TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 3

• Manufacturer Part Number: TMC457_1
• Description: S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
2 Contents
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2
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4
5
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9
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
2.1
2.2
4.1
4.2
4.3
4.4
5.1
5.2
5.3
5.4
5.5
5.6
5.7
5.8
5.9
5.10
5.11
6.1
6.2
7.1
7.2
9.1
9.2
FEATURES ...................................................................................................................................... 1
CONTENTS ...................................................................................................................................... 3
GENERAL DESCRIPTION .............................................................................................................. 5
TMC457 BLOCK DIAGRAM AND INTERFACES ........................................................................... 6
4.3.1
4.4.1
4.4.2
FUNCTIONAL BLOCKS AND REGISTERS ................................................................................... 8
5.2.1
5.3.1
5.8.1
5.11.1
5.11.2
REGISTER MAPPING ................................................................................................................... 14
6.1.1
6.1.2
6.2.1
6.2.2
6.2.3
EXAMPLES .................................................................................................................................... 27
NOTATION OF NUMBER SYSTEMS ........................................................................................... 28
PINNING, PACKAGE, AND ELECTRICAL DATA OF THE TMC457 ........................................... 29
9.1.1
9.1.2
Figures ...................................................................................................................................... 4
Tables........................................................................................................................................ 4
Microcontroller Interface (SPI
Step Direction Inputs ................................................................................................................. 6
DAC (LTC2602) Interface ......................................................................................................... 6
Stepper Motor Driver Interface (TMC236, TMC239, TMC246, TMC249) ................................. 7
Ramp Generator ....................................................................................................................... 8
ABN Incremental Encoder Interface .......................................................................................... 8
Vector control ............................................................................................................................ 9
PID Controller - easyPID
Step Direction Output Interface ............................................................................................... 11
Step Direction Input Interface for multi axis interpolation ........................................................ 11
Reference Switch and Stop Switch Interface .......................................................................... 11
Micro Step Sequencer ............................................................................................................. 11
Type and Version Register / Version specific notes and known bugs .................................... 12
SPI Datagram Structure .......................................................................................................... 14
Register Block Structure – Register Mapping ......................................................................... 15
How to Get a Motor Running ................................................................................................... 27
Set Incremental Encoder Interface Parameters ...................................................................... 27
Pinning of TMC457.................................................................................................................. 29
Package Outlines and Dimensions ......................................................................................... 33
Interrupt Controller ............................................................................................................... 12
Sine Wave Look-up Table (SIN-LUT) Access and Parameterization .................................. 13
Piezo Motor Driver ............................................................................................................. 6
Stepper Motor Driver (high resolution micro stepping) ...................................................... 7
Stepper Motor Driver (low resolution micro stepping) ........................................................ 7
Setting the encoder to match the motor resolution: ........................................................... 9
Initialization of vector control mode .................................................................................. 10
ChopSync
Calculation of the Sine Wave Look-Up-Table to drive a Piezo Motor .............................. 13
Calculation of the Sine Wave Look-Up-Table to drive a Stepper Motor .......................... 13
Selection of Write / Read (WRITE_notREAD) ................................................................. 14
Data Alignment ................................................................................................................ 15
Nomenclature of Read / Write / Clear on Read / Clear on Write of Registers ................. 15
Time Scaling by Clock Frequency ................................................................................... 15
Real World Units vs. Units of the TMC457 ...................................................................... 26
Pull-Up / Pull-Down Resistances ..................................................................................... 32
Blocking Capacitors ......................................................................................................... 32
TM
CHOPCLK .................................................................................................. 11
TM
...................................................................................................... 10
TM
) ............................................................................................... 6
3