI SDO Propagation Times (3.0 V VCC 5.5 V, -40°C Tj unless otherwise specified) Symbol Parameter f SCK frequency SCK t SCK stable ...

Page 25

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) ESD Protection Please be aware, that the TMC236 is an ESD sensitive device due to integrated high performance MOS transistors. ESD sensitive device If the ICs are manually handled before / during soldering, special ...

Page 26

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Application Note: Extending the Microstep Resolution For some applications it might be desired to have a higher microstep resolution, while keeping the advantages of control via the serial interface. The following schematic shows a ...

Page 27

TMC236/A DATA SHEET (V2.06 / 2009-Jul-30) Documentation Revision Version Author Description V2.05 BD Added power supply sequencing considerations V2.06 BD Adapted style, added info on chopper cycle i SPI is a trademark of Motorola Copyright © 2004, TRINAMIC Motion Control ...

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