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power driver for stepper motors integrated circuits trinamic motion control gmbh & co. kg hamburg, germany tmc50 41 data sheet b lock d iagram f eatures and b enefits two 2 - phase stepper motors drive capability up to 2x 1.1a coil current (2x 1.5a peak) motion controller with sixpoint ? ramp voltage range 4.75 2 6 v dc spi interface 2x ref. - switch input per axis highest resol ution up to 256 microsteps per full step stealthchop? for extremely quiet operation and smooth motion spreadcycle? highly dynamic motor control chopper stallguard 2? high precision sensorless motor load detection coolstep? current control for energy savings up to 75% passive breaking and freewheeling mode full protection & diagnostics compact size 7x7mm 2 qfn48 package a pplications cctv, security office automation antenna positioning battery powered applications atm, cash recycler , pos lab automation liquid handling medical printer and sca nner pumps and valves d escription the tmc5 041 is a cost - effective dual stepper motor controller and driver ic with serial communication interface. it combine s flexible ramp generator s for automatic target positioning with industries most advanced stepper motor . dual controller/ driver for up to two 2 - phas e bipolar stepper motors . stealthchop? no - noise stepper operatio n. integrated motion controller with spi interface. m o t i o n c o n t r o l l e r w i t h l i n e a r 6 p o i n t r a m p g e n e r a t o r m o t i o n c o n t r o l l e r w i t h l i n e a r 6 p o i n t r a m p g e n e r a t o r d r i v e r 1 d r i v e r 2 t m c 5 0 4 1 p r o t e c t i o n & d i a g n o s t i c s p r o g r a m m a b l e 2 5 6 s t e p s e q u e n c e r p r o g r a m m a b l e 2 5 6 s t e p s e q u e n c e r p r o t e c t i o n & d i a g n o s t i c s 2 x r e f . s w i t c h e s 2 x r e f . s w i t c h e s s p i p o w e r s u p p l y c h a r g e p u m p m o t o r 2 s t a l l g u a r d 2 c o o l s t e p m o t o r 1
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 2 www.trinamic.com layout for evaluat ion application examples: high flexibility C multipurpose use the tmc5 0 41 score s with power density , complete motion controlling features and integrated power stages . it offers a versatility that covers a wide spectrum of applications from battery systems up to embedded applications with 1 . 5 a motor current per coil . the small form factor keep s costs down and allow s for miniaturized layouts . extensive support at the chip, board, and software levels enables r apid design cycles and fast time - to - market with competitive products. high energy efficiency and reliability d eliver cost savings in related systems such as power supplies and cooling. o rder c odes order code de scription size [ mm 2 ] tmc 50 41 - la dual axis stealthchop controller/driver, qf n - 48 7 x 7 tmc5 0 41 - eval e valuation board for tmc5 0 41 85 x 55 startrampe baseboard for tmc50 41 - eval and further evaluation boards 85 x 55 eselsbrcke connector board for plug - in evaluation board system 61 x 38 tmc50 41 - eval e valuation b oard e valuation & development platform the tmc50 41 - eval is part of trinamics universal evaluation board system which provides a convenient handling of th e hardware as well as a user - friendly software tool for evaluation. the tmc5 041 evaluation board system consists of three parts: startrampe (base board), eselsbrcke (connector board including several test points), and tmc5 041 - eval. two reference switch inputs can be used for each motor. a single cpu controls the whole system, which is highly economical and space saving , because the TMC5041 covers all functionality required to drive the motor. m m c p u t m c 5 0 4 1 h i g h - l e v e l i n t e r f a c e s p i m i n i a t u r i z e d d e s i g n f o r u p t o t w o s t e p p e r m o t o r s m c p u t m c 5 0 4 1 h i g h - l e v e l i n t e r f a c e s p i r e f . s w i t c h e s r e f . s w i t c h e s r e f . s w i t c h e s
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 3 www.trinamic.com t able of c ontents 1 principles of operat ion 5 1.1 k ey c oncepts 5 1.2 spi c ontrol i nterface 6 1.3 s oftware 6 1.4 m oving and c ontrolling the m otor 6 1.5 stealth c hop d river with p rogrammable m icrostepping w ave 6 1.6 stall g uard 2 C m echanical l oad s ensing 6 1.7 cool s te p C l oad a daptive c urrent c ontrol 7 2 pin assignments 8 2.1 p ackage o utline 8 2.2 s ignal d escriptions 8 3 sample circuits 11 3.1 s tandard a pplication c ircuit 11 3.2 5 v o nly s upply 12 3.3 e xternal 5v p ower s upply 13 3.4 o ptimizing a nalog p re cision 14 3.5 d river p rotection and eme c ircuitry 14 4 spi interface 16 4.1 spi d atagram s tructure 16 4.2 spi s ignals 17 4.3 t iming 18 5 register mapping 19 5.1 g eneral c onfiguration r egisters 20 5.2 r amp g enerator r egisters 22 5.3 m icrostep t able r egisters 28 5.4 m otor d river r egisters 30 5.5 v oltage pwm mode stealt h c hop 35 6 current setting 36 6.1 s ense r esistors 37 7 stealthchop? 38 7.1 t wo m odes for c urrent r egulation 38 7.2 a utomatic s caling 39 7.3 f ixed s caling 41 7.4 c ombining stealth c hop with other c hopper m odes 43 7. 5 f lags in stealth c hop 44 7.6 f reewheeling and p assive m otor b raking 45 8 spreadcycle and clas sic chopper 46 8.1 spread c ycle c hopper 47 8.2 c lassic c onstant o ff t ime c hopper 50 8.3 r andom o ff t ime 51 9 driver diagnostic fl ags 52 9.1 t emperature m easurement 52 9.2 s hort to gnd p rotection 52 9.3 o pen l oad d iagnostics 52 10 ramp generator 53 10.1 r eal w orld u nit c onversion 53 10.2 m otion p rofiles 54 10.3 i nterrupt h andling 56 10.4 v elocity t hresholds 56 10.5 r eference s witches 57 11 stallguard2 load mea sureme nt 59 11.1 t uning stall g uard 2 t hreshold sgt 60 11.2 stall g uard 2 u pdate r ate and f ilter 62 11.3 d etecting a m otor s tall 62 11.4 h oming with stall g ua rd 62 11.5 l imits of stall g uard 2 o peration 62 12 coolstep operation 63 12.1 u ser b enefits 63 12.2 s etting up for cool s tep 63 12.3 t uning cool s tep 65 13 sine - wave look - up table 66 13.1 u ser b enefits 66 13.2 m i crostep t able 66 13.3 c hanging r esolution 67 14 quick configuration guide 68 15 getting started 72 15.1 i nitialization e xamples 72 16 external reset 73 17 clock oscillator and clock input 73 17.1 u sing the i nternal c lock 73 17.2 u sing an e xternal c lock 73 17.3 c onsiderations on the f requency 74 18 absolute maximum rat ings 75 19 electrical character istics 75 19.1 o perational r ange 75 19.2 dc c haracteristics and t iming c haracteristics 76 19.3 t hermal c haracteristics 79 20 layout consideration s 80 20.1 e xposed d ie p ad 80 20.2 w iring gnd 80 20.3 s upply f iltering 80 20.4 l ayout e xample 81 21 package mechanical d ata 82 21.1 d imensional d rawings 82 21.2 p ackage c odes 82 22 design philosophy 83 23 disclaimer 83
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 4 www.trinamic.com 24 esd sensitive device 83 25 table of figures 84 26 revision history 85 27 references 85
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 5 www.trinamic.com 1 principles of operation figure 1 . 1 basic application and block diagram the tmc5 0 41 motion controller and driver chip is an intelligent power component interfacing between the cpu and one or two stepper motor s . all stepper motor logic is completely within the tmc 5 0 41 . no software is required to control the motor C just provide target positions. the tmc5 0 41 offers a number of unique enhancements which are enabled by the system - on - chip integrati on of driver and controller. the sixpoint ramp generator of the tmc5 0 41 uses stealthchop, coolstep , and stallguard2 automatically to optimize every motor movement . the clear conce pt and the comprehensive solution save design time . 1.1 key concepts the tmc50 41 implement s several advanced features which are exclusive to trinamic products. these features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. st ealthchop ? no - noise, high - precision chopper algorithm for inaudible motion and inaudible standstill of the motor. stallguard2 ? h igh - precision load measurement using the back emf on the motor coils . coolstep ? l oad - adaptive current control which reduces ener gy consumption by as much as 75% . spreadcycle ? h igh - precision chopper algorithm available as an alternative to the traditional constant off - time algorit hm . s ixpoint ? fast and precise positioning using a hardware ramp generator with a set of four accelerati on / deceleration settings . quickest response due to dedicated hardware. in addition to these performance enhancements, trinamic motor drivers offer safeguards to detect and protect against shorted outputs, output open - circuit, overtemperature, and undervo ltage conditions for enhancing safety and recovery from equipment malfunctions. h a l f b r i d g e 2 h a l f b r i d g e 1 h a l f b r i d g e 1 h a l f b r i d g e 2 + v m v s 2 x c u r r e n t c o m p a r a t o r 2 p h a s e s t e p p e r m o t o r n s s t e p p e r d r i v e r p r o t e c t i o n & d i a g n o s t i c s p r o g r a m m a b l e s i n e t a b l e 4 * 2 5 6 e n t r y 2 x d a c s t a l l g u a r d 2 ? c o o l s t e p ? x o 1 a 1 o 1 a 2 b r 1 a / b r s e n s e r s e n s e o 1 b 1 o 1 b 2 s p r e a d c y c l e & s t e a l t h c h o p c h o p p e r v c c _ i o t m c 5 0 4 1 d u a l s t e p p e r m o t o r d r i v e r / c o n t r o l l e r s p i i n t e r f a c e c s n s c k s d o s d i 2 x l i n e a r 6 p o i n t r a m p g e n e r a t o r r e f e r e n c e s w i t c h p r o c e s s i n g s t e p & d i r e c t i o n p u l s e g e n e r a t i o n r e f l 1 s t e p p e r # 1 m o t i o n c o n t r o l c o o l s t e p m o t o r d r i v e r r e f r 1 h a l f b r i d g e 2 h a l f b r i d g e 1 h a l f b r i d g e 1 h a l f b r i d g e 2 + v m v s 2 x c u r r e n t c o m p a r a t o r 2 p h a s e s t e p p e r m o t o r n s p r o g r a m m a b l e s i n e t a b l e 4 * 2 5 6 e n t r y 2 x d a c s t a l l g u a r d 2 ? c o o l s t e p ? x o 2 a 1 o 2 a 2 b r 2 a / b r s e n s e r s e n s e o 2 b 1 o 2 b 2 s p r e a d c y c l e & s t e a l t h c h o p c h o p p e r r e f e r e n c e s w i t c h p r o c e s s i n g s t e p & d i r e c t i o n p u l s e g e n e r a t i o n s t e p p e r # 2 c o o l s t e p m o t o r d r i v e r 2 x l i n e a r 6 p o i n t r a m p g e n e r a t o r m o t i o n c o n t r o l c o n t r o l r e g i s t e r s e t c l k o s c i l l a t o r / s e l e c t o r 5 v v o l t a g e r e g u l a t o r t e m p e r a t u r e m e a s u r e m e n t c h a r g e p u m p c p o c p i v c p 2 2 n 1 0 0 n c l k _ i n i n t e r f a c e r e f l 2 r e f r 2 + v m 5 v o u t v s a 4 . 7 + v i o i n t p p i n t & p o s i t i o n p u l s e o u t p u t d r v _ e n n d r v _ e n n s i n g l e d r v g n d p g n d p g n d g n d a f f f f f = 6 0 n s s p i k e f i l t e r t s t _ m o d e d i e p a d v c c r s e n s e = 0 r 2 5 a l l o w s f o r m a x i m u m c o i l c u r r e n t s p i ? o p t . e x t . c l o c k 8 - 1 6 m h z 3 . 3 v o r 5 v i / o v o l t a g e 1 0 0 n 1 0 0 n 1 0 0 n 1 0 0 n i n t e r r u p t o u t r e f . / s t o p s w i t c h e s m o t o r 2 r e f . / s t o p s w i t c h e s m o t o r 1 o p t . d r i v e r e n a b l e
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 6 www.trinamic.com 1.2 spi control interfac e the spi interface is a bit - serial interface synchronous to a bus clock. for every bit sent from the bus master to the bus slave another bit is sent simul taneously from the slave to the master. communication betw een an spi master and the tmc5 0 41 slave always consists of sending one 4 0 - bit command word and receiving one 4 0 - bit status word. the spi command rate typically is a few commands per complete motor motion . 1.3 software from a software point of view the tmc50 41 is a peripheral with a number of control and status registers. m ost of them can eith er be written only or read only. s ome of the registers allow both read and write access. in case read - modify - wri te access is desired for a write only register, a shadow register can be realized in master software. 1.4 moving and controlling the motor 1.4.1 integrated motion controller the integrated 32 bit motion controller automatically drives the motor to target positions, or accelerates to target velocities. all motion parameters can be changed on the fly. the motion controller recalculates immediately. a minimum set of configuration data consists of acceleration and deceleration values and the maximum motion velocity. a s tart and stop velocity is supported as well as a second acceleration and deceleration setting. the integrated motion controller supports immediate reaction to mechanical reference switches and to the sensorless stall detection stallguard2. b enefits are: - f lexible ramp programming - efficient use of motor torque for acceleration and deceleration a llows higher machine throughput - immediate reacti on to stop and stall conditions 1.5 stealthchop driver with programmable microstepping wave current into the motor coils is controlled using a cycle - by - cycle chopper mode. up to three chopper modes are available: a traditional constant off - time mode and the spreadcycle mode as well as the unique stealthchop. the constant off - time mode provides higher torque at highest veloci ty, while spreadcycle mode offers smoother operation and greater power efficiency over a wide range of speed and load. the spreadcycle chopper scheme automatically integrates a fast decay cycle and guarantees smooth zero crossing performance. in contrast t o the other chopper modes, stealthchop is a voltage chopper based principle. it guarantees that the motor is absolutely quiet in standstill and in slow motion, except for noise generated by ball bearings. the extremely smooth motion is beneficial for many applications. programmable microstep shapes allow optimizing the motor performance. benefits of using stealthchop: - significantly improved microstepping with low cost motors - motor runs smooth and quiet - absolutely no standby noise - reduced mechanical resonan ces yields improved torque 1.6 stallguard 2 C mechanical load sensing stallguard2 provides an accurate measurement of the load on the motor. it can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolstep l oad - adaptive current reduction. this gives more information on the drive allowing functions like sensorless homing and diagnostics of the drive mechanics.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 7 www.trinamic.com 1.7 coolstep C load adaptive current control coolstep drives the motor at the optimum current. it uses the stallguard2 load measurement information to adjust the motor current to the minimum amount required in the actual load situation. this saves energy and keeps the components cool. benefits are: - energy efficiency power consumption decreased up to 75% - mot or generates less heat improved mechanical precision - less or no cooling improved reliability - use of smaller motor less torque reserve required cheaper motor does the job figure 1 . 2 shows the efficiency gain of a 42mm stepper motor when using coolstep compared to standard operation with 50% of torque reserve. coolstep is enabled above 60rpm in the examp le. figure 1 . 2 energy efficiency with coolstep (example) 0 0 , 1 0 , 2 0 , 3 0 , 4 0 , 5 0 , 6 0 , 7 0 , 8 0 , 9 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 e f f i c i e n c y v e l o c i t y [ r p m ] e f f i c i e n c y w i t h c o o l s t e p e f f i c i e n c y w i t h 5 0 % t o r q u e r e s e r v e
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 8 www.trinamic.com 2 pin assignments 2.1 package outline figure 2 . 1 tmc5 0 41 pin assignments. 2.2 signal descriptions pin number type function gnd 6, 9, 10, 12, 24, 34 gnd digital ground pin for io pins and digital circuitry. vcc_io 7 3.3v or 5v i/o supply voltage pin for all digital pins. vsa 30 analog supply voltage for 5v regulator C typically supplied with driver supply voltage. an additional 100nf capacitor to gnd (gnd plane) is recommended for best performance . gnda 31 gnd analog gnd . tie to gnd plane. 5vout 32 output of internal 5v regulator. attach 2.2 f or l arger ceramic capacitor to gnda near to pin for best performance. may be used to supply vcc of chip. t m c 5 0 4 1 - l a q f n 4 8 7 m m x 7 m m 0 . 5 p i t c h r e f l 1 c p o g n d p t s t _ m o d e o 1 a 1 v s o 1 b 1 b r 1 a o 1 a 2 v s o 1 b 2 v c c _ i o p p o 2 a 2 b r 2 a b r 2 b v s o 2 b 2 v s o 2 b 1 1 i n t s d o g n d g n d s d i s c k c s n r e f r 1 r e f l 2 v s a g n d a g n d c p i c l k g n d g n d p r e f r 2 b r 1 b o 2 a 1 2 3 4 5 6 7 8 9 1 0 1 1 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 3 6 3 5 3 4 3 3 3 2 3 1 3 0 2 9 2 8 2 7 2 6 4 8 4 7 4 6 4 5 4 4 4 3 4 2 4 1 4 0 3 9 3 8 d r v _ e n n v c p 3 7 2 5 - 1 3 1 2 - g n d - v c c g n d 5 v o u t
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 9 www.trinamic.com pin number type function vcc 33 5v supply input for digital circuitry within chip and charge pump. attach 470nf capacitor to gnd (gnd plane). may be supplied by 5vout. a 2.2? resistor is recommended for decoupling noise from 5vout. when using an external supply, make sure, that vcc comes up before or in parallel to 5vout or vcc_io, whichever comes up later! die_pad - gnd connect the exp osed die pad to a gnd plane. provide as many as possible vias for heat transfer to gnd plane. t able 2 . 1 low voltage digital and analog power supply pins pin number type function cpo 35 o(vcc) charge pump dr iver output. outputs 5v (gnd to vcc) square wave with 1/16 of internal oscillator frequency. cpi 36 i(vcp) charge pump capacitor input: provide external 22nf to 33nf / 50 v capacitor to cpo. vcp 37 output of charge pump. provide external 100nf capacitor to vs. t able 2 . 2 charge pump pins pin number type function int 1 o (z) tristate interrupt output based on ramp generator flags ramp_stat bits 4, 5, 6 & 7. pp 2 o (z) tristate po sition compare output for motor 1 ( poscmp_enable =1 ). csn 3 i chip select input of spi interface sck 4 i serial clock input of spi interface sdi 5 i data input of spi interface sdo 8 o (z) data o utput of spi interface (tristate, enabled with csn=0) clk 11 i clock input . tie to gnd using short wire for internal clock or supply external clock . the first high signal disables the internal oscillator until power down. refr2 25 i right reference switc h input for motor 2 refl2 26 i left reference switch input for motor 2 refr1 27 i right reference switch input for motor 1 refl1 28 i left reference switch input for motor 1 drv_enn 29 i enable i nput for motor drivers. the power stage becomes switched off (all motor outputs floating) when this pin becomes driven to a high level . tie to gnd for normal operation. tst_mode 48 i test mode input. tie to gnd using short wire. - 13, 23, 38 n.c. unused pins C no internal electrical connection. leave open or t ie to gnd for compatibility with future devices. t able 2 . 3 digital i/o pins (all related to vcc_io supply)
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 10 www.trinamic.com pin number type function o2a1 14 o (vs) motor 2 coil a output 1 br2a 15 sense resistor connecti on for m otor 2 coil a . place sense resistor to gnd near pin . o2a2 16 o (vs) motor 2 coil a output 2 vs 17, 19 motor supply voltage. provide filtering capacity near pin with shortest loop to nearest gndp pin (respectively via gnd plane). gndp 18 gnd pow er gnd. connect to gnd plane near pin. o2b1 20 o (vs) motor 2 coil b output 1 br2b 21 sense resistor connection for m otor 2 coil b. place sense resistor to gnd near pin . o2b2 22 o (vs) motor 2 coil b output 2 o1b2 39 o (vs) motor 1 coil b output 2 br 1b 40 sense resistor connection for m otor 1 coil b. place sense resistor to gnd near pin . o1b1 41 o (vs) motor 1 coil b output 1 vs 42, 44 motor supply voltage. provide filtering capacity near pin with shortest loop to nearest gndp pin (respectively vi a gnd plane). gndp 43 gnd power gnd. connect to gnd plane near pin. o1a2 45 o (vs) motor 1 coil a output 2 br1a 46 sense resistor connection for m otor 1 coil a . place sense resistor to gnd near pin . o1a1 47 o (vs) motor 1 coil a output 1 t able 2 . 4 power driver pins
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 11 www.trinamic.com 3 sample circuits the sample circuits show the connection of the external components in different operation and supply modes. the connection of the bus interface and further digital signals is left out for clarity. 3.1 standard application circuit figure 3 . 1 standard application circuit the standard application circuit uses a minimum set of additional components in order t o operate the motor. use low esr capacitors for filtering the power supply which are capable to cope with the current ripple. the current ripple often depends on the power supply and cable length. the vcc_io voltage can be supplied from 5vout, or from an e xternal source, e.g. a low drop 3.3v regulator. in order to minimize linear voltage regulator power dissipation of the internal 5v voltage regulator in applications where vm is high, a different (lower) supply voltage can be used for vsa, if available. for example, many applications provide a 12v supply in addition to a higher supply voltage like 24v. using the 12v supply for vsa will reduce the power dissipation of the internal 5v regulator to about 37% of the dissipation caused by supply with the full mot or voltage. for best motor chopper performance, an optional r/c - filter de - couples 5vout from digital noise cause by power drawn from vcc. basic layout hints place sense resistors and all filter capacitors as close as possible to the related ic pins. use a solid common gnd for all gnd connections, also for sense resistor gnd. connect 5vout filtering capacitor directly to 5vout and gnda pin. see layout hints for more details. low esr electrolytic capacitors are recommended for vs filtering. attention in ca se vsa is supplied by a different voltage source, make sure that vsa does not exceed vs by more than one diode drop upon power up or power down. v c c _ i o t m c 5 0 4 1 s p i i n t e r f a c e c s n s c k s d o s d i r e f e r e n c e s w i t c h p r o c e s s i n g r e f l 1 r e f r 1 r e f e r e n c e s w i t c h p r o c e s s i n g c o n t r o l l e r 2 5 v v o l t a g e r e g u l a t o r c h a r g e p u m p 2 2 n c l k _ i n r e f l 2 r e f r 2 + v i o i n t p p i n t & p o s i t i o n p u l s e o u t p u t d r v _ e n n d r v _ e n n g n d p g n d g n d a t s t _ m o d e d i e p a d o p t . e x t . c l o c k 1 2 - 1 6 m h z 3 . 3 v o r 5 v i / o v o l t a g e 1 0 0 n c o n t r o l l e r 1 f u l l b r i d g e a f u l l b r i d g e b + v m v s s t e p p e r m o t o r # 1 n s o 1 a 1 o 1 a 2 b r 1 a r s 1 b o 1 b 1 o 1 b 2 d r i v e r 1 1 0 0 n b r 1 b r s 1 a f u l l b r i d g e a f u l l b r i d g e b s t e p p e r m o t o r # 2 n s o 2 a 1 o 2 a 2 b r 2 a r s 2 b o 2 b 1 o 2 b 2 d r i v e r 2 b r 2 b r s 2 a v s 1 0 0 n + v m 1 0 0 f c p i c p o v c p 1 0 0 n + v m 5 v o u t v s a 4 . 7 v c c 1 0 0 n o p t i o n a l u s e l o w e r v o l t a g e d o w n t o 6 v 2 r 2 4 7 0 n
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 12 www.trinamic.com 3.2 5 v only supply f igure 3 . 2 5v on ly operation while the standard application circuit is limited to roughly 5.5 v lower supply voltage, a 5 v only application lets the ic run from a normal 5 v +/ - 5 % supply. in this application, linear regulator drop must be minimized. therefore, the major 5 v load is removed by supplying vcc directly from the external supply. in order to keep supply ripple away from the analog voltage reference, 5vout should have an own filtering capacity and the 5vout pin does not become bridged to the 5v supply. v c c _ i o t m c 5 0 4 1 s p i i n t e r f a c e c s n s c k s d o s d i r e f e r e n c e s w i t c h p r o c e s s i n g r e f l 1 r e f r 1 r e f e r e n c e s w i t c h p r o c e s s i n g c o n t r o l l e r 2 5 v v o l t a g e r e g u l a t o r c h a r g e p u m p v c p 2 2 n 1 0 0 n c l k _ i n r e f l 2 r e f r 2 + 5 v 5 v o u t v s a 4 . 7 i n t p p i n t & p o s i t i o n p u l s e o u t p u t d r v _ e n n d r v _ e n n g n d p g n d g n d a t s t _ m o d e d i e p a d v c c o p t i o n a l e x t e r n a l c l o c k 1 2 - 1 6 m h z 1 0 0 n 4 7 0 n c o n t r o l l e r 1 f u l l b r i d g e a f u l l b r i d g e b + 5 v v s s t e p p e r m o t o r # 1 n s o 1 a 1 o 1 a 2 b r 1 a r s 1 b o 1 b 1 o 1 b 2 d r i v e r 1 1 0 0 n b r 1 b r s 1 a f u l l b r i d g e a f u l l b r i d g e b s t e p p e r m o t o r # 2 n s o 2 a 1 o 2 a 2 b r 2 a r s 2 b o 2 b 1 o 2 b 2 d r i v e r 2 b r 2 b r s 2 a v s 1 0 0 n + 5 v 1 0 0 f c p i c p o v c c _ i o 5 v v c c _ i o 3 . 3 v
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 1 3 www.trinamic.com 3.3 externa l 5v power supply when an external 5v power supply is available, the power dissipation caused by the internal linear regulator can be eliminated. this especially is beneficial in high voltage applications, and when thermal conditions are critical. there ar e two options for using this external 5v source: either the external 5v source is used to support the digital supply of the driver by supplying the vcc pin , or the complete internal voltage regulator becomes bridged and is replaced by the external supply vo ltage. 3.3.1 support for the vcc supply this scheme uses an external supply for all digital circuitry within the driver ( f igure 3 . 3 ). as the digital circuitry makes up for most of the power dissipation, this way the internal 5v regula tor sees only low remaining load. the precisely regulated voltage of the internal regulator is still used as the reference for the motor current regulation as well as for supplying internal analog circuitry. when cutting pin vcc from 5vout, make sure that the vcc supply comes up before or synchronously with the 5vout supply to ensure a correct power up reset of the internal logic. a simple schematic uses t wo diodes forming an or of the internal and the external po wer supplies for vcc. in order to prevent the chip from drawing part of the power from its internal regulator, a low drop 1a schottky diode is used for the external 5v supply path , while a silicon diode is used for the 5vout path . an enhanced solution uses a dual pnp transistor as an active switch. it minimizes voltage drop and thus gives best performance . in certain setups, switching of vcc voltage can be eliminated. a third variant uses the vcc_io supply to ensure power - on reset . this is possible, if vcc_ io c om es up synchronously with or delayed to vcc. use a linear regulator to generate a 3.3v vcc_io from the external 5v vcc source. th is 3.3v regulator will cause a certain vol tage drop. a voltage drop in the regulator of 0.9v or more (e.g. ld 1117 - 3.3) ens ures that the 5v supply already has exceeded the lower limit of about 3. 0 v once the reset conditions ends . the reset condition ends earliest, when vcc_io exceeds the undervoltage limit of minimum 2.1v . make sure that the power - down sequence also is safe . u ndefined states can result when vcc drops well below 4v without safely triggering a reset condition. triggering a reset upon power - down can be ensured when vsa goes down synchronously with or before vcc . f igure 3 . 3 using an external 5v supply for digital circuitry of driver (different options) 5 v v o l t a g e r e g u l a t o r 5 v o u t v s a 4 . 7 v c c 1 0 0 n 4 7 0 n + 5 v l l 4 4 4 8 m s s 1 p 3 + v m 5 v v o l t a g e r e g u l a t o r 5 v o u t v s a 4 . 7 v c c 1 0 0 n + 5 v + v m v c c _ i o 4 7 0 n 1 0 0 n 3 . 3 v r e g u l a t o r 3 . 3 v v c c s u p p l i e d f r o m e x t e r n a l 5 v . 5 v o r 3 . 3 v i o v o l t a g e . v c c s u p p l i e d f r o m e x t e r n a l 5 v . 3 . 3 v i o v o l t a g e g e n e r a t e d f r o m s a m e s o u r c e . 5 v v o l t a g e r e g u l a t o r 5 v o u t v s a 4 . 7 v c c 1 0 0 n 4 7 0 n + 5 v b a t 5 4 + v m v c c s u p p l i e d f r o m e x t e r n a l 5 v u s i n g a c t i v e s w i t c h . 5 v o r 3 . 3 v i o v o l t a g e . 4 k 7 1 0 k 2 x b c 8 5 7 o r 1 x b c 8 5 7 b s
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 14 www.trinamic.com 3.3.2 internal regulator bridged in case a clean external 5v supply is available, it can be used for complete supply of anal og and digital part ( figure 3 . 4 ). the circuit will benefit from a well regulated supply, e.g. when using a +/ - 1% regulator. a precise supply guarantees increased motor current precision, because the voltage at 5vout directly is th e reference voltage for all internal units of the driver, especially for motor current control. for best performance, the power supply should have low ripple to give a precise and stable supply at 5vout pin with remaining ripple well below 5mv. some switch ing regulators have a higher remaining ripple, or different loads on the supply may cause lower frequency ripple. in this case, increase capacity attached to 5vout. in case the external supply voltage has poor stability or low frequency ripple, this would affect the precision of the motor current regulation as well as add chopper noise. figure 3 . 4 using an external 5v supply to bypass internal regulator 3.4 optimizing analog precisio n the 5vout pin is used as an analog reference for operation of the tmc5 0 41 . performance will degrade when there is voltage ripple on this pin. most of the high frequency ripple in a tmc5 0 41 design results from the operation of the internal digital log ic. the digital logic switches wit h each edge of the clock signal. further, ripple results from operation of the charge pump, which operates with roughly 1 mhz and draws current from the vcc pin. in order to keep this ripple as low as possible, an additional f iltering capacitor can be put directly next to the vcc pin with vias to the gnd plane giving a short connection to the digital gnd pins (pin 6 and pin 34). analog performance is best, when this ripple is kept away from the analog supply pin 5vout, using an additional series resistor of 2.2 ? . the voltage drop on this resistor will be roughly 100 mv (i vcc * r). f igure 3 . 5 rc - filter on vcc for reduced ripple 3.5 driver protection and eme circuitry some applications have to cope with esd events caused by motor operation or external influence. despite esd circuitry within the driver chips, esd events occurring during operation can cause a reset or even a destruction of the motor driver, depending on their energy. especiall y plastic housings and belt drive systems tend to cause esd events. it is best practice to avoid esd events by attaching all 5 v v o l t a g e r e g u l a t o r + 5 v 5 v o u t v s a 4 . 7 v c c 4 7 0 n 1 0 r w e l l - r e g u l a t e d , s t a b l e s u p p l y , b e t t e r t h a n + - 5 % 5 v v o l t a g e r e g u l a t o r c h a r g e p u m p v c p 2 2 n 1 0 0 n + v m 5 v o u t v s a 4 . 7 v c c 1 0 0 n 4 7 0 n c p i c p o g n d a 2 r 2
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 15 www.trinamic.com conductive parts, especially the motors themselves to pcb ground, or to apply electrically conductive plastic parts. in addition, t he driver can be protected up to a certain degree against esd events or live plugging / pulling the motor, which also causes high voltages and high currents into the motor connector terminals. a simple scheme uses capacitors at the driver outputs to reduce the dv/dt caused by esd events. larger capacitors will bring more benefit concerning esd suppression, but cause additional current flow in each chopper cycle, and thus increase driver power dissipation, especially at high supply voltages. the values shown are example values C they might be varied between 100pf and 1nf. the capacitors also dampen high frequency noise injected from digital parts of the circuit and thus reduce electromagnetic emission. a more elaborate scheme uses lc fil ters to de - couple the driver outputs from the motor connector. varistors in between of the coil terminals eliminate coil overvoltage caused by live plugging. optionally protect all outputs by a varistor against esd voltage . figure 3 . 6 simple esd enhancement and m ore elaborate motor output protection f u l l b r i d g e a f u l l b r i d g e b s t e p p e r m o t o r n s o a 1 o a 2 o b 1 o b 2 d r i v e r 4 7 0 p f 1 0 0 v 4 7 0 p f 1 0 0 v 4 7 0 p f 1 0 0 v 4 7 0 p f 1 0 0 v f u l l b r i d g e a f u l l b r i d g e b s t e p p e r m o t o r n s o a 1 o a 2 o b 1 o b 2 d r i v e r 4 7 0 p f 1 0 0 v 4 7 0 p f 1 0 0 v 5 0 o h m @ 1 0 0 m h z 5 0 o h m @ 1 0 0 m h z 5 0 o h m @ 1 0 0 m h z 5 0 o h m @ 1 0 0 m h z v 1 v 2 f i t v a r i s t o r s t o s u p p l y v o l t a g e r a t i n g . s m d i n d u c t i v i t i e s c o n d u c t f u l l m o t o r c o i l c u r r e n t . 4 7 0 p f 1 0 0 v 4 7 0 p f 1 0 0 v v a r i s t o r s v 1 a n d v 2 p r o t e c t a g a i n s t i n d u c t i v e m o t o r c o i l o v e r v o l t a g e . v 1 a , v 1 b , v 2 a , v 2 b : o p t i o n a l p o s i t i o n f o r v a r i s t o r s i n c a s e o f h e a v y e s d e v e n t s . b r b r s a b r a 1 0 0 n f 1 6 v r s b 1 0 0 n f 1 6 v v 1 a v 1 b v 2 a v 2 b
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 16 www.trinamic.com 4 spi interface 4.1 spi datagram structure the tmc5 0 41 uses 40 bit spi ? (serial peripheral interface, spi is trademark of motorola) datagrams for communication with a microcontroller. microcontrollers which are equipped w ith hardware spi are typically able to communicate using integer multiples of 8 bit. the ncs line of the tmc5 07 2 must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission. each datagram sent to the device is composed of an address byte followed by four data bytes. this allows direct 32 bit data word communication with the register set. each register is accessed via 32 data bits even if it uses less than 32 data bits. for simplification, each register is s pecified by a one byte address: - for a read access the most significant bit of the address byte is 0 . - for a write access the most signific ant bit of the address byte is 1 . most registers are write only registers, some can be read additionally, and there are also some read only registers. 4.1.1 selection of write / read (write_notread) the read and write selection is controlled by the msb of the address byte (bit 39 of the spi datagram). this bit is 0 for read access and 1 for write access. so, the bit named w is a write_notread control bit. the active high write bit is the msb of the address byte. so, 0x80 has to be added to the address for a write access. the spi interface always delivers data back to the master, independent of the w bit. the data transferre d back is the data read from the address which was transmitted with the previous datagram, if the previous access was a read access. if the previous access was a write access, then the data read back mirrors the previously received write data. so, the diff erence between a read and a write access is that the read access does not transfer data to the addressed register but it transfers the address only and its 32 data bits are dummies, and, further the following read or write access delivers back the data rea d from the address transmitted in the preceding read cycle. a read access request datagram uses dummy write data. read data is transferred back to the master with the subsequent read or write access. hence, reading multiple registers can be done in a pipe lined fashion . whenever data is read from or written to the tmc5 0 41 , the msbs delivered back contain the spi status, spi_status , a number of eight selected status bits. spi d atagram s tructure msb (transmitted first) 40 bit lsb (transmitted last) 39 ... ... 0 ? 8 bit address ? 8 bit spi status ? ? 32 bit data 39 ... 32 31 ... 0 ? to tmc50 41 : rw + 7 bit address ? from tmc5 0 41 : 8 bi t spi status 8 bit data 8 bit data 8 bit data 8 bit data 39 / 38 ... 32 31 ... 24 23 ... 16 15 ... 8 7 ... 0 w 38...32 31...28 27...24 23...20 19...16 15...12 11...8 7...4 3...0 3 9 3 8 3 7 3 6 3 5 3 4 3 3 3 2 3 1 3 0 2 9 2 8 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 17 www.trinamic.com example : for a read access to the register ( x actual ) with the address 0x2 1, the a ddr ess byte has to be set to 0x2 1 in the access preceding the read access. for a write access to the register ( v actual ), the address byte has to be set to 0x80 + 0x22 = 0xa2. for read access, the data bit might have any value ( - ). so, one can set them to 0 . action data sent to tmc5 0 41 data received from tmc5 0 41 read x actual ? 0x2100000000 ? 0xss & unused data read x actual ? 0x2100000000 ? 0xss & x actual write v max := 0x00abcdef ? 0xa 7 00abcdef ? 0xss & x actual write v max := 0x00123456 ? 0xa 7 00123456 ? 0xss00abc def *)s: is a placeholder for the status bits spi_status 4.1.2 spi status bits transferred with each d atag ram read b ack new status information becomes latched at the end of each access and is available with the next spi transfer. spi_status C status flags tra nsmitted with each spi access in bits 39 to 32 bit name comment 7 - reserved (0) 6 status_stop_l(2) ramp_stat 2 [0] C status_stop_l(1) ramp_stat 1 [0] C velocity _reached(2) ramp_stat 2 [8] C velocity_reached(1) ramp_stat 1 [8] C driver_error(2) gstat [2] C g stat ) 1 driver_error(1) gstat [1] C gstat ) 0 reset_flag gstat [ 0 ] C gstat ) 4.1.3 data alignment all data are right aligned. some registers represent uns igned (positive) values, some represent integer values (signed) as twos complement numbers, single bits or groups of bits are represented as single bits respectively as integer groups. 4.2 spi signals the spi bus on the tmc5 0 41 has four signals: - sck C bus clock input - sdi C serial data input - sdo C serial data output - csn C chip select input (active low) the slave is enabled for an spi transaction by a low on the chip select input csn. bit transfer is synchronous to the bus clock sck, with the slave latching the data from sdi on the rising edge of sck and driving data to sdo following the falling edge. the most significant bit is sent first. a minimum of 40 sck clock cycles is required for a bus transaction with the tmc5 0 41 . if more than 40 clocks are driven, the additional bits shifted into sdi are shifted out on sdo after a 40 - clock delay through an internal shift register. this can be used for daisy chaining multiple chips. csn must be low during the whole bus transaction. when csn goes high, the contents of the internal shift register are latched into the internal control register and recognized as a command from the master to the slave. if more than 40 bits are sent, only the last 40 bits received before the rising edge of csn are recognized as the command.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 18 www.trinamic.com 4.3 timing the spi interface is synchronized to the internal system clock, which limits the spi bus clock sck to half of the system clock frequency. if the system clock is based on the on - chip oscillator, an additional 10% safety margin must be used to ens ure reliable data transmission. all spi inputs as well as the enn input are internally filtered to avoid triggering on pulses shorter than 20ns. f igure 4 . 1 shows the timing parameters of an spi bus transaction, and the table below specifies their values. f igure 4 . 1 spi timing hint usually this spi timing is referred to as spi mode 3 spi interface timing ac - characteristics clock period: t clk parameter s ymbol conditions min typ max unit sck valid before or after change of csn t cc 10 ns csn high time t csh *) min time is for syn chronous clk with sck high one t ch before csn high only t clk *) >2t clk +10 ns sck low time t cl *) min time is for syn chronou s clk only t clk *) >t clk +10 ns sck high time t ch *) min time is for syn chronous clk only t clk *) >t clk +10 ns sck frequency using internal clock f sck assumes minimum osc frequency 4 mhz sck frequency using external 16mhz clock f sck assumes synchronous clk 8 mhz sdi setup time before rising edge of sck t du 10 ns sdi hold time after rising edge of sck t dh 10 ns data out valid time after falling sck clock edge t do no capacitive load on sdo t filt +5 ns sdi, sck and csn filter delay time t filt rising and falling edge 12 20 30 ns c s n s c k s d i s d o t c c t c c t c l t c h b i t 3 9 b i t 3 8 b i t 0 b i t 3 9 b i t 3 8 b i t 0 t d o t z c t d u t d h t c h
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 19 www.trinamic.com 5 register mapping this chapter gives an overview of the complete register set. some of the registers bundling a number of single bits are detailed in extra tables. the functional practical application of the settings i s detailed in dedicated chapters. note - all registers become reset to 0 upon power up, unless otherwise noted. - add 0x80 to the address addr for write accesses! n otation of hexadecim al and binary number s 0x precedes a hexadecimal number, e.g. 0x04 % precedes a multi - bit binary number, e.g. %100 n otation of r/w field r read only w write only r/w read - and writable register r+c clear upon read o verview r egister m apping r egister d escription general configuration r egisters these registers conta in - global configuration - global status flags ramp generator m otion control register s et this register set offers registers for - choosing a ramp mode - choosing velocities - homing - acce leration and deceleration - target positioning ramp generator driver feature control register s et this register set offers registers for - driver current control - setting th resholds for coolstep operation - setting thresholds for different chopper mode s - reference switch and stallguard2 e vent configuration - a ramp and re ference switch st atus register motor driver register s et this register set offers registers for - setting / reading out microstep table and counter - ch opper and driver configuration - coolstep and stallguard2 configuration - reading out stallguard2 values and driver error flags
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 20 www.trinamic.com 5.1 general configuration registers g eneral configuration registers (0 x 000 x 0 f) r/w addr n register description / bit names rw 0x00 11 gconf bit gconf C global configuration flags 0 ..2 reserved, set to 0 3 poscmp_enable 0: outputs int and p p are tristated . 1: position compare pulse (pp) and interrupt output (int) are available attention C do not leave the outputs floating in tristate condition, provide an external pull - up 4 ..6 reserved, set to 0 7 test_mode 0: normal operation 1 : enable analog test output on pin refr2 test_sel selects the function of refr2: 04: t120, dac1, vddh1, dac2, vddh2 attention: not for user, set to 0 for normal operation! 8 shaft1 1: inverse motor 1 direction 9 shaft2 1: inverse motor 2 di rection 10 lock_gconf 1: gconf is locked against further write access. 11 reserved, set to 0 r+c 0x01 4 gstat bit gstat C global status flags 0 reset 1: indicates that the ic has been reset since the last read access to gstat. all regi sters have been cleared to reset values. 1 drv_err1 1: indicates, that driver 1 has been shut down due to overtemperature or short circuit detection since the last read access. read drv_status1 for details. the flag can only be reset when all error conditions are cleared. 2 drv_err2 1: indicates, that driver 2 has been shut down due to overtemperature or short circuit detection since the last read access. read drv_status2 for details. the flag can only be reset when all error conditions are clea red. 3 uv_cp 1: indicates an undervoltage on the charge pump. the driver is disabled in this case. w 0x03 4 test_sel select test mode output attention: not for user, set to 0 for normal operation! r 0x04 8 + 8 input bit input 0..6 unused, ignor e these bits 7 drv_enn_in : drv_enn pin polarity 8 unused, ignore this bit 31.. 24 version : 0 x 1 0 =version of the ic identical numbers mean full digital compatibility.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 21 www.trinamic.com g eneral configuration registers (0 x 000 x 0 f) r/w addr n register description / bit names w 0x05 32 x_compare position comparison register for motor 1 position strob e. activate poscmp_enable to get position pulse on output pp. xactual = x_compare : - output pp becomes high. it returns to a low state, if the positions mismatch.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 22 www.trinamic.com 5.2 ramp generator registers addresses addr are specified for motor 1 (upper value) and motor 2 (second address). 5.2.1 ramp generator motion control register set r amp generator motion control register set (m otor 1: 0 x 200 x 2d, m otor 2: 0 x 400 x 4d) r/w addr n register description / bit names range [unit] rw 0x20 0x40 2 rampmode rampmode: 0: positionin g mode (using all a, d and v parameters) 1: velocity mode to positive vmax (using amax acceleration) 2: velocity mode to negative vmax (using amax acceleration) 3: hold mode (velocity remains unchanged, unless stop event occurs) 03 rw 0x21 0x41 32 xactua l actual motor position (signed) hint: this value normally should only be modified, when homing the drive. in positioning mode, modifying the register content will start a motion. - 2^31 +(2^31) - 1 r 0x22 0x42 24 vactual actual motor velocity from ramp ge nerator (signed) the sign matches the motion direction. a negative sign means motion to lower xactual. + - (2^23) - 1 [steps / t] w 0x23 0x43 18 vstart motor start velocity (unsigned) set vstop vstart! 0(2^18) - 1 [steps / t] w 0x24 0x44 16 a1 first ac celeration between vstart and v1 (unsigned) 0(2^16) - 1 [steps / ta2] w 0x25 0x45 20 v1 first acceleration / deceleration phase t hreshold velocity (unsigned) 0: disables a1 and d1 phase, use amax , d max only 0(2^20) - 1 [steps / t] w 0x26 0x46 16 amax se cond acceleration between v1 and vmax (unsigned) this is the acceleration and deceleration value for velocity mode. 0(2^16) - 1 [steps / ta2] w 0x27 0x47 23 vmax motion ramp target velocity (for positioning ensure vmax vstart ) (unsigned) this is the target velocity in velocity mode. it can be changed any time during a motion. 0(2^23) - 512 [steps / t] w 0x28 0x48 16 dmax deceleration between vmax and v1 (unsigned) 0(2^16) - 1 [steps / ta2] w 0x2a 0x4a 16 d1 decelera tion between v1 and vstop (unsigned) attention: do not set 0 in positioning mode, even if v1=0! 1(2^16) - 1 [steps / ta2]
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 23 www.trinamic.com r amp generator motion control register set (m otor 1: 0 x 200 x 2d, m otor 2: 0 x 400 x 4d) r/w addr n register description / bit names range [unit] w 0x2b 0x4b 18 vstop motor stop velocity (unsigned) attention: set vstop vstart! attention: do not set 0 in positioning mode , m inimum 10 recommended ! 1(2^18) tzerowait waiting time after ramping down to zero velocity before next movement or direction inversion can start and before motor power down starts. time range is about 0 to 2 seconds. this se tting avoids excess acceleration e.g. from vstop to - vstart . 0(2^16) clk rw 0x2d 0x4d 32 xtarget target position for ramp mode (signed). write a new target position to this register in order to activate the ramp generator positioning in rampmode =0. initialize all velocity, acceleration and deceleration parameters before. hint: the position is allowed to wrap around, thus, xtarget value optionally can be treated as an unsigned number. hint: the maximum possible displacement is +/ - ((2^31) - 1). h int: when increasing v1, d1 or dmax during a motion, rewrite xtarget afterwards in order to trigger a second acceleration phase, if desired. - 2^31
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 24 www.trinamic.com 5.2.2 ramp generator driver feature control register set r amp generator driver feature control regi st er set (m otor 1: 0 x 300 x 36, m otor 2: 0 x 500 x 56) r/w addr n register description / bit names w 0x30 0x50 5 + 5 + 4 ihold_irun bit ihold_irun C driver current control 4..0 ihold standstill current (0=1/3231=32/32) in combination with stealthchop mo de, setting ihold =0 allows to choose freewheeling or coil short circuit for motor stand still. 12..8 irun motor run current (0=1/3231=32/32) hint: choose sense resistors in a way, that normal irun is 16 to 31 for best microstep performance. 19. .16 iholddelay controls the number of clock cycles for motor power down after a motion as soon as t zerowait has expired. the smooth transition avoids a motor jerk upon power down. 0: instant power down 1.. 15: delay per current reduction step in multiple of 2^18 clocks w 0x31 0x51 23 vcoolthrs this is the lower threshold velocity for switching on smart energy coolstep and stallguard feature. further it is the upper operation velocity for stealthchop. (unsigned) set this parameter to disable coolstep at low speeds, where it cannot work reliably. the stop on stall function (enable with sg_stop when using internal motion controller) becomes enabled when exceeding this velocity. it becomes disabled again once the velocity falls below this threshold. this al lows for homing procedures with stallguard by blanking out the stallguard signal at low velocities (will not work in combination with stealthchop). vhigh | vact | vcoolthrs: - coolstep and stop on stall are enabled, if configured - voltage pwm mode stealthchop is switched off, if configured (only bits 22..8 are used for value and for comparison) w 0x32 0x52 23 vhigh this velocity setting allows velocity de pendent switching into a different chopper mode and fullstepping to maximize torque. (unsigned) | vact | vhigh : - coolstep is disabled (motor runs with normal current scale) - if vhighchm is set, the chopper switches to chm =1 with tfd =0 (constant off time wi th slow decay, only). - if vhighfs is set, the motor operates in fullstep mode. - voltage pwm mode stealthchop is switched off, if configured (only bits 22..8 are used for value and for comparison)
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 25 www.trinamic.com r amp generator driver feature control regi st er set (m otor 1: 0 x 300 x 36, m otor 2: 0 x 500 x 56) r/w addr n register description / bit names rw 0x34 0x54 1 2 sw_mode switch mode configuration s ee separ ate table ! r+c 0x35 0x55 14 ramp_stat ramp status and switch event status see separate table! r 0x36 0x56 32 xlatch ramp generator latch position, latches xactual upon a programmable switch event (see sw_mode ). t ime reference t for velocities: t = 2^2 4 / f clk t ime reference ta2 for accelerations: ta2 = 2^41 / (f clk )2
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 26 www.trinamic.com 6.2.2.1 sw_mode C reference switch & stallguard2 event configuration register 0 x 34, 0 x 54: sw_mode C reference switch and stall g uard 2 event configuration register bit name comment 11 en_softstop 0: hard stop 1: soft stop the soft stop mode always uses the deceleration ramp settings dmax , v 1 , d1 , vstop and tzerowait for stopping the motor. a stop occurs when the velocity sign matches the reference switch position (refl for negative vel ocities, refr for positive velocities) and the respective switch stop function is enabled. a hard stop also uses tzerowait before the motor becomes released. attention: do not use soft stop in combination with stallguard2 . 10 sg_stop 1: enable stop by stallguard2 . disable to release motor after stop event. attention: do not enable during motor spin - up, wait until the motor velocity exceeds a certain value, where stallguard 2 delivers a stable result, or set vcoolthrs to a suitable value. 9 - unused, se t to 0 8 latch_r_inactive 1: activates latching of the position to xlatch upon an inactive going edge on the right reference switch input refr. the active level is defined by pol_stop_r. 7 latch_r_active 1: activates latching of the position to xlatch up on an active going edge on the right reference switch input refr. hint: activate latch_r_active to detect any spurious stop event by reading status_latch_r. 6 latch_l_inactive 1: activates latching of the position to xlatch upon an inactive going edge on the left reference switch input refl. the active level is defined by pol_stop_l. 5 latch_l_active 1: activates latching of the position to xlatch upon an active going edge on the left reference switch input refl. hint: activate latch_l_active to detect any spurious stop event by reading status_latch_l. 4 swap_lr 1: swap the left and the right reference switch input refl and refr 3 pol_stop_r sets the active polarity of the right reference switch input 0=non - inverted, high active: a high level on refr stops the motor 1=inverted, low active: a low level on refr stops the motor 2 pol_stop_l sets the active polarity of the left reference switch input 0=non - inverted, high active: a high level on refl stops the motor 1=inverted, low active: a low level on refl stops the motor 1 stop_r_enable 1: enables automatic motor stop during active right reference switch input hint: the motor restarts in case the stop switch becomes released. 0 stop_l_enable 1: enables automatic motor stop during active left referen ce switch input hint: the motor restarts in case the stop switch becomes released.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 27 www.trinamic.com 6.2.2.2 ramp_stat C ramp and reference switch status register 0 x 35, 0 x 55: ramp_stat C ramp and reference s witch status registe r r/w bit name comment r 13 status_sg 1: signals an active stallguard2 input from the coolstep driver , if configured . hint: when polling this flag, stall events may be missed C activate sg_stop to be sure not to miss the stall event. r+c 12 second_move 1: signals that the automatic ramp require d movi ng back in the opposite direction, e.g. due to on - the - fly parameter change (flag is cleared upon reading) r 11 t_zerowait_ active 1: signals, that t zerowait is active after a motor stop. during this time, the motor is in standstill. r 10 vzero 1: signals , that the actual velocity is 0. r 9 position_ reached 1: signals, that the target position is reached. this flag becomes set while x actual and xtarget match. r 8 velocity_ reached 1: signals, that the target velocity is reached. this flag becomes set while v actual and vmax match. r+c 7 event_pos_ reached 1: signals, that the target position has been reached ( pos ition _reached becoming active). (flag and interrupt condition are cleared upon reading) this bit is ored to the interrupt output signal. r+c 6 event_stop_ sg 1: signals an active stallguard2 stop event. reading the register will clear the stall condition and the motor may re - start motion, unless the motion controller has been stopped. (flag and interrupt condition are cleared upon reading) this bit is ored to the interrupt output signal. r 5 event_stop_r 1: signals an active stop right condition due to stop switch. the stop condition and the interrupt condition can be removed by setting ramp_mode to hold mode or by commanding a move to the opp osite direction. in soft_stop mode, the condition will remain active until the motor has stopped motion into the direction of the stop switch. disabling the stop switch or the stop function also clears the flag , but the motor will continue motion . this bit is ored to the interrupt output signal. 4 event_stop_l 1: signals an active stop left condition due to stop switch. the stop condition and the interrupt condition can be removed by setting ramp_mode to hold mode or by commanding a move to the opposite d irection. in soft_stop mode, the condition will remain active until the motor has stopped motion into the direction of the stop switch. disabling the stop switch or the stop function also clears the flag, but the motor will continue motion. this bit is ore d to the interrupt output signal. r+c 3 status_latch_r 1: latch right ready (enable position latching using switch_mode settings latch_r_active or latch_r_inactive ) (flag is cleared upon reading) 2 status_latch_l 1: latch left ready (enable position latching using switch_mode settings latch_l_active or latch_l_inactive ) (flag is cleared upon reading) r 1 status_stop_r reference switch right status (1=active) 0 status_stop_l reference switch left status (1=active)
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 28 www.trinamic.com 5.3 m icrostep table registers c omm on microstep table r egi sters ( m otor 1/2: 0 x 600 x 69 ) r/w addr n register description / bit names range [unit] w 0x60 32 mslut[0] microstep table entries 031 each bit gives the difference between entry x and entry x+1 when combined with the cor - res pond ing mslutsel w bits: 0: w = %00: - 1 %01: +0 %10: +1 %11: +2 1: w = %00: +0 %01: +1 %10: +2 %11: +3 this is the differential coding for the first quarter of a wave. start values for cur_a and cur_b are stored for mscnt position 0 in start_sin and st art_sin90 . ofs31, ofs30, , ofs01, ofs00 ofs255, ofs254, , ofs225, ofs224 32x 0 or 1 reset default= sine wave table w 0x61 0x67 7 x 32 mslut [1...7] microstep table entries 32255 7x 32x 0 or 1 reset default= sine wave table w 0x68 32 mslutsel th is register defines four segments within each quarter mslut wave. four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of mslut . see separate table! 0 < x1 < x2 < x3 reset default= sine wave table w 0x69 8 + 8 mslutstart bit 7 0: start_sin bit 23 16: start_sin90 start_sin gives the absolute current at microstep table entry 0. start_sin 90 gives the absolute current for microstep table entry at positions 256. start values are transferred to the micro step registers cur_a a nd cur_b , when ever the reference position mscnt =0 is passed. start_sin reset default =0 start_sin90 reset default =247 ????? ( 248 ? ??? ( 2 ? ?? ? ? 1024 + ?? 1024 ) ) ? 1 m ircostep table calcu lation for a sine wa ve equivalent to the power on default : - i :[0 255] is the table index - the amplitude of the wave is 248. the resulting maximum positive value is 247 and the maximum negative value is - 248. - the round function rounds values from 0.5 to 1.49 99 to 1
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 29 www.trinamic.com 5.3.1 mslutsel C look up table segmentation definition 0 x 68: mslutsel C l ook up table segment ation definition bit name fu nction comment 31 x3 lut segment 3 start the sine wave look up table can be divided into up to four segments using an individual step width control entry wx . the segment borders are selected by x1 , x2 and x3 . segment 0 goes from 0 to x1 - 1. segment 1 goes from x1 to x2 - 1. segment 2 goes from x2 to x3 - 1. segment 3 goes from x3 to 255. for defined response the values shall satisfy: 0< x1 < x2 < x3 30 29 28 27 26 25 24 23 x2 lut segment 2 start 22 21 20 19 18 17 16 15 x1 lut segment 1 start 14 13 12 11 10 9 8 7 w3 lut width select from ofs(x3) to ofs255 width control bit coding w0 w3 : %00: mslut entry 0, 1 select: - 1, +0 %01: mslut entry 0, 1 select: +0, +1 %10: mslut entr y 0, 1 select: +1, +2 %11: mslut entry 0, 1 select: +2, +3 6 5 w2 lut width select from ofs(x2) to ofs(x3 - 1) 4 3 w1 lut width select from ofs(x1) to ofs(x2 - 1) 2 1 w0 lut width select from ofs00 to ofs(x1 - 1) 0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 30 www.trinamic.com 5.4 motor driver regist ers m otor driver register set (m otor 1: 0 x 6a0 x 6f, m otor 2: 0 x 7a0 x 7f) r/w addr n register description / bit names range [unit] r 0x6a 0x7a 10 mscnt microstep counter. indicates actual position in the microstep table for cur_a . cur_b uses an offset of 256 . hint: move to a position where mscnt is zero before re - initializing mslutstart or mslut and mslutsel . 01023 mscuract bit 8 0: cur_a (signed): actual microstep current for motor phase a as read from mslut (not scaled by current) bit 24 16: cur_b (signed): actual microstep current for motor phase b as read from mslut (not scaled by current) +/ - 0...255 rw 0x6c 0x7c 32 chopconf chopper and driver configuration see separate table! w 0x6d 0x7d 25 coolconf coolstep smart current control register and stallguard2 configuration see separate table! r 0x6f 0x7f 32 drv_ status stallguard2 value and driver error flags see separate table!
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 31 www.trinamic.com 5.4.1 chopconf C chopper configuration 0 x 6c, 0 x 7c: chopconf C c hopper c onfiguration bit name funct ion comment 31 - reserved set to 0 30 diss2g short to gnd protection disable 0: short to gnd protection is on 1: short to gnd protection is disabled 29 - reserved set to 0 28 - reserved set to 0 27 mres3 mres micro step resolution %0000: native 256 m icrostep setting. use this setting for normal operation. 26 mres2 25 mres1 24 mres0 %0001 %1000: 128, 64, 32, 16, 8, 4, 2, fullstep reduced microstep resolution (only for special use!) . the resolution gives the number of microstep entries per sine quarter wave. especially when switching to a low resolution of 8 microsteps and below, take care to switch at certain microstep positions. the switching position determines the sequence of patterns. step width=2^ mres [microsteps] hint: different micr ostep resolutions are only intended for special cases to extend the acceleration or position range 23 - reserved set to 0 22 - 21 - 20 - 19 vhighchm high velocity chopper mode this bit enables switching to chm =1 and fd =0, when vhigh is exceeded. this way, a higher velocity can be achieved. can be combined with vhighfs =1. if set, the toff setting automatically becomes doubled during high velocity operation in order to avoid doubling of the chopper frequency. 18 vhighfs high velocity fullstep sele ction this bit enables switching to fullstep, when vhigh is exceeded. switching takes place only at 45 position. the fullstep target current uses the current value from the microstep table at the 45 position. 17 vsense sense resistor voltage based curre nt scaling 0: low sensitivity, high sense resistor voltage 1: high sensitivity, low sense resistor voltage 16 tbl1 tbl blank time select %00 %11: set comparator blank time to 16, 24, 36 or 54 clocks hint : %01 or %10 recommended for most applications 1 5 tbl0 14 chm chopper mode 0 standard mode (spreadcycle) 1 constant off time with fast decay time. fast decay time is also terminated when the negative nominal current is reached. fast decay is after on time. 13 rndtf random toff time 0 choppe r off time is fixed as set by toff 1 random mode, toff is random modulated by dn clk = - 12 +3 clocks. 12 disfdcc fast decay mode chm =1: disfdcc =1 disables current comparator usage for termi - nation of the fast decay cycle
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 32 www.trinamic.com 0 x 6c, 0 x 7c: chopconf C c hopper c onfiguration bit name funct ion comment 11 fd3 tfd [3] chm =1: msb of fast decay time setting tfd 10 hend3 hend hysteresis low value offset sine wave offset chm =0 %0000 %1111: 1, 0, 1, , 12 hend2 8 hend1 7 hend0 chm =1 %0000 %1111: 1, 0, 1, , 12 hstrt2 hstrt hysteresis s tart value added to hend chm =0 %000 %111: add 1, 2, , 8 to hysteresis low value hend (1/512 of this setting adds to current setting) attention: effective hend+hstrt 16. hint: hysteresis decrement is done each 16 clocks 5 hstrt1 4 hstrt0 tfd [2..0] fast decay time setting chm =1 fast decay time setting (msb: fd3 ): %0000 %1111: tfd with n clk = 32* hstrt (%0000: slow decay only) 3 t off3 toff off time and driver enable off time setting controls duration of slow decay phase n clk = 12 + 32* toff %0000: driver disable, all bridges off %0001: 1 C tbl %0010 %1111: 2 15 toff2 1 toff1 0 toff0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 33 www.trinamic.com 5.4.2 coolcon f C smart energy control coolstep and stallguard2 0 x 6d, 0 x 7d: coolconf C s mart e nergy control cool s tep and stall g uard 2 bit name function comment - reserved set to 0 24 sfilt stallguard2 filter enable 0 standard mode, high time resolution for stallgua rd2 1 filtered mode, stallguard2 signal updated for each four fullsteps only to compensate for motor pole tolerances 23 - reserved set to 0 22 sgt6 stallguard2 threshold value this signed value controls stallguard2 level for stall output and sets the optimum measurement range for readout. a lower value gives a higher sensitivity. zero is the starting value working with most motors. - 64 to +63: a higher value makes stallguard2 less sensi tive and requires more torque to indicate a stall. 21 sgt5 20 sgt4 19 sgt3 18 sgt2 17 sgt1 16 sgt0 15 seimin minimum current for smart current control 0: 1/2 of current setting ( irun ) 1: 1/4 of current setting ( irun ) 14 sedn1 current down step speed %00: for each 32 stallguard2 values decrease by o ne %01: for each 8 stallguard2 values decrease by one %10: for each 2 stallguard2 values decrease by one %11: for each stallguard2 value decrease by one 13 sedn0 12 - reserved set to 0 11 semax3 stallguard2 hysteresis value for smart current control i f the stallguard2 result is equal to or above ( semin + semax+ 1)*32, the motor current becomes decreased to save energy. %0000 %1111: 0 15 10 semax2 9 semax1 8 semax0 7 - reserved set to 0 6 seup1 current up step width current increment steps p er measured stallguard2 value %00 %11: 1, 2, 4, 8 5 seup0 4 - reserved set to 0 3 semin3 minimum stallguard2 value for smart current control and smart current enable if the stallguard2 result falls below semin *32, the motor current becomes increase d to reduce motor load angle. %0000: smart current control coolstep off %0001 %1111: 1 15 2 semin2 1 semin1 0 semin0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 34 www.trinamic.com 5.4.3 drv_status C stallguard2 value and driver error flags 0 x 6f, 0 x 7f: drv_status C stall g uard 2 value and driver err or flags b it name function comment 31 stst standstill indicator this flag indicates motor stand still in each operation mode. it is especially useful for step & dir mode. 30 olb open load indicator phase b 1: open load detected on phase a or b. hint: this is just an informative flag. the driver takes no action upon it. false detection may occur in fast motion and standstill. check during slow motion or after a motion , only. 29 ola open load indicator phase a 28 s 2gb short to ground indicator phase b 1: short to gnd detected on phase a or b. the driver becomes disabled. the flags stay active, until the driver is disabled by software ( toff =0) or by the enn input. 27 s 2ga short to ground indicator phase a 26 otpw overtemperature pre - warning flag 1: overtemperatur e pre - warning threshold is exceeded. the overtemperature pre - warning flag is common for both drivers. 25 ot overtemperature flag 1: overtemperature limit has been reached. drivers become disabled until otpw is also cleared due to cooling down of the ic. t he overtemperature flag is common for both drivers. 24 stallguar d stallguard2 status 1: motor stall detected ( sg_result =0) 23 - reserved ignore these bits 22 21 20 cs actual actual motor current / smart energy current actual current control sca ling, for monitoring smart energy current scaling controlled via settings in register coolconf , or for monitoring the function of the automatic current scaling. 19 18 17 16 15 fsactive full step active indicator 1: indicates that the drive r has switched to fullstep as de fi ned by chopper mode settings and velocity thre sholds. 14 - reserved ignore these bits 13 12 11 10 9 sg_ result stallguard2 result respectively pwm on time for coil a in stand still for motor temperatu re detection mechanical load measurement: the stallguard2 result gives a means to measure mecha nical motor load. a higher value means lower mecha nical load. a value of 0 signals highest load. with opti mum sgt setting, this is an indicator for a motor st all. the stall detection compares sg_result to 0 in order to detect a stall. sg_result is used as a base for coolstep operation, by comparing it to a pro grammable upper and a lower limit. it is not applicable in stealthchop mode. stallguard2 works best wi th microstep operation. temperature measurement: in standstill, no stallguard2 result can be obtained. sg_result shows the chopper on - time for motor coil a instead. if the motor is moved to a determined micro step position at a certain current setting, a c omparison of the chopper on - time can help to get a rough estimation of motor temperature. as the motor heats up, its coil resistance rises and the chopper on - time increases. 8 7 6 5 4 3 2 1 0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 35 www.trinamic.com 5.5 voltage pwm mode stealt hchop m otor driver pwm register set (m otor 1: 0 x 100 x 17, m otor 2: 0 x 180 x 1f) r/w addr n register description / bit names range [unit] w 0x10 0x18 22 pwmconf voltage pwm mode chopper configuration see separate table! r 0x11 0x19 8 pwm_ status actual pw m scaler (255=max. voltage) 0255 5.5.1 pwmconf C voltage pwm mode stealthchop 0 x 1 0 , 0 x 18 : pwmconf C v oltage mode pwm bit name function comment - reserved s et to 0 21 freewheel1 allows different standstill modes stand still option when motor current setti ng is zero ( i_hold =0). %00: normal operation %01: freewheeling %10: coil shorted using ls drivers %11: coil shorted using hs drivers 20 freewheel0 19 - reserved set to 0 18 pwm_ autoscale pwm automatic amplitude scaling 0 user defined pwm amplitu de. the current settings have no influence. 1 enable automatic current control attention: when using a user defined sine wave table, the amplitude of this sine wave table should not be less than 244. best results are obtained with 247 to 252 as peak va lues. 17 pwm_freq1 pwm frequency selection %00: f pwm = 2 /1024 f clk %01: f pwm = 2 /683 f clk %10: f pwm = 2 /512 f clk %11: f pwm = 2 /410 f clk 16 pwm_freq0 15 pwm_ grad user defined regulation loop gradient (bits 15 12 currently unused, set to 0) pwm_ autoscal e=0 0: stealthchop disabled 115: stealthchop enabled (the actual value is not used) 14 13 12 11 pwm_ autoscale=1 0: stealthchop disabled 115: user defined maximum pwm amplitude change per half wave (1 to 15) 10 9 8 7 pwm_ ampl user defined amplitude pwm_ autoscale=0 user defined pwm amplitude the resulting amplitude (0255) is set by this value. 6 5 4 3 pwm_ autoscale=1 user defined maximum pwm amplitude when switching back from current chopper mode t o voltage pwm mode (switch over velocity defined by tpwmthrs). do not set too low values, as the regulation cannot measure the current when the actual pwm value goes below a setting specific value. settings above 0x40 recommended. 2 1 0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 36 www.trinamic.com 6 c urrent setting the internal 5 v supply voltage available at the pin 5vout is used as a reference for the coil current regulation based on the sense resistor voltage measurement. the desired maximum motor current is set by selecting an appropriate value for the sense resistor. the sens e resistor voltage range can be selected by the vsense bit in chopconf . the low sensitivity setting (high sense resistor voltage, vsense =0) brings best and most robust current regulation, while high sensitivity (low sense resistor voltage, vsense =1) reduce s power dissipation in the sense resistor. the high sensitivity setting reduces the power dissipation in the sense resistor by nearly half. after choosing the vsense setting and selecting the sense resistor, the currents to both coils are scaled by the 5 - bit current scale parameters ( ihold , irun ). the sense resistor value is chosen so that the maximum desired current (or slightly more) flows at the maximum current setting ( irun = %11111). using the internal sine wave table, which has the amplitude of 248, the rms motor current can be calculated by: ? ??? = ?? + 1 32 ? ? ?? ? ????? + 20 ? ? ? 1 2 the momentary motor current is calculated by: ? ??? = ??? ? / ? 248 ? ?? + 1 32 ? ? ?? ? ????? + 20 ? ? cs is the current scale setting as set by the ihold and irun a nd coolstep. v fs is the full scale voltage as determined by vsense control bit (please refer to electrical characteristics, v srtl and v srth ). cur a/b is the actual value from the internal sine wave table. the internal resistance of 20m? will be increased by external trace resistance, 5m? are realistic. c hoice of r sense and resulting max . motor current r sense [?] rms current [a] (cs=31, vsense=0) rms current [a] (cs=31, vsense=1) 1.00 0.21 0.12 0.82 0.26 0.15 0.75 0.28 0.16 0.68 0.31 0.18 0.50 0.42 0 .24 0.47 0.45 0.25 0.33 0.63 0.35 0.27 0.76 0.43 0.22 0.91 0.51 0.15 1.29*) 0.72 *) value exceeds upper current rating for single motor operation. hint for best precision of current setting, it is advised to measure and fine tune the current in the application.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 37 www.trinamic.com parameter description setting comment irun current scale when motor is running. scales coil current values as taken from the internal sine wave table. for high precision motor operation, work with a current scaling factor in the range 16 to 31, because scaling down the current values reduces the effective microstep resolution by making microsteps coarser. this setting also controls the maximum current value set by coolstep. 0 31 1/32, 2/32, 32/32 ihold identical to ir un , but for motor in stand still. ihold delay allows smooth current reduction from run current to hold current. iholddelay controls the number of clock cycles for motor power down after t zerowait in increments of 2^18 clocks: 0=instant power down, 1..15 : current reduction delay per current step in multiple of 2^18 clocks. example: when using irun =31 and ihold =16, 15 current steps are required for hold current reduction. a iholddelay setting of 4 thus results in a power down time of 4*15*2^18 clock cycle s, i.e. roughly one second at 16mhz. 0 instant ihold 1 15 18 15*2 18 clocks per current decrement vsense allows control of the sense resistor voltage range for full scale current. 0 v fs = 0.32 v 1 v fs = 0.18 v 6.1 sense resistors sense resistors should be carefully selected. the full motor current flows through the sense resistors. they also see the switching spikes from the mosfet bridges. a low - inductance type such as film or composition res istors is required to prevent spikes causing ringing on the sense voltage inputs leading to unstable measurement results. a low - inductance, low - resistance pcb layout is essential. any common gnd path for the two sense resistors must be avoided, because thi s would lead to coupling between the two current sense signals. a massive ground plane is best. please also refer to layout considerations in chapter 20 . the sense resistor needs to be able to conduct the peak motor coil curre nt in motor standstill conditions, unless standby power is reduced. under normal conditions, the sense resistor conducts less than the coil rms current, because no current flows through the sense resistor during the slow decay phases. the peak sense resis tor power dissipation is: ? ????? = ? ???? 2 ? ? ????? for high current applications, power dissipation is halved by using the low vsense setting and using an adapted resistance value. please be aware, that in this case any voltage drop in pcb traces has a larg er influence on the result. a compact layout with massive ground plane is best to avoid parasitic resistance effects.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 38 www.trinamic.com 7 stealthchop? stealthchop is an extremely quiet mode of operation for low and medium velocities. it is based on a voltage mode pwm. in c ase of standstill and at low velocities, the motor is absolutely noiseless. thus, stealthchop operated stepper motor applications are very suitable for indoor or home use. the motor operates absolutely free of vibration at low velocities. with stealthchop, the motor current is applied by driving a certain effective voltage into the coil, using a voltage mode pwm. there are no more configurations required except for the regulation of the pwm voltage to yield the motor target current. two algorithms are provi ded, a manual and an automatic mode. figure 7 . 1 motor coil sine wave current with stealthchop (measured with current probe) 7.1 two modes for current regulation in order to match the motor current to a certain level, the voltage mode pwm voltage must be scaled depending on the actual motor velocity. several additional factors influence the required voltage level to drive the motor at the target current: the motor resistance, its back emf (i.e. directly proportio nal to its velocity) as well as actual level of the supply voltage. for the ease of use, two modes of pwm regulation are provided: an automatic mode using current feedback ( pwm_autoscale = 1) and a fixed scale mode ( pwm_autoscale = 0). the fixed scale mode will not react to a change of operating conditions like the supply voltage or to events like a motor stall, but it provides very stable amplitude. it does not use nor require any means of current measurement. this is perfect when motor type , velocity and supply voltage are well known. since this mode does not measure the actual current, it will not respond to modification of the current setting, like stand still current reduction. therefore we recommend the automatic mode, unless current regulation is not satisfying in the given operating conditions. the pwm frequency can be chosen in a range in four steps in order to adapt the frequency divider to the frequency of the clock source. a setting in the range of 30 - 50khz is good for many applications. it balanc es low current ripple and good higher velocity performance vs. dynamic power dissipation. c hoice of pwm frequency for stealt h c hop clock frequency f clk pwm_freq=%00 f pwm = 2 /1024 f clk pwm_freq=%01 f pwm = 2 /683 f clk pwm_freq=%10 f pwm = 2 /512 f clk pwm_freq=%11 f p wm = 2 /410 f clk 18mhz 35.2khz 52.7khz 70.3khz 87.8khz 16mhz 31.3khz 46.9khz 62.5khz 78.0khz (internal) ? ? ? ? table 7 . 1 choice of pwm frequency C green: recommended
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 39 www.trinamic.com 7.2 automatic scaling in stealthchop voltage pwm mode, the autoscaling function ( pwm_autoscale = 1) regulates the motor current to the desired current setting. the driver measures the motor current during the chopper on time and uses a proportional regulator to regulate the pwm_scale in order match the motor current to the target current. pwm_grad is the proportionality coefficient for this regulator. basically, the proportionality coefficient should be as small as possible in order to get a stable and soft regulation behavior, but it must be large enough to allow the driver to quickly react to changes caused by variation of the motor target current, the motor velocit y or effects resulting from changes of the supply voltage. as the supply voltage level and motor temperature normally change only slowly, a minimum setting of the regulation gradient often is sufficient ( pwm_grad =1). if stealthchop operation is desired for a higher velocity range, variations of the motor back emf caused by motor acceleration and deceleration may require a quicker regulation. pwm_grad setting should be optimized for the fastest required acceleration and deceleration ramp (see figure 7 . 4 ). the quality of a given setting can be examined when monitoring pwm_scale and motor velocity. just as in the acceleration phase, during a deceleration phase the voltage pwm amplitude must be adapted in order to keep the motor coil cu rrent constant. when the upper acceleration and the upper deceleration used in the application are identical, the value determined for the acceleration phase will already be optimum for both. figure 7 . 2 sco pe shot: good setting for pwm_grad figure 7 . 3 scope shot: too small setting for pwm_grad
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 40 www.trinamic.com figure 7 . 4 good and too small setting fo r pwm_grad be sure to use a symmetrical sense resistor layout and sense resistor traces of identical length and well matching sense resistors for best performance. quick start for a quick start, see the quick configuration guide in chapter 14 . 7.2.1 lower current limit the autoscaling function imposes a lower limit for motor current regulation . as the coil current can be measured in the shunt resistor during chopper on phase, only, a minimum chopper duty cycle allowing coil current regulation is given by the blank time as set by tbl and by the chopper frequency setting. therefore, the motor specific minimum coil current in stealthchop autoscaling mode rises with the supply voltage and the chopper frequency . a lower blanking time all ows a lower current limit. extremely low currents (e.g. for standstill power down) can be realized with the non - automatic current scaling or with the freewheeling option, only. the run current setting needs to be kept above the lower limit: in case the pwm _scale drops to a too low value, e.g. because the current scale was too low, the regulator may not be able to recover. the regulator will recover once the motor is in standstill. the lower motor coil current limit can be calculated from motor parameters an d chopper settings: ? ????? ????? = ? ????? ? ? ??? ? ? ? ? ???? v e l o c i t y t i m e s t a n d s t i l l p w m s c a l e p w m r e a c h e s m a x . a m p l i t u d e 2 5 5 0 m o t o r c u r r e n t n o m i n a l c u r r e n t ( s i n e w a v e r m s ) r m s c u r r e n t c o n s t a n t 0 p w m s c a l e c u r r e n t m a y d r o p d u e t o h i g h v e l o c i t y v e l o c i t y t i m e s t a n d s t i l l p w m s c a l e 2 5 5 0 m o t o r c u r r e n t n o m i n a l c u r r e n t ( s i n e w a v e r m s ) 0 p w m s c a l e p w m _ g r a d t o o s m a l l p w m _ g r a d o k c u r r e n t d r o p s d u e t o t o o s m a l l p w m _ g r a d c u r r e n t o v e r s h o o t s d u e t o t o o s m a l l p w m _ g r a d p w m _ g r a d o k s e t t i n g f o r p w m _ g r a d o k . s e t t i n g f o r p w m _ g r a d s l i g h t l y t o o s m a l l .
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 41 www.trinamic.com with v m the motor supply voltage and r coil the motor coil resistance . i lower limit can be treated as a thumb value for the minimum possible motor current s etting . example : a motor has a coil resistance of 5?, the supply voltage is 24v. with tbl = %0 1 and pwm_freq =%00 , t blank is 24 clock cycles, f pwm is 2 / ( 1024 clock cycles ) : ? ????? ????? = 24 ? ??? ? 2 1024 ? ??? ? 24 ? 5? = 24 512 ? 2 4 ? 5? = 225 ?? for pwm_autoscale mode, a lower coil current limit applies. this limit can be calculated or measured using a current probe . keep the motor run - current setting irun well above th is lower current limit . 7.2.2 pwm_ampl for using stealthchop and sp readcycle when combining stealthchop with spreadcycle or constant off time classic pwm, a switching velocity can be chosen using vcool thrs . with this, stealthchop is only active at low velocities. often, a very low velocity in the range of 1 to a few 10 rp m fits best. in case a high switching velocity is chosen, special care should be taken for switching back to stealthchop during deceleration, because the phase jerk can produce a short time overcurrent. (refer to chapter 7.4 fo r more details about combining stealthchop with other chopper modes.) to avoid a short time overcurrent and to minimize the jerk, the initial amplitude for switching back to stealthchop at sinking velocity can be determined using the setting pwm_ampl . tune pwm_ampl to a value which gives a smooth and safe transition back to stealthchop within the application. as a thumb rule, ? to ? of the last pwm_scale value which was valid after the switching event at rising velocity can be used. for high resistive stepp ers as well as for low transfer velocities (as set by vcoolthrs ), pwm_ampl can be set to 255 as most universal setting. note the autoscaling function only starts up regulation during motor standstill. after enabling stealthchop and setting all parameters, be sure to wait until pwm_scale has reached a stable state before starting a motion. failure to do so will result in zero motor current! in case the automatic scaling regulation is instable at your desired motion velocity, try modifying the chopper freque ncy divider pwm_freq . also adapt the blank time tbl and motor current for best result. 7.2.3 acceleration in automatic current regulation mode ( pwm_autoscale = 1), the pwm_grad setting should be optimized for the fastest required acceleration ramp. use a curren t probe and check the motor current during (quick) acceleration. a setting of 1 may result in a too slow regulation, while a setting of 15 responds very quickly to velocity changes, but might produce regulation instabilities in some constellations. a setti ng of 4 is a good starting value. hint operate the motor within your application when exploring stealthchop. motor performance often is better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations which can occur without load. 7.3 fixed scaling non - automatic, fixed scaling scales the stealthchop amplitude based on the user defined value pwm_ampl . the stepper motor has a certain coil resistance and thus needs a certain voltage amplitude to yield a target current based o n the basic formula i=u/r. with r being the coil resistance, u the supply voltage scaled by the pwm value, the current i results. the initial value for pwm_ampl at low velocities can be calculated:
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 42 www.trinamic.com ??? _ ???? = 374 ? ? ???? ? ? ???? ? ? with v m the motor supply voltage and i coil the target rms current the effective pwm voltage u pwm (1/sqrt(2) x peak value) results considering the 8 bit resolution and 248 sine wave peak for the actual pwm amplitude shown as pwm_scale : ? ??? = ? ? ? ??? _ ????? 256 ? 248 256 ? 1 2 = ? ? ? ??? _ ????? 374 with rising motor velocity, the motor generates an increasing back emf voltage. the back emf voltage is proportional to the motor velocity. it reduces the pwm voltage effective at the coil resistance and thus current decreases. a higher scale value is necessary to compensate for this. when a higher value is chosen , it should be made sure, that the maximum driver current is not exceeded during the acceleration phase. this can be checked with the above formula. a short time excess current will not do harm to the motor. hint the setting for pwm_ampl can easily be optimized by tracing the motor current with a current probe on the oscilloscope. it is not even necessary to calculate the formulas if you carefully start with a low setting for both.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 43 www.trinamic.com 7.4 combining stealthchop with other chopper modes the tmc 50 41 allows combining stealthchop and different chopper modes based on velocity thresholds. this way, the optimum chopper principle ca n be chosen for different velocity ranges. as a first step, both chopper principles should be parameterized and optimized individually. in a next step, a transfer velocity has to be fixed. for example, stealthchop operation is used for precise low speed po sitioning, while spreadcycle shall be used for highly dynamic motion. vcool thrs determines the transition velocity. use a low transfer velocity to avoid a jerk at the switching point. a jerk occurs when switching at higher velocities, because the back - emf of the motor (which rises with the velocity) causes a phase shift of up to 90 between motor voltage and motor current. so when switching at higher velocities between voltage pwm and current pwm mode, this jerk will occur with increased intensity. at low v elocities (e.g. 1 to a few 10 rpm), it can be completely neglected for most motors. therefore, the vcoolthrs should be set to a low velocity, in order to eliminate any jerk in case an automatic switching between two chopper modes is desired. set vcoolthrs and vhigh to high values (above vmax ) if you want to work with stealthchop only. when enabling the stealthchop mode the first time using automatic current regulation, the motor must be at stand still in order to allow a proper current regulation. when the drive switches to a different chopper mode at a higher velocity, stealthchop logic stores the last current regulation setting until the motor returns to a lower velocity again. this way, the regulation has a known starting point when returning to a lower v elocity, where stealthchop becomes re - enabled. therefore, neither the velocity threshold nor the supply voltage must be considerably changed during the phase while the chopper is switched to a different mode, because otherwise the motor might lose steps or the instantaneous current might be too high or too low. a motor stall or a sudden change in the motor velocity may lead to the driver detecting a short circuit or to a state of automatic current regulation, from which it cannot recover. clear the error fl ags and restart the motor from zero velocity to recover from this situation. hint start the motor from standstill when switching on stealthchop the first time and keep it stopped for at least 128 chopper periods to allow stealthchop to do initial standsti ll current control.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 44 www.trinamic.com 7.5 flags in stealthchop 7.5.1 open load flags in stealthchop mode, status information is different from the cycle - by - cycle regulated chopper modes. ola and olb show if the current regulation sees that the nominal current can be reached on bot h coils. - a flickering ola or olb can result from tiny asymmetries in the sense resistors or in the motor coils. - an interrupted motor coil leads to a continuously active open load flag for the coil. - both flags are active, if the current regulation did no t succeed in scaling up to the full target current within the last few fullsteps (because no motor is attached or a high acceleration required a quick action of the current regulator). with automatic scaling and pwm_grad > 1, the current regulation tries to increase the current quickly to reach the target current in the interrupted motor coil. at the same time but a bit slower the current regulation tries to decrease the motor current due to the other motor coil seeing too high current. therefore it is re commended to do an on - demand open load test using the spreadcycle or classic chopper prior to operation in stealthchop, and not to switch on stealthchop in case of open load failure. alternatively, pwm_scale can be checked for plausible values. 7.5.2 pwm_scale informs about the motor state information about the motor state is available with automatic scaling by reading out pwm_scale . as this parameter reflects the actual voltage required to drive the target current into the motor, it depends on several factors: motor load, coil resistance, supply voltage, and current setting. therefore, an evaluation of the pwm_scale value allows seeing the motor load (similar to stallguard2) and finding out if the target current can be reached. it even gives an idea on the moto r temperature (evaluate at a well - known state of operation).
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 45 www.trinamic.com 7.6 freewheeling and passive motor braking stealthchop provides different options for motor standstill. these options can be enabled by setting the standstill current ihold to zero and choosing th e desired option using the freewheel setting. the desired option becomes enabled after a time period specified by t zerowait and ihold_delay . the pwm_scale regulation becomes frozen once the motor target current is at zero current in order to ensure a quick startup. parameter description setting comment vcoolthrs vhi g h whichever is lower, s pecifies the upper velocity for operation i n stealthchop voltage pwm mode. 0 pwm_ autoscale enable automatic current scaling using current measurement or use fixed s caling mode. 0 fixed mode 1 automatic scaling with current regulator pwm_freq pwm frequency selection. stealthchop uses a fixed pwm frequency by dividing the system clock frequency using a programmable divider. use the lowest setting giving goo d results. 0 f pwm =1/1024 f clk 1 f pwm =1/683 f clk 2 f pwm =1/512 f clk 3 f pwm =1/410 f clk pwm_grad global enable and r egulation loop gradient when pwm_autoscale =1. 0 do not use stealthchop 1 pwm_ampl user defined pwm amplit ude for fixed scaling or amplitude limit for re - entry into stealthchop mode when pwm_autoscale =1. 0 255 freewheel stand still option when motor current setting is zero ( i_hold =0). only available with stealthchop enabled. the freewheeling option makes t he motor easy movable, while both coil short options realize a passive brake. mode 2 will brake more intensely than mode 3, because low side drivers (ls) have lower resistance than high side drivers. 0 normal operation 1 freewheeling 2 coil shorted u sing ls drivers 3 coil shorted using hs drivers pwm_scale read back of the actual stealthchop voltage pwm scaling as determined by the current regulation. can be used to detect motor load and stall when autoscale =1. 0 255 toff general enable for the motor driver, the actual value does not influence stealthchop 0 driver off 1 15 tbl selects the comparator blank time . this time needs to safely c over the switching event and the duration of the ringing on the sense resistor. for most applications, a setting of 1 or 2 is good. for highly capacitive loads, e.g. when filter networks are used, a setting of 2 or 3 will be required. a lower setting allow s stealthchop to regulate down to lower coil current values. 0 16 t clk 1 24 t clk 2 36 t clk 3 54 t clk irun ihold run and hold current setting for stealth chop operation C pwm_a utoscale =1 see chapter on current setting for details
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 46 www.trinamic.com 8 spreadcycle and classic chopper while stealthchop is a voltage mode pwm controlled chopper, spreadcycle is a cycle - by - cycle current control. therefore, it can react extremely fast to changes in motor velocity or motor load. the currents through both mo tor coils are controlled using choppers. the choppers work independently of each other. in f igure 8 . 1 the different chopper phases are shown. f igure 8 . 1 chopper phases although the current could be regulated using only on phases and fast decay phases, insertion of the slow decay phase is important to reduce electrical losses and current ripple in the motor. the duration of the slow decay phase is specifie d in a control parameter and sets an upper limit on the chopper frequency. the current comparator can measure coil current during phases when the current flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is term inated by a timer. the on phase is terminated by the comparator when the current through the coil reaches the target current. the fast decay phase may be terminated by either the comparator or another timer. when the coil current is switched, spikes at the sense resistors occur due to charging and discharging parasitic capacitances. during this time, typically one or two microseconds, the current cannot be measured. blanking is the time when the input to the comparator is masked to block these spikes. there are two cycle - by - cycle chopper modes available: a new high - performance chopper algorithm called spreadcycle and a proven constant off - time chopper mode. the constant off - time mode cycles through three phases: on, fast decay, and slow decay. the spreadcycl e mode cycles through four phases: on, slow decay, fast decay, and a second slow decay. the chopper frequency is an important parameter for a chopped motor driver. a too low frequency might generate audible noise. a high er frequency reduces current ripple in the motor, but with a too high frequency magnetic losses may rise. also power dissipation in the driver rises with increasing frequency due to the increased influence of switching slopes causing dynamic dissipation. therefore, a compromise needs to be f ound. most motors are optimally working in a frequency range of 16 khz to 3 0 khz. the chopper frequency is influenced by a number of parameter settings as well as by the motor inductivity and supply voltage. hint a chopper frequency in the range of 16 kh z to 3 0 khz gives a good result for most motors when using spreadcycle . a higher frequency leads to increase d switching losse s . it is advised to check the resulting frequency and to work below 50 khz. r s e n s e i c o i l o n p h a s e : c u r r e n t f l o w s i n d i r e c t i o n o f t a r g e t c u r r e n t r s e n s e i c o i l f a s t d e c a y p h a s e : c u r r e n t f l o w s i n o p p o s i t e d i r e c t i o n o f t a r g e t c u r r e n t r s e n s e i c o i l s l o w d e c a y p h a s e : c u r r e n t r e - c i r c u l a t i o n + v m + v m + v m
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 47 www.trinamic.com three parameters are used for controlling both chopp er modes: 8.1 spreadcycle chopper the spreadcycle (patented) chopper algorithm is a precise and simple to use chopper mode which automatically determines the optimum length for the fast - decay phase. the spreadcycle will provide superior microstepping quality even with default settings. several parameters are available to optimize the c hopper to the application. each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a second slow decay phase (see f igure 8 . 3 ). the two slow decay phases and the two blank times per chopper cycle put an upper limit to the chopper frequency. the slow decay phases typically make up for about 3 0% - 7 0 % of the chopper cycle in standstill and are important for low motor and driver power dissipation. calculation of a starting value for the slow decay ti me toff : assumptions: target chopper frequency: 25khz two slow decay cycles make up for 50 % of overall chopper cycle time ? ??? = 1 25 ??? ? 50 100 ? 1 2 = 10 ? for the toff setting this means: ???? = ( ? ??? ? ? ??? ? 12 ) / 32 with 12 mh z clock this gives a setting of toff= 3.4 , i.e. 3 or 4 . with 16 mhz clock this gives a setting of toff= 4 . 6 , i.e. 4 or 5 . the hysteresis start setting forces the driver to introduce a minimum amount of current ripple into the motor coils. the current ripp le must be higher than the current ripple which is caused by resistive losses in the motor in order to give best microstepping results. this will allow the chopper to precisely regulate the current both for rising and for falling target current. the time r equired to introduce the current ripple into the motor coil also reduces the chopper frequency. therefore, a higher hysteresis setting will lead to a lower chopper frequency. the motor inductance limits the ability of the chopper to follow a changing motor current. further the duration of the on phase and the fast decay must be longer than the blanking time, because the current comparator is disabled during blanking. it is easiest to find the best setting by starting from a low hysteresis setting (e.g. hs trt =0, hend =0) and increasing hstrt, until the motor runs smoothly at low velocity settings. this can best be parameter description setting comment toff sets the slow decay time ( off time ). this setting also limits the maximum chopper frequency. for operation with stealthchop, this parameter is not used, but it is required to enable the motor. in case of operation with stealthchop only, any setting is ok. setting this parameter to zero completely disables all driver transistors and the motor can free - wheel. 0 chopper off 115 clk = 12 + 32* toff (1 will work with minimum blank time of 24 clocks) tbl selects the comparator blank time . this time needs to safely cover the switching event and the duration of the ringing on the sense resistor. for most applications, a setting of 1 or 2 is good. for highly capacitive loads, e.g. when filt er networks are used, a setting of 2 or 3 will be required. 0 16 t clk 1 24 t clk 2 36 t clk 3 54 t clk chm selection of the chopper mode 0 spreadcycle 1 classic const. off time
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 48 www.trinamic.com checked when measuring the motor current either with a current probe or by probing the sense resistor voltages (see figure 8 . 2 ). checking the sine wave shape near zero transition will show a small ledge between both half waves in case the hysteresis setting is too small. at medium velocities (i.e. 100 to 400 fullsteps per second), a too low hysteresis setting will lead to i ncreased humming and vibration of the motor. figure 8 . 2 n o ledges in current wave with sufficient hysteresis (magenta: current a, yellow & blue: sense resistor voltages a and b) a too high hysteresis sett ing will lead to reduced chopper frequency and increased chopper noise but will not yield any benefit for the wave shape. quick start for a quick start, see the quick configuration guide in chapter 14 . for detail procedure see application note an00 1 - parameterization of spreadcycle as experiments show, the setting is quite independent of the motor, because higher current motors typically also have a lower coil resistance. therefore choosing a low to medium default value for t he hysteresis (for example, effective hysteresis = 4) normally fits most applications. the setting can be optimized by experimenting with the motor: a too low setting will result in reduced microstep accuracy, while a too high setting will lead to more cho pper noise and motor power dissipation. when measuring the sense resistor voltage in motor standstill at a medium coil current with an oscilloscope, a too low setting shows a fast decay phase not longer than the blanking time. when the fast decay time beco mes slightly longer than the blanking time, the setting is optimum. you can reduce the off - time setting, if this is hard to reach. the hysteresis principle could in some cases lead to the chopper frequency becoming too low, e.g. when the coil resistance i s high when compared to the supply voltage. this is avoided by splitting the hysteresis setting into a start setting ( hstrt+hend ) and an end setting ( hend ). an automatic hysteresis decrementer (hdec) interpolates between both settings, by decrementing the hysteresis value stepwise each 16 system clocks. at the beginning of each chopper cycle, the hysteresis begins with a value which is the sum of the start and the end values ( hstrt + hend ), and decrements during the cycle, until either the chopper cycle ends or the hysteresis end value ( hend ) is reached. this way, the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the frequency gets too low. this avoids the frequency reaching the audible range.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 49 www.trinamic.com f igure 8 . 3 spreadcycle chopper scheme showing coil current during a chopper cycle two parameters control spreadcycle mode: parameter description setting comment hstrt hysteresis start setting. this val ue is an offset from the hysteresis end value hend . 07 hstrt =18 hend hysteresis end setting. sets the hysteresis end value after a number of decrements. the sum hstrt + hend must be 02 3 415 112: positive hend example: in the example a hysteresis of 4 has been ch osen. you might decide to not use hysteresis decrement. in this case set: hend =6 (sets an effective end value of 6 - 3=3) hstrt =0 (sets minimum hysteresis, i.e. 1: 3+1=4 ) in order to take advantage of the variable hysteresis, we can set most of the value t o the hstrt, i.e. 4, and the remaining 1 to hysteresis end. the resulting configuration register values are as follows: hend =0 (sets an effective end value of - 3) hstrt =6 (sets an effective start value of hysteresis end +7: 7 - 3=4) hint highest motor ve locities sometimes benefit from setting toff to 1 , 2 or 3 and a short tbl of 1 or 0. t i t a r g e t c u r r e n t t a r g e t c u r r e n t - h y s t e r e s i s s t a r t t a r g e t c u r r e n t + h y s t e r e s i s s t a r t o n s d f d s d t a r g e t c u r r e n t + h y s t e r e s i s e n d t a r g e t c u r r e n t - h y s t e r e s i s e n d h d e c
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 50 www.trinamic.com 8.2 classic constant off time chopper the classic constant off time chopper is an alternative to spreadcycle. perfectly tuned, it also gives good results. also, the classic constant off time chopper is beneficial when used in combination with fullstepping , i.e. at high velocity . the classic constant off - time chopper uses a fixed - time fast decay following each on phas e. while the duration of the on - phase is determined by the chopper comparator, the fast decay time needs to be long enough for the driver to follow the falling slope of the sine wave, but it should not be so long that it causes excess motor current ripple and power dissipation. this can be tuned using an oscillosc ope or evaluating motor smoothness at different velocities. a good starting value is a fast decay time setting similar to the slow decay time setting. f igure 8 . 4 classic const. of f time chopper with offset showing coil current after tuning the fast decay time, the offset should be tuned for a smooth zero crossing. this is necessary because the fast decay phase makes the absolute value of the motor current lower than the target cur rent (see f igure 8 . 5 ). if the zero offset is too low, the motor stands still for a short moment during current zero crossing. if it is set too high, it makes a larger microstep. typically, a positive offset setting is required for smoothest operation. f igure 8 . 5 zero crossing with classic chopper and correction using sine wave offset three parameters control constant off - time mode: t i m e a n v a l u e = t a r g e t c u r r e n t t a r g e t c u r r e n t + o f f s e t o n s d f d s d o n f d t i t a r g e t c u r r e n t c o i l c u r r e n t t i t a r g e t c u r r e n t c o i l c u r r e n t c o i l c u r r e n t d o e s n o t h a v e o p t i m u m s h a p e t a r g e t c u r r e n t c o r r e c t e d f o r o p t i m u m s h a p e o f c o i l c u r r e n t
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 51 www.trinamic.com parameter description setting comment tfd ( fd3 & hstrt ) fast decay time setting. with chm=1, these bits control the portion of fast decay for each chopper cycle. 0 slow decay only 115 offset ( hend ) sine wave offset . with chm=1, these bits cont rol the sine wave offset. a positive offset corrects for zero crossing error. 02 3 415 positive offset 112 disfdcc selects usage of the current comparator for termination of the fast decay cycle. if current com parator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. 0 enable comparator termination of fast decay cycle 1 end by time only 8.3 random off time in the constant off - time chopper mode, both coil choppers run freely without synchronization. the frequency of each chopper mainly depends on the coil current and the motor coil inductance. the inductance varies with the microstep position. with some motors, a slightly audible be at can occur between the chopper frequencies when they are close together. this typically occurs at a few microstep positions within each quarter wave. this effect is usually not audible when compared to mechanical noise generated by ball bearings, etc. an other factor which can cause a similar effect is a poor layout of the sense resistor gnd connections. hint a common factor, which can cause motor noise, is a bad pcb layout causing coupling of both sense resistor voltages (please refer layouts hint in cha pter 20 ). to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. it modulates the slow decay time setting when switched on by the rndtf bit. the rndtf featu re further spreads the chopper spectrum, reducing electromagnetic emission on single frequencies. parameter description setting comment rndtf this bit switches on a random off time generator, which slightly modulates the off time toff using a random poly nomial. 0 disable 1 random modulation enable
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 52 www.trinamic.com 9 driver diagnostic flags the tmc5 0 41 drivers supply a complete set of diagnostic and protection capabilities, like short to gnd protection and undervoltage detection. a detection of an open load condition allows testing if a motor coil connection is interrupted. see the drv_status table for details. 9.1 temperature measurement the driver integrates a two level temperature sensor (120c pre - warning and 150c thermal shutdown) for diagnostics and for protection of t he ic against excess heat. h eat is mainly generated by the motor driver stages, and, at increased voltage, by the internal voltage regulator. most critical situations, where the driver mosfets could be overheated, are avoided when enabling the short t o gnd protection. for many applications, the overtemperature pre - warning will indicate an abnormal operation situation and can be used to initiate user warning or power reduction measures like motor current reduction. the thermal shutdown is just an emerge ncy measure and temperature rising to the shutdown level should be prevented by design. after triggering the over temperature sensor ( ot flag), the driver remains switched off until the system temperature falls below the pre - warning level ( otpw ) to avoid continuous heating to the shut down level. 9.2 short to gnd protection the tmc5 0 41 power stages are protected against a short circuit condition by an additional measure - ment of the current flowing through the high - side mosfets. this is important, as most shor t circuit conditions result from a motor cable insulation defect, e.g. when touching the conducting parts connected to the system ground. the short detection is protected against spurious triggering, e.g. by esd discharges, by retrying three times before s witching off the motor. once a short condition is safely detected, the corresponding driver bridge becomes switched off, and the s2g a or s2gb flag becomes set. in order to restart the motor, the user must intervene by disabling and re - enabling the driver . it should be noted, that the short to gnd protection cannot protect the system and the power stages for all possible short events, as a short event is rather undefined and a complex network of external components may be involved. therefore, short circuit s should basically be avoided. 9.3 open load diagnostics interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly plugged. the tmc5 0 41 detects open load conditions by checking, if it can reach the desired motor coil curre nt. this way, also undervoltage conditions, high motor velocity settings or short and overtemperature conditions may cause triggering of the open load flag, and inform the user, that motor torque may suffer. in motor stand still, open load cannot be measur ed, as the coils might eventually have zero current. in order to safely detect an interrupted coil connection, read out the open load flags at low or nominal motor velocity operation, only. however, the ol a and olb flags have just informative character a nd do not cause any action of the driver.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 53 www.trinamic.com 10 ramp generator the ramp generator allows motion based on target position or target velocity. it automatically calculates the optimum motion profile taking into account acceleration and velocity settings. the tmc5 0 41 integrates a new type of ramp generator, which offers faster machine operation compared to the classical linear acceleration ramps. the sixpoint ramp generator allows adapting the acceleration ramps to the torque curves of a stepper motor and uses two different acceleration settings each for the acceleration phase and for the deceleration phase. see f igure 10 . 2 . 10.1 real world unit conversion the tmc5 07 2 uses its internal or external clock signal as a time referenc e for all internal operations. thus, all time, velocity and acceleration settings are referenced to f clk . for best stability and reproducibility, it is recommended to use an external quartz oscillator as a time base, or to provide a clock signal from a mic rocontroller. the units of a tmc5 0 41 register co ntent are written as register[50 41 ]. p arameter vs . u nits parameter / symbol unit calculation / description / comment f clk [hz] [hz] clock frequency of the tmc5 0 41 in [hz] s [s] second us step fs full step step velocity v[hz] steps / s v[hz] = v[5 0 41 ] * ( f clk [hz]/2 / 2^23 ) step acceleration a[hz/s] steps / s^2 a[hz/s] = a[5 0 41 ] * f clk [hz]^2 / (512*256) / 2^24 usc microstep count counts microstep resolution in number of microsteps (i.e. the num ber of microsteps between two fullsteps C chopconf option mres =%0001 will double the motor velocity for the same speed setting and thus also double effective acceleration and deceleration. the motor will have half position resolution with this setting. quick start for a quick start, see the quick configuration guide in chapter 14 .
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 54 www.trinamic.com 10.2 motion profiles for the ramp generator register set, please refer to the chapter 5.2 . 10.2.1 ramp mode the ramp generator delivers two phase acceleration and two phase deceleration ramps with additional prog rammable start and stop velocities (see f igure 10 . 1 ). the two different sets of acceleration and deceleration can be combined fr eely . a common transition speed v1 allows for velocity dependent switching between both accel eration and deceleration settings . a typical use case will use lower acceleration and deceleration values at h igher velocities, as the motors torque declines at higher velocity. when considering friction in the system, it becomes clear, that typically dece leration of the system is quicker than acceleration. thus, deceleration values can be higher in many applications. this way, operation speed of the motor in time critical applications can be maximized. as target positions and ramp parameters may be change d any time during the motion, the motion controller will always use the optimum (fastest) way to reach the target, while sticking to the constraints set by the user. this way it might happen, that the motion becomes automatically stopped, crosses zero and drives back again. this case is flagged by the special flag second_move. 10.2.2 start and stop velocity when using increased levels of start - and stop velocity, it becomes clear, that a subsequent move into the opposite direction would provide a jerk identical t o vstart + vstop , rather than only vstart . as the motor probably is not able to follow this, you can set a time delay for a subsequent move by setting tzerowait . an active delay time is flagged by the flag t_zerowait_active . once the target position is reach ed, the flag pos ition _reached becomes active. f igure 10 . 1 ramp generator velocity trace showing consequent move in negative direction note the start velocity can be set to zero, if n ot used. t he stop v elocity can be set to ten (or down to one) , if not used. take care to always set vstop identical to or above vstart . this ensures that even a short motion can be terminated successfully at the target position. v t a c c e l e r a t i o n p h a s e d e c e l e r a t i o n p h a s e m o t o r s t o p v s t o p v s t a r t 0 v 1 v m a x a m a x d m a x d 1 a 1 - a 1 t z e r o w a i t a c c e l e r a t i o n p h a s e v a c t u a l
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 55 www.trinamic.com f igure 10 . 2 illustration of optimized motor torque usage with tmc5 0 41 ramp generator 10.2.3 velocity mode for the ease of use, velocity mode movements do not use the different acceleration and deceleration settings. you need to set vmax and amax only for velocity mode. the ramp generator always uses amax to accelerate or decelerate to vmax in this mode. in order to decelerate the motor to stand still, it is sufficient to set vmax to zero. the flag vzero signals standstill of th e motor. the flag velocity_reached always signals, that the target velocity has been reached. 10.2.4 early ramp termination in cases where users can interact with a system, some applications require terminating a motion by ramping down to zero velocity before t he target position has been reached. o ptions to t erminate m otion using a cceleration s ettings : a) switch to velocity mode, set vmax =0 and amax to the desired deceleration value. this will stop the motor using a linear ramp. b) for a stop in positioning mode, set vstart =0 and vmax =0. vstop is not used in this case. the driver will use amax and a1 (as determined by v1 ) for going to zero velocity. c) for a stop using d1 , dmax and vstop , trigger the deceleration phase by copying xactual to xtarget . set tzerowait suf ficiently to allow the cpu to interact during this time. the driver will decelerate and eventually come to a stop. poll the actual velocity to terminate motion during tzerowait time using option a) or b). d) activate a stop switch. this can be done by means o f the hardware input, e.g. using a wired 'or' to the ref switch input. if you do not use the hardware input and have tied the refl and refr to a fixed level, enable the stop function ( stop_l_enable , stop_r_enable ) and use the inverting function ( pol_stop_l , pol_stop_r ) to simulate the switch activation. 10.2.5 application example: joystick control applications like surveillance cameras can be optimally enhanced using the motion controller: while joystick commands operate the motor at a user defined velocity, the target ramp generator ensures that the valid motion range never is left. t o r q u e f o r v s t a r t t o r q u e a v a i l a b l e f o r a m a x t o r q u e a v a i l a b l e f o r a c c e l e r a t i o n a 1 t o r q u e r e q u i r e d f o r s t a t i c l o a d s t o r q u e v e l o c i t y [ r p m ] 0 m f r i c t m m a x v m a x m f r i c t p o r t i o n o f t o r q u e r e q u i r e d f o r f r i c t i o n a n d s t a t i c l o a d w i t h i n t h e s y s t e m m m a x m o t o r p u l l - o u t t o r q u e a t v = 0 m o t o r t o r q u e m n o m 2 h i g h a c c e l e r a t i o n r e d u c e d a c c e l . v 1 m n o m 1 m n o m 1 / 2 t o r q u e a v a i l a b l e a t v 1 r e s p . v m a x m o t o r t o r q u e u s e d i n a c c e l e r a t i o n p h a s e h i g h d e c e l e r a t i o n r e d u c e d d e c e l . 2 x m f r i c t o v e r a l l t o r q u e u s a b l e f o r d e c e l e r a t i o n v s t a r t
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 56 www.trinamic.com r ealize j oystick c ontrol 1. use positioning mode in order to control the motion direction and to set the motion limit(s). 2. modify vmax at any time in the range vstart to your maximum va lue. with vstart =0, you can also stop motion by setting vmax =0. the motion controller will use a1 and amax as determined by v1 to adapt velocity for ramping up and ramping down. 3. in case you do not modify the acceleration settings, you do not need to rewri te xtarget , just modify vmax . 4. dmax, d1 and vstop only become used when the ramp controller slows down due to reaching the target position, or when the target position has been modified to point to the other direction. 10.3 interrupt handling the motion controller s provide the capability to issue an interru pt to the microcontroll er, e .g. in order to react on a position reached event. in case more than one interrupt source is possible, it is necessary to carefully check for the actual event , without riskin g losing an event. i nterrupt handling fo r 2 a xis (e xample for target _ reached ) : 1. read ramp_stat1 to clear the interrupt flags. this will turn off the in terrupt source . 2. c heck x actual1 for reaching of the target position (and any other conditions you want to check for ramp 1 ). 3. d o the same for ramp_stat2 and x actual2 . this way, you are sure that you will not miss an y target_reached condition , because you first clear the flags, and afterwards read out the condition. 10.4 velocity thresholds the ramp generat or provides a number of velocity thresholds coupled to the actual velocity vactual . the different ranges allow programming the motor to the optimum step mode, coil cur rent and acceleration settings. for the range labeled microstepping in f igure 10 . 3 , either stealthchop or spreadcycle can be used, if enabled. f igure 10 . 3 ramp generator velocity dependent motor control h i g h v e l o c i t y f u l l s t e p m i c r o s t e p + c o o l s t e p m i c r o s t e p + c o o l s t e p m i c r o s t e p p i n g m i c r o s t e p p i n g m o t o r s t a n d s t i l l m o t o r g o i n g t o s t a n d b y m o t o r i n s t a n d b y m o t o r i n s t a n d b y v t v s t o p v s t a r t 0 v 1 v m a x a m a x d m a x d 1 a 1 v a c t u a l v c o o l t h r s v h i g h c u r r e n t t z e r o w a i t r m s c u r r e n t i _ h o l d i _ r u n d i * i h o l d d e l a y c o o l s t e p c u r r e n t r e d u c t i o n
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 57 www.trinamic.com note since it is not necessary to di fferentiate the velocity to the last detail, the velocity thresholds use a reduced number of bits for comparison and the lower eight bits of the compare values become ignored. 10.5 reference switches prior to normal operation of the drive an absolute referen ce position must be set . the reference position can be found using a mechanical stop which can be detected by stall detection, or by a reference switch. in case of a linear drive, the mechanical motion range must not be left. this can be ensured also for abnormal situations by enabling the stop switch functions for the left and the right reference switch. therefore, the ramp generator responds to a number of stop events as configured in the sw_mode register. there are two ways to stop the motor: - it can be stopped abruptly, when a switch is hit . this is useful in an eme rgency case and for stallguard based homing. - o r the motor can be softly decelerated to zero using deceleration settings (dmax, v1, d1) . hint l atching of the ramp position xactual to the hol ding register xlatch upon a switch event gives a precise snapshot of the position of the reference switch. f igure 10 . 4 using reference switches (example) normally o pen or normall y closed switches can be used by programming the switch polarity or selecting the pull - up or pull - down resistor configuration. a normally closed switch is failsafe with respect to an interrupt of the switch connection. switches which can be used are: - mecha nical switches, - photo interrupters , or - hall sensors. be careful to select reference switch resistors matching you r switch requirements! in case of long cables additional rc filtering might be required near the tmc5 0 41 reference inputs. adding an rc fi lter will also reduce the danger of destroying the logic level inputs by wiring faults, but it will add a certain delay which should be considered with respect to the application. + v c c _ i o r e f l t r a v e l e r m o t o r + v c c _ i o r e f r n e g a t i v e d i r e c t i o n p o s i t i v e d i r e c t i o n 1 0 k 1 0 k 2 2 k 1 n f o p t i o n a l r c f i l t e r ( e x a m p l e )
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 58 www.trinamic.com i mplementing a h oming p rocedure 1. make sure, that the home switch is not p ressed, e.g. by moving away from the switch. 2. activate position latching upon the desired switch event and activate motor (soft) stop upon active switch. stallguard based homing requires using a hard stop ( en_softstop =0). 3. start a motion ramp into the direc tion of the switch. (move to a more negative position for a left switch, to a more positive position for a right switch). you may timeout this motion by using a position ramping command. 4. as soon as the switch is hit, the position becomes latched and the mo tor is stopped. wait until the motor is in standstill again by polling the actual velocity v actual or checking vzero or the standstill flag. please be aware that reading ramp_stat may clear flags (e.g. sg_stop ) and thus the motor may restart after expirati on of tzerowait . in case the stop condition might be reset by the read and clear (r+c) function, be sure to execute step 5 within the time range set by tzerowait . 5. switch the ramp generator to hold mode and calculate the difference between the latched posit ion and the actual position. for stallguard based homing or when using hard stop, xactual stops exactly at the home position, so there is no difference (0). 6. write the calculated difference into the actual position register. now, homing is finished. a move to position 0 will bring back the motor exactly to the switching point. in case stallguard was used for homing, a read access to ramp_stat clears the stallguard stop event event_stop_sg and releases the motor from the stop condition.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 59 www.trinamic.com 11 stallguard2 load me asurement stallguard2 provides an accurate measurement of the load on the motor. it can be used for stall detection as well as other uses at loads below those which stall the motor, such as coolstep load - adaptive current reduction. the stallguard2 measurem ent value changes linearly over a wide range of load, velocity, and current settings, as shown in f igure 11 . 1 . at maximum motor load, the value goes to zero or near to zero. this corresponds to a load angle of 90 between the magn etic field of the coils and magnets in the rotor. this also is the most energy - efficient point of operation for the motor. f igure 11 . 1 function principle of stallguard2 parameter description setting comment sgt this signed value controls the stallguard2 threshold level for stall detection and sets the optimum measurement range for readout. a lower value gives a higher sensitivity. zero is the starting value working with most motor s. a higher value makes stallguard2 less sensitive and requires more torque to indicate a stall. 0 indifferent value +1 +63 less sensitivity - 1 - 64 higher sensitivity sfilt enables the stallguard2 filter for more precision of the measurement. if s et, reduces the measurement frequency to one measurement per electrical period of the motor (4 fullsteps). 0 standard mode 1 filtered mode status word description range comment sg this is the stallguard2 result . a higher reading indicates less mechani cal load. a lower reading indicates a higher load and thus a higher load angle. tune the sgt setting to show a sg reading of roughly 0 to 100 at maximum load before motor stall. 0 1023 0: highest load low value: high load high value: less load in order to use stallguard2 and coolstep, the stallguard 2 sensitivity should first be tuned using the sgt setting! m o t o r l o a d ( % m a x . t o r q u e ) s t a l l g u a r d 2 r e a d i n g 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 1 0 0 s t a r t v a l u e d e p e n d s o n m o t o r a n d o p e r a t i n g c o n d i t i o n s m o t o r s t a l l s a b o v e t h i s p o i n t . l o a d a n g l e e x c e e d s 9 0 a n d a v a i l a b l e t o r q u e s i n k s . s t a l l g u a r d v a l u e r e a c h e s z e r o a n d i n d i c a t e s d a n g e r o f s t a l l . t h i s p o i n t i s s e t b y s t a l l g u a r d t h r e s h o l d v a l u e s g t .
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 60 www.trinamic.com 11.1 tuning stallguard2 threshold sgt the stallguard2 value sg is affected by motor - specific characteristics and application - specific demands on load and velocity. therefore the easiest way to tune the stallguard2 threshold sgt for a specific motor type and operating conditions is interactive tuning in the actual application. i nitial procedure for tuning stall g uard sgt 1. operate the motor at the normal oper ation velocity for your application and monitor sg . 2. apply slowly increasing mechanical load to the motor. if the motor stalls before sg reaches zero, decrease sgt . if sg reaches zero before the motor stalls, increase sgt . a good sgt starting value is zero. sgt is signed, so it can have negative or positive values. 3. now enable sg_stop and make sure, that the motor is safely stopped whenever it is stalled. increase sgt if the motor becomes stopped before a stall occurs. restart the motor by disabling sg_stop o r by reading the ramp_stat register (read and clear function). 4. the optimum setting is reached when sg is between 0 and roughly 100 at increasing load shortly before the motor stalls, and sg increases by 100 or more without load. sgt in most cases can be tu ned for a certain motion velocity or a velocity range. make sure, that the setting works reliable in a certain range (e.g. 80% to 120% of desired velocity) and also under extreme motor conditions (lowest and highest applicable temperature). o ptional proced ure a llowing automatic tu ning of sgt the basic idea behind the sgt setting is a factor, which compensates the stallguard measurement for resistive losses inside the motor. at standstill and very low velocities, resistive losses are the main factor for the balance of energy in the motor, because mechanical power is zero or near to zero. this way, sgt can be set to an optimum at near zero velocity. this algorithm is especially useful for tuning sgt within the application to give the best result independent of environment conditions, motor stray, etc. 1. operate the motor at low velocity < 10 rpm (i.e. a few to a few fullsteps per second) and target operation current and supply voltage. in this velocity range, there is not much dependence of sg on the motor load , because the motor does not generate significant back emf. therefore, mechanical load will not make a big difference on the result. 2. switch on sfilt . now increase sgt starting from 0 to a value, where sg starts rising. with a high sgt , sg will rise up to the maximum value. reduce again to the highest value, where sg stays at 0. now the sgt value is set as sensibly as possible. when you see sg increasing at higher velocities, there will be useful stall detection. the upper velocity for the stall detection with this setting is determined by the velocity, where the motor back emf approaches the supply voltage and the motor current starts dropping when further increasing velocity. sg goes to zero when the motor stalls and the ramp generator can be programmed to stop the motor upon a stall event by enabling sg_stop in sw_mode . set vcoo l thrs to match the lower velocity threshold where stallguard delivers a good result in order to use sg_stop . the system clock frequency affects sg . an external crystal - stabiliz ed clock should be used for applications that demand the highest performance. the power supply voltage also affects sg , so tighter regulation results in more accurate values. sg measurement has a high resolution, and there are a few ways to enhance its acc uracy, as described in the following sections. quick start for a quick start, see the quick configuration guide in chapter 14 . for detail procedure see application note an002 - parameterization of stallguard2 & coolstep
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 61 www.trinamic.com 11.1.1 var iable velocity limits vcoolthrs and vhigh the sgt setting chosen as a result of the previously described sgt tuning can be used for a certain velocity range. outside this range, a stall may not be detected safely, and coolstep might not give the optimum re sult. f igure 11 . 2 example: optimum sgt setting and stallguard2 reading with an example motor in many applications, operation at or near a single operation point is used most of the time and a single setting is sufficient. the ramp generator provides a lower ( vcoolthrs ) and an upper velocity threshold ( vhigh ) to match this. the stall detection is automatically disabled below vcoolthrs . it should be disabled by software above the d etermined operation point , e.g. when exceeding the upper limit for its operation . in some applications, a velocity dependent tuning of the sgt value can be expedient, using a small number of support points and linear interpolation. 11.1.2 small motors with hig h torque ripple and resonance motors with a high detent torque show an increased variation of the stallguard2 measurement value sg with varying motor currents, especially at low currents. for these motors, the current dependency should be checked for best result. 11.1.3 temperature dependence of motor coil resistance motors working over a wide temperature range may require temperature correction, because motor coil resistance increases with rising temperature. this can be corrected as a linear reduction of sg at increasing temperature, as motor efficiency is reduced. 11.1.4 accuracy and reproducibility of stallguard2 measurement in a production environment, it may be desirable to use a fixed sgt value within an application for one motor type. most of the unit - to - unit v ariation in stallguard2 measurements results from manu - facturing tolerances in motor construction. the measurement error of stallguard2 C provided that all other parameters remain stable C can be as low as: ?????????? ??????????? ?? ??? = ??? ( 1 , | ??? | ) b a c k e m f r e a c h e s s u p p l y v o l t a g e o p t i m u m s g t s e t t i n g m o t o r r p m ( 2 0 0 f s m o t o r ) s t a l l g u a r d 2 r e a d i n g a t n o l o a d 2 4 6 8 1 0 1 2 1 4 1 6 1 0 0 2 0 0 3 0 0 4 0 0 5 0 0 6 0 0 7 0 0 8 0 0 9 0 0 1 0 0 0 1 8 2 0 0 0 5 0 1 0 0 1 5 0 2 0 0 2 5 0 3 0 0 3 5 0 4 0 0 4 5 0 5 0 0 5 5 0 6 0 0 l o w e r l i m i t f o r s t a l l d e t e c t i o n g o o d o p e r a t i o n r a n g e w i t h s i n g l e s g t s e t t i n g
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 62 www.trinamic.com 11.2 stallguard2 update rate and filter the stallguard2 measurement value sg is updated with each full step of the motor. this is enough to safely detect a stall, because a stall always means the loss of four full steps. in a prac tical application, especially when using coolstep, a more precise measurement might be more important than an update for each fullstep because the mechanical load never changes instantaneously from one step to the next. for these applications, the sfilt bi t enables a filtering function over four load measurements . the filter should always be enabled when high - precision measurement is required. it compensates for variations in motor construction, for example due to misalignment of the phase a to phase b magn ets. the filter should be disabled when rapid response to increasing load is required and for best results of sensorless homing using stallguard . 11.3 detecting a motor stall for best stall detection, work without stallguard filtering ( sfilt =0). t o safely dete ct a motor stall the stall threshold must be determined using a specific sgt setting. therefore, the maximum load needs to be determined, which the motor can drive without stalling . at the same time, monitor the sg value at this load, e.g. some value withi n the range 0 to 100. the stall threshold should be a value safely within the operating limits, to allow for parameter stray. the response at an sgt setting at or near 0 gives some idea on the quality of the signal: check the sg value without load and with maximum load. they should show a difference of at least 100 or a few 100, which shall be large compared to the offset. if you set the sgt value in a way, that a reading of 0 occurs at maximum motor load, the stall can be automatically detected by the moti on controller to issue a motor stop. in the moment of the step resulting in a step loss, the lowest reading will be visible. after the step loss, the motor will vibrate and show a higher sg reading. 11.4 homing with stallguard the homing of a linear drive requi res moving the motor into the direction of a hard stop. as stallguard needs a certain velocity to work (as set by tcoolthrs ), make sure that the start point is far enough away from the hard stop to provide the distance required for the acceleration phase. after setting up sgt and the ramp generator registers, start a motion into the direction of the hard stop and activate the stop on stall function (set sg_stop in sw_mode ). once a stall is detected, the ramp generator stops motion and sets v actual zero, sto pping the motor. the stop condition also is indicated by the flag stallguard in drv_status . after setting up new motion parameters in order to prevent the motor from restarting right away, stallguard can be disabled, or the motor can be re - enabled by readi ng ramp_stat . the read and clear function of the event_stop_sg flag in ramp_stat would restart the motor after t zerowait in case the motion parameters have not been modified. 11.5 limits of stallguard2 operation stallguard2 does not operate reliably at extreme motor velocities: very low motor velocities (for many motors, less than one revolution per second) generate a low back emf and make the measurement unstable and dependent on environment conditions (temperature, etc.). the automatic tuning procedure descri bed above will compensate for this. other conditions will also lead to extreme settings of sgt and poor response of the measurement value sg to the motor load. very high motor velocities, in which the full sinusoidal current is not driven into the motor c oils also leads to poor response. these velocities are typically characterized by the motor back emf reaching the supply voltage.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 63 www.trinamic.com 12 coolstep operation coolstep is an automatic smart energy optimization for stepper motors based on the motor mechanical load, making them green. 12.1 user benefits coolstep allows substantial energy savings, especially for motors which see varying loads or operate at a high duty cycle. because a stepper motor application needs to work with a torque reserve of 30% to 50%, even a constant - load application allows significant energy sav ings because coolstep automatically enables torque reserve when required. reducing power consumption keeps the system cooler, increases motor life, and allows reducing cost in the power supply and cooling components. reducing motor current by half result s in reducing power by a factor of four. 12.2 setting up for coolstep coolstep is controlled by several parameters, but two are critical for understanding how it works: parameter description range comment semin 4 - bit unsigned integer that sets a lower th reshold . if sg goes below this threshold, coolstep increases the current to both coils. the 4 - bit semin value is scaled by 32 to cover the lower half of the range of the 10 - bit sg value. (the name of this parameter is derived from smartenergy, which is an earlier name for coolstep.) 0 disable coolstep 115 semin *32 semax 4 - bit unsigned integer that controls an upper threshold . if sg is sampled equal to or above this threshold enough times, coolstep decreases the current to both coils. the u pper threshold is ( semin + semax + 1)*32. 015 semin + semax +1)*32 f igure 12 . 1 shows t he operating regions of coolstep : - the black line represents the sg measurement value. - t he blue line represents the mecha nical load applied to the motor. - the red line represents the current into the motor coils. when the load increases, sg falls below semin , and coolstep increases the current. when the load decreases, sg rises above ( semin + semax + 1) * 32, and the current is reduced. energy efficiency C motor generates less heat C less cooling infrastructure C cheaper motor C
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 64 www.trinamic.com f igure 12 . 1 coolstep adapts motor current to the load five more parameters control coolstep and one status value is returned: parameter description range comment seup sets the current increment step . the current becomes incremented for each measured stallguard2 value below the lower threshold. 03 sedn sets the number of stallguard 2 readings above the upper threshold necessary f or each current decrement of the motor current. 03 seimin sets the lower motor current limit for coolstep operation by scaling the irun current setting. 0 0: 1/2 of irun 1 1: 1/4 of irun vcool thrs lower ramp generator velocity threshold. below this velocity coolstep becomes disabled (not used in step/dir mode). adapt to the lower limit of the velocity range where stallguard2 gives a stable result. hint: may be adapted to disable coolst ep during acceleration and deceleration phase by setting identical to vmax . 1 vhigh upper ramp generator velocity threshold value. above this velocity coolstep becomes disabled (not used in step/dir mode). adapt to the velocity range where stallgua rd2 gives a stable result. 1 status word description range comment csactual this status value provides the actual motor current scale as controlled by coolstep. the value goes up to the irun value and down to the portion of irun as specified by seimin . 031 1/32, 2/32, 32/32 s t a l l g u a r d 2 r e a d i n g 0 = m a x i m u m l o a d m o t o r c u r r e n t i n c r e m e n t a r e a m o t o r c u r r e n t r e d u c t i o n a r e a s t a l l p o s s i b l e s e m i n s e m a x + s e m i n + 1 z e i t m o t o r c u r r e n t c u r r e n t s e t t i n g i _ r u n ( u p p e r l i m i t ) ? o r ? i _ r u n ( l o w e r l i m i t ) m e c h a n i c a l l o a d c u r r e n t i n c r e m e n t d u e t o i n c r e a s e d l o a d s l o w c u r r e n t r e d u c t i o n d u e t o r e d u c e d m o t o r l o a d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d l o a d a n g l e o p t i m i z e d
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 65 www.trinamic.com 12.3 tuning coolstep before tuning coolstep, first tune the stallguard2 threshold level sgt , which affects the range of the load measurement value sg . coolstep uses sg to operate the motor near the optimum load angle of +90. the current increment speed is specified in seup , and the current decrement speed is specified in sedn . they can be tuned separately because they are triggered by different events that may need different responses. the encodings for these parameters allow the coil currents to be increased much more quickly than decreased, because crossing the lower threshold is a more serious event that may require a faster response. if the response is too s low, the motor may stall. in contrast, a slow response to crossing the upper threshold does not risk anything more serious than missing an opportunity to save power. coolstep operates between limits controlled by the current scale parameter irun and the s eimin bit. 12.3.1 response time for fast response to increasing motor load, use a high current increment step seup . if the motor load changes slowly, a lower current increment step can be used to avoid motor oscillations. if the filter controlled by sfilt is ena bled, the measurement rate and regulation speed are cut by a factor of four. hint the most common and most beneficial use is to adapt coolstep for operation at the typical system target operation velocity and to set the velocity thresholds according. as acceleration and decelerations normally shall be quick, they will require the full motor current, while they have only a small contribution to overall power consumption due to their short duration. 12.3.2 low velocity and s tandby o peration because coolstep is no t able to measure the motor load in standstill and at very low rpm, a lower velocity threshold is provided in the ramp generator. it should be set to an application specific default value. below this threshold the normal current setting via irun respective ly ihold is valid. an upper threshold is provided by the vhigh setting. both thresholds can be set as a result of the stallguard2 tuning process.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 66 www.trinamic.com 13 sine - wave look - up table t he tmc5 0 41 driver provides a programmable look - up table for storing the microstep current wave. it is common to both drivers. as a default, the table i s pre - programmed with a sine wave, which is a good starting point for most stepper motors. reprogramming the table to a motor specific wave allows drastically improved microstepping espec ially with low - cost motors. 13.1 user benefits 13.2 microstep table in order to minimize required memory and the amount of data to be programmed, only a quarter of the wave becomes stored. the internal microstep table maps the microstep wave from 0 to 90 . it becomes symmetr ically extended t o 360 . when reading out the table the 10 - bit microstep counter mscnt ad dresses the fully extended wave table . the table is stored in an incremental fashion, using each one bit per entry. therefore only 256 bits ( ofs00 to ofs255 ) are required to store the quarter wave. these bits are mapped to eight 32 bit registers. each ofs bit controls the addition of an inclination w x or w x +1 when advancing one step in the table . when wx is 0, a 1 bit in the table at the actual microstep position means add one when advancing to the next microstep. as the wave can have a high er inclination than 1, the base inclinations wx can be programmed to - 1, 0, 1, or 2 using up to four flexible programmable segments within the quarter wave. this way even negative inclination can be realized. the four inclination segments are controlled by the position registers x 1 to x3 . inclination segment 0 goes from microstep position 0 to x1 - 1 and its base inclination is controlled by w0 , segment 1 goes from x1 to x2 - 1 with its base inclination controlled by w1 , etc. when modifyi ng the wave, care must be taken to ensure a smooth and symmetrical zero transition when the quarter wave becomes expanded to a full wave . the maximum resulting swing of the wave should be adjusted to a range of - 248 to 248 , in order to give the best possible resolution while leaving headroo m for the hysteresis based chopper to add an offset. f igure 13 . 1 lut programming example microstepping C motor C torque C m s c n t y 2 5 6 2 5 6 2 4 8 - 2 4 8 5 1 2 7 6 8 0 0 x 1 x 3 x 2 w 0 : + 2 / + 3 w 1 : + 1 / + 2 w 2 : + 0 / + 1 w 3 : - 1 / + 0 l u t s t o r e s e n t r i e s 0 t o 2 5 5 2 5 5 s t a r t _ s i n s t a r t _ s i n 9 0
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 67 www.trinamic.com when the microstep sequencer advances within the table, it calculates the actual curre nt values for the motor coils with each microstep and stores them to the registers cur_a and cur_b . however the incremental coding requires an absolute initialization, especially when the microstep table becomes modified. therefore cur_a and cur_b become i nitialized whenever mscnt passes zero. two registers control the starting values of the tables: - as the starting value at zero is not necessarily 0 (it might be 1 or 2), it can be programmed into the starting point register start_sin . - in the same way, the start of the second wave for the second motor coil needs to be stored in start_sin90 . this register stores the resulting table entry for a phase shift of 90 for a 2 - phase motor. hint refer chapter 5.3 for the register set and for the default table function stored in the drivers. the default table is a good base for realizing an own table. the tmc50 41 - eval comes with a calculation tool for own waves. initialization e xample for the default microstep table: ms lut[0] = % 101010101010101 01011010101010100 = 0xaaaab554 mslut[1] = % 010010101001010 10101010010101010 = 0x4a9554aa mslut[2] = % 00100100010010010010100100101001 = 0x24492929 mslut[3] = % 00010000000100000100001000100010 = 0x10104222 mslut[4] = % 1111101111111 111111 1111111111111 = 0xfbffffff mslut[5] = % 10110101101110110111011101111101 = 0xb5bb777d mslut[6] = % 01001001001010010101010101010110 = 0x49295556 mslut[7] = % 00000000010000000100001000100010 = 0x00404222 mslutsel = 0xffff8056: x1 = 128 , x2 = 255, x3 = 255 w3 =%01, w2 =% 01, w1 =%01, w0 =%10 mslutstart = 0x00 f 70000 : start_sin_0 = 0, start_sin 90 = 247 13.3 changing resolution reduced microstep resolution might be desired in some cases, e.g. for testing purpose or to increase the effective acceleration or position range. the interna l microstep table uses 1024 sine wave entries to generate the wave. the step width taken within the table depends on the microstep resolution setting. depending on the motion direction , the microstep counter is increased or decreased with each internal ste p pulse by the step width. in principle, the microstep resolution can be changed at any time. the microstep resolution determines the increment respectively the decrement, the tmc5 0 41 uses for advancing in the microstep table. at maximum resolution, it adv ances one step for each step pulse. at half resolution, it advances two steps and so on. this way, a change of resolution is possible transparently at each time. when switching to a low resolution, the effective current wave may become asymmetrical. this w ill be avoided when first moving to a certain position before switching. e.g., when switching to 16 microsteps, it is optimum to first position to mscnt =8. this way, the microsteps - 7 and +8 are more or less symmetrical to the current zero crossing.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 68 www.trinamic.com 14 qui ck configuration guide this guide is meant as a practical tool to come to a first configuration and do a minimum set of measurements and decisions for tuning the driver. it does not cover all advanced functionalities, but concentrates on the basic function set to make a motor run smoothly. once the motor runs, you may decide to explore additional features, e.g. freewheeling and further functionality in more detail. a current probe on one motor coil is a good aid to find the best settings, but it is not a mu st. c urrent s etting and f irst s teps with stealth c hop figure 14 . 1 current setting and first steps with stealthchop c u r r e n t s e t t i n g c h o p c o n f s e t v s e n s e f o r m a x . 1 8 0 m v a t s e n s e r e s i s t o r ( 0 r 1 5 : 1 . 1 a p e a k ) s e t i _ r u n a s d e s i r e d u p t o 3 1 , i _ h o l d 7 0 % o f i _ r u n o r l o w e r l o w c u r r e n t r a n g e ? n y s e t i _ h o l d _ d e l a y t o 1 t o 1 5 f o r s m o o t h s t a n d s t i l l c u r r e n t d e c a y s e t t _ z e r o w a i t u p t o 6 5 5 3 5 f o r d e l a y e d s t a n d s t i l l c u r r e n t r e d u c t i o n c o n f i g u r e c h o p p e r t o t e s t c u r r e n t s e t t i n g s s t e a l t h c h o p c o n f i g u r a t i o n p w m c o n f s e t p w m _ a u t o s c a l e , s e t p w m _ g r a d = 1 , p w m _ a m p l = 2 5 5 p w m c o n f s e l e c t p w m _ f r e q w i t h r e g a r d t o f c l k f o r a b o u t 3 5 k h z p w m f r e q u e n c y m a k e s u r e t h a t m o t o r i s i n s t a n d s t i l l c h e c k h a r d w a r e s e t u p a n d m o t o r r m s c u r r e n t c h o p c o n f e n a b l e c h o p p e r u s i n g b a s i c c o n f i g . : t o f f = 4 , t b l = 2 , h s t a r t = 4 , h e n d = 0 m o v e t h e m o t o r b y s l o w l y a c c e l e r a t i n g f r o m 0 t o v m a x o p e r a t i o n v e l o c i t y i s p e r f o r m a n c e g o o d u p t o v m a x ? s e l e c t a v e l o c i t y t h r e s h o l d f o r s w i t c h i n g t o s p r e a d c y c l e c h o p p e r a n d s e t v c o o l t h r s n s c 2 y
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 69 www.trinamic.com t uning stealth c hop and spread c ycle figure 14 . 2 tuning stealthchop and spreadcycle s c 2 t r y m o t i o n w i t h d e s i r e d a c c e l e r a t i o n a n d d e c e l e r a t i o n ( n o t e x c e e d i n g v c o o l t h r s ) p w m c o n f i n c r e a s e p w m _ g r a d ( m a x . 1 5 ) c o i l c u r r e n t o v e r s h o o t u p o n d e c e l e r a t i o n ? y m o v e s l o w l y , t r y d i f f e r e n t v e l o c i t i e s n m o t o r c u r r e n t s t a b l e ? p w m c o n f c h a n g e p w m _ f r e q o r s l i g h t l y d r e c r e a s e p w m _ g r a d n t r y m o t i o n a l s o a b o v e v c o o l t h r s , i f u s e d y c o i l c u r r e n t o v e r s h o o t u p o n d e c e l e r a t i o n ? p w m c o n f d e c r e a s e p w m _ a m p l ( d o n o t g o b e l o w a b o u t 5 0 ) y o p t i m i z e s p r e a d c y c l e c o n f i g u r a t i o n i f v c o o l t h r s u s e d n g o t o m o t o r s t a n d s t i l l a n d c h e c k m o t o r c u r r e n t s t a n d s t i l l c u r r e n t t o o h i g h ? n c h o p c o n f , p w m c o n f d e c r e a s e t b l o r p w m f r e q u e n c y a n d c h e c k i m p a c t o n m o t o r m o t i o n y p w m c o n f d i s a b l e s t e a l t h c h o p b y s e t t i n g p w m _ g r a d = 0 s p r e a d c y c l e c o n f i g u r a t i o n c h o p c o n f e n a b l e c h o p p e r u s i n g b a s i c c o n f i g . : t o f f = 5 , t b l = 2 , h s t a r t = 0 , h e n d = 0 m o v e t h e m o t o r b y s l o w l y a c c e l e r a t i n g f r o m 0 t o v m a x o p e r a t i o n v e l o c i t y m o n i t o r s i n e w a v e m o t o r c o i l c u r r e n t s w i t h c u r r e n t p r o b e a t l o w v e l o c i t y c h o p c o n f i n c r e a s e h e n d ( m a x . 1 5 ) c u r r e n t z e r o c r o s s i n g s m o o t h ? n m o v e m o t o r v e r y s l o w l y o r t r y a t s t a n d s t i l l c h o p c o n f s e t t o f f = 4 ( m i n . 3 ) , t r y l o w e r / h i g h e r t b l o r r e d u c e m o t o r c u r r e n t a u d i b l e c h o p p e r n o i s e ? y y m o v e m o t o r a t m e d i u m v e l o c i t y o r u p t o m a x . v e l o c i t y a u d i b l e c h o p p e r n o i s e ? c h o p c o n f d e c r e a s e h e n d a n d i n c r e a s e h s t a r t ( m a x . 7 ) y f i n i s h e d o r e n a b l e c o o l s t e p
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 70 www.trinamic.com m oving the m otor u sing the m otion c ontroller figure 14 . 3 moving the moto r using the motion controller r a m p m o d e s e t v e l o c i t y _ p o s i t i v e s e t a m a x = 1 0 0 0 , s e t v m a x = 1 0 0 0 0 0 o r d i f f e r e n t v a l u e s m o t o r m o v e s , c h a n g e v m a x a s d e s i r e d m o v e m o t o r c o n f i g u r e r a m p p a r a m e t e r s r a m p m o d e s e t p o s i t i o n s t a r t v e l o c i t y s e t v s t a r t = 0 . h i g h e r v e l c o i t y f o r a b r u p t s t a r t ( l i m i t e d b y m o t o r ) . s t o p v e l o c i t y s e t v s t o p = 1 0 , b u t n o t b e l o w v s t a r t . h i g h e r v e l o c i t y f o r a b r u p t s t o p . c o n f i g u r e r a m p p a r a m e t e r s m o v e t o t a r g e t s e t x t a r g e t n e w o n - t h e - f l y t a r g e t ? y e v e n t _ p o s _ r e a c h e d a c t i v e ? n n y t a r g e t i s r e a c h e d c h a n g e o f a n y p a r a m e t e r d e s i r e d ? n s e t m o t i o n p a r a m e t e r a s d e s i r e d y s e t a c c e l e r a t i o n a 1 a s d e s i r e d b y a p p l i c a t i o n d e t e r m i n e v e l o c i t y , w h e r e m a x . m o t o r t o r q u e o r c u r r e n t s i n k s a p p r e c i a b l y , w r i t e t o v 1 a m a x : s e t l o w e r a c c e l e r a t i o n t h a n a 1 t o a l l o w m o t o r t o a c c e l e r a t e u p t o v m a x s e t d e s i r e d m a x i m u m v e l o c i t y t o v m a x d m a x : u s e s a m e v a l u e a s a m a x o r h i g h e r d 1 : u s e s a m e v a l u e a s a 1 o r h i g h e r s e t t z e r o c r o s s t o a l l o w m o t o r t o r e c o v e r f r o m j u m p v s t o p t o 0 , b e f o r e g o i n g t o v s t a r t i s v s t o p r e l e v a n t ( > > 1 0 ) ? n y r e a d y t o m o v e t o t a r g e t
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 71 www.trinamic.com e nabling cool s tep ( o nly in c ombination with spre ad c ycle ) figure 14 . 4 enabling coolstep (only in combination with spreadcycle) e n a b l e c o o l s t e p m o v e t h e m o t o r b y s l o w l y a c c e l e r a t i n g f r o m 0 t o v m a x o p e r a t i o n v e l o c i t y d o e s s g _ r e s u l t g o d o w n t o 0 w i t h l o a d ? m o n i t o r s g _ r e s u l t v a l u e d u r i n g m e d i u m v e l o c i t y a n d c h e c k r e s p o n s e w i t h m e c h a n i c a l l o a d i s c o i l c u r r e n t s i n e - s h a p e d a t v m a x ? d e c r e a s e v m a x n y i n c r e a s e s g t y c o o l c o n f e n a b l e c o o l s t e p b a s i c c o n f i g . : s e m i n = 1 , a l l o t h e r 0 n s e t v h i g h f o r u p p e r c o o l s t e p v e l o c i t y l i m i t s e t v c o o l t h r s t o t h e l o w e r v e l o c i t y l i m i t f o r c o o l s t e p m o n i t o r c s _ a c t u a l d u r i n g m o t i o n i n v e l o c i t y r a n g e a n d c h e c k r e s p o n s e w i t h m e c h a n i c a l l o a d d o e s c s _ a c t u a l r e a c h i r u n w i t h l o a d b e f o r e m o t o r s t a l l ? i n c r e a s e s e m i n o r c h o o s e n a r r o w e r v e l o c i t y l i m i t s n c 2 c 2 m o n i t o r c s _ a c t u a l a n d m o t o r t o r q u e d u r i n g r a p i d m e c h a n i c a l l o a d i n c r e m e n t w i t h i n a p p l i c a t i o n l i m i t s d o e s c s _ a c t u a l r e a c h i r u n w i t h l o a d b e f o r e m o t o r s t a l l ? i n c r e a s e s e u p n f i n i s h e d
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 72 www.trinamic.com 15 getting started p lease refer to the tmc5 0 41 evaluation board to allow a quick start with the device, and in order to allow interactive tuning of the device setup in your application. chapter 14 will guide you through the process of correctly se tting up all registers. 15.1 initialization examples spi datagram example sequence to enable and initialize driver 1 for spreadcycle operation combined with stealthchop at low velocities . r amp generator 1 move s the motor in velocity mode . additional read acce ss to the position register : spi send: 0x8000000008; // gconf=8: enable pp and int outputs spi send: 0xec00010 0c 5; // chopconf: toff=5, hstrt=4, hend= 1 , tbl=2, chm=0 (spreadcycle) spi send: 0xb000011f05; // ihold_irun: ihold=5, irun=31 (max. current ), iholddelay=1 spi send: 0x ac 000 02710 ; // tzerowait=10000 spi send: 0x90000401c8; // pwm_conf: auto=1, 1/1024 fclk, switch amplitude limit=200, grad=1 spi send: 0xb200061a80; // vhigh=400 000: set vhigh to a high value to allow stealthchop spi send: 0xb1 0000 7530 ; // vcoolthrs= 3 0000: set upper limit for stealthchop to about 3 0rpm spi send: 0xa600001388; // amax=5000 spi send: 0xa700004e20; // vmax=20000 spi send: 0xa000000001; // rampmode=1 (positive velocity) // now motor 1 should start rotating spi send: 0x2100000000; // query x actual C the next read access delivers x actual spi read; // read x actual initialization spi datagram example sequence to enable and initialize the motion controller and then move one rotation (51200 microsteps) usin g the ramp generator. spi send: 0xa4000003e8; // a1 = 1 000 first acceleration spi send: 0xa50000c350; // v1 = 50 000 acceleration threshold velocity v1 spi send: 0xa6000001f4; // amax = 500 acceleration above v1 spi send: 0xa7000304d0; // vmax = 200 000 spi send: 0xa8000002bc; // dmax = 700 deceleration above v1 spi send: 0xaa00000578; // d1 = 1400 deceleration below v1 spi send: 0xab0000000a; // vstop = 10 stop velocity (near to zero) spi send: 0xa00000000 0 ; // rampmode = 0 (target position move) // ready to move! spi send: 0xadffff3800; // xtarget = - 51200 (move one rotation left (200*256 microsteps) ) hint tune the configuration parameters for your motor and application for optimum performance.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 73 www.trinamic.com 16 external r eset the chip is loaded with defaul t values during power on via its internal power - on reset. in order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (vsa, +5vout or vcc_io) must be cycled. vcc is not monitored. therefore vcc must not be switched off during operation of the chip. as +5vout is the output of the internal voltage regulator, it cannot be cycled via an external source except by cycling vsa. it is easiest and safest to cycle vcc_io in order to completely reset the chip. also , current consumed from vcc_io is low and therefore it has simple driving requirements. due to the input protection diodes not allowing the digital inputs to rise above vcc_io level, all inputs must be driven low during this reset operation. when this is n ot possible, an input protection resistor may be used to limit current flowing into the related inputs. in case, vcc becomes supplied by an external source, make sure that vcc is at a stable value above the lower operation limit once the reset ends. this normally is satisfied when generating a 3.3v vcc_io from the +5v supply supplying the vcc pin, because it will then come up with a certain delay. 17 clock oscillator and clock input the clock is the tim ing reference for all functions: the chopper, the veloc ity , the acceleration control, etc. many parameters are scaled with the clock frequency, thus a precise reference allows a more deterministic result. the on - chip clock oscillator provides timing in case no external clock is easily available. 17.1 using the in ternal clock directly tie the clk input to gnd near to the tmc5 0 41 if the internal clock oscillator is to be used. t he internal clock can be calibrated by driving the ramp generator at a certain velocity setting. reading out position values via the interfa ce and comparing the resulting velocity to the remote masters clock gives a time reference. this allows scaling acceleration and velocity settings as a result. the temperature dependency and ageing of the internal clock is comparatively low. i mplementing f requency d ependent s caling frequency dependent scaling allows using the internal clock for a motion control application. the time reference of the external microcontroller is used to calculate a scaler for all velocity settings. the following steps are r equired: 1. you may leave the motor driver disabled during the calibration. 2. start motor in velocity mode, with vmax =10000 and amax =60000 ( for quick acceleration). the acceleration phase is ended after a few ms. 3. read out xactual twice, at time point t1 and ti me point t2, e.g. 100ms later (dt=0.1s). the time difference between both read accesses shall be exactly timed by the external microcontroller. 4. stop the motion ramp by setting vmax =0. 5. the number of steps done in between of t1 and t2 now can be used to calc ulate the factor ? = ???? ? ?? ??????? ( ? 2 ) ? ??????? ( ? 1 ) = 1000 ??????? ( ? 2 ) ? ??????? ( ? 1 ) 6. now multiply each velocity value with this factor f, to normalize the velocity to steps per second. at a nominal value of the int ernal clock frequency, 780 steps will be done in 100ms. hint in case well defined velocity settings and precise motor chopper operation are desired, it is supposed to work with an external clock source. 17.2 using an external clock when an external clock is a vailable, a frequency of 1 0 mhz to 16 mhz is recommended for optimum performance. the duty cycle of the clock signal is uncritical, as long as minimum high or low input time for the pin is satisfied (refer to electrical characteristics). up to 18 mhz can be used, when the clock duty cycle is 50%. make sure, that the clock source supplies clean cmos output logic levels and
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 74 www.trinamic.com steep slopes when using a high clock frequency. the external clock input is enabled with the first positive polarity seen on the clk input. attention switching of f the external clock frequency prevents the driver from operating normally. therefore be careful to switch off the motor drivers before switching off the clock (e.g. using the enable input), because otherwise the chopper would stop and the motor current le vel could rise uncontrolled. the short to gnd detection stays active even without clock, if enabled. 17.3 considerations on the frequency a higher frequency allows faster step rates, faster spi operation and higher chopper frequencies. on the other hand, it m ay cause more electromagnetic emission of the system and causes more power dissipation in the tmc5 0 41 digital core and voltage regulator. generally a frequency of 1 0 mhz to 16 mhz should be sufficient for most applications. for reduced requirements concerning the motor dynamics, a clock frequency of down to 8 mhz can be considered.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 75 www.trinamic.com 18 absolute maximum ratings the maximum ratings may not be exceeded under any circumstances. operat ing the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design. parameter symbol min max unit supply voltage operating with inductive load (v vs v vsa ) v vs , v vs a - 0.5 2 7 v supply and bridge voltage max. *) v vs - 0.5 28 v vsa when different from to vs v vs a - 0.5 v vs +0.5 v i/o supply voltage v vio - 0.5 5.5 v digital vcc supply voltage (if not supplied by internal regulator) v vcc - 0.5 5.5 v logic input voltage v i - 0.5 v vio +0.5 v maximum curren t to / from digital pins and analog low voltage i/os i io +/ - 10 ma 5v regulator output current (internal plus external load) i 5vout 50 ma 5v regulator continuous power dissipation (v vm - 5v) * i 5vout p 5vout 1 w power bri dge repetitive output current i o x 2.0 a junction temperature t j - 50 150 c storage temperature t stg - 55 150 c esd - protection for interface pins (human body model, hbm) v esdap 4 (tbd.) kv esd - protection for handling (human body model, hbm) v esd 1 (tbd.) kv *) stray inductivity o f gnd and vs connections will lead to ringing of the supply voltage when driving an inductive load. this ringing results from the fast switching slopes of the driver outputs in combination with reverse recovery of the body diodes of the output driver mosfe ts. even small trace inductivities as well as stray inductivity of sense resistors can easily generate a few volts of ringing leading to temporary voltage overshoot. this should be considered when working near the maximum voltage. 19 electrical characterist ics 19.1 operational range parameter symbol min max unit junction temperature t j - 40 125 c supply voltage (using internal +5v regulator) v vs 5.5 26 v supply voltage (internal +5v regulator bridged: v vcc =v vsa ) v vs 4.7 5.4 v i/o supply voltage v vio 3.00 5.25 v vcc voltage when using optional external source (supplies digital logic and charge pump) v vcc 4. 6 5.25 v rms motor coil current per coil (value for design guideline) i rms 0.8 a peak output current per motor coil output (sine wave peak) i ox 1.1 a peak output current per motor coil output (sine wave peak) limit t j 105c , e.g. for 100ms short time acceleration phase below 50% duty cycle. i ox 1.5 a
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 76 www.trinamic.com 19.2 dc characteristics and timing characteristics dc characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise s pecified. typical values represent the average value of all parts measured at +25c. temperature variation also causes stray to some values. a device with typical values will not leave min/max range within the full temperature range. power supply current dc - characteristics v vs = 24.0v parameter symbol conditions min typ max unit total supply current, driver disabled i vs + i vsa + i vcc i s f clk =16mhz 25 40 ma total supply current, operating, i vs + i vsa + i vcc i s f clk =16mhz, 40khz chopper , no load 28 ma static supply current i vs0 f clk =0hz 3 4.5 7 ma supply current, driver disabled, dependency on clk frequency i vs x f clk variable, additional to i vs0 1. 3 ma/mhz internal current consumption from 5v supply on vcc pin i vcc f clk =16mhz, 40khz chopper 25 40 ma io supply current i vio no load on outputs, inputs at v io or gnd 15 30 a motor driver section dc - and timing - characteristics v vs = 24.0v parameter symbol conditions min typ max unit rds on lowside mosfet r onl measure at 100ma, 25c, static state 0.4 0.5 ? on highside mosfet r onh measure at 100ma, 25c, static state 0.5 0.6 ? slpon measured at 700ma load current 50 120 250 ns slope, mosfet turning off t slpoff measured at 700ma load current 50 220 450 ns current sou rcing, driver off i oidle o xx pulled to gnd 120 180 250 a charge pump dc - characteristics parameter symbol conditions min typ max unit charge pump output voltage v vcp - v vs operating, typical f chop <40khz 4.0 v 5vout - 0.4 v 5vout v charge pump voltage thres hold for undervoltage detection v vcp - v vs using internal 5v regulator voltage 3.1 3.6 3. 9 v charge pump frequency f cp 1/16 f clkosc linear regulator dc - characteristics parameter symbol conditions min typ max unit output voltage v 5vout i 5vout = 0ma t j = 25c 4.75 5.0 5.25 v output resistance r 5vout static load 3 ? 5vout(dev) i 5vout = 30ma t j = full range 30 100 mv
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 7 7 www.trinamic.com clock oscillator and input timing - characteristics parameter symbol c onditions min typ max unit clock oscillator frequency f clkosc t j = - 50c 9 12.4 mhz clock oscillator frequency f clkosc t j =50c 10.1 13.2 17.2 mhz clock oscillator frequency f clkosc t j =150c 13.4 18 mhz external clock frequency (operating) f clk 4 1 0 - 16 18 mhz external clock high / low level time t clk l / t clk h clk driven to 0.1 v vio / 0.9 v vio 10 n s external clock first cycle triggering switching to external clock source t clk 1 clk driven high 30 25 ns detector levels dc - characteristics paramete r symbol conditions min typ max unit v vs a undervoltage threshold for reset v uv _vs a v vs rising 3.8 4.2 4.6 v v 5vout undervoltage threshold for reset v uv _5vout v 5vout rising 3.5 v v vcc_io undervoltage threshold for reset v uv_vio v vcc_io rising 1.9 2.55 3.0 v v vcc_io undervoltage detector hysteresis v uv_vio hyst 0.1 0.3 0.5 v short to gnd detector threshold (v vsp - v ox ) v os2g 1.5 2.2 3 v short to gnd detector delay (high side switch on to short detected) t s2g high side output clamped to v sp - 3v 0.8 1.3 2 s overtemperature prewarning t otpw temperature rising 100 120 140 c overtemperature shutdown t ot temperature rising 135 150 170 c sense resistor voltage levels dc - characteristics parameter symbol conditions min typ max unit sense input peak thr eshold voltage (low sensitivity) v srtl vsense =0 csactual =31 sin_x =248 hyst.=0; i brxy =0 32 0 mv sense input peak threshold voltage (high sensitivity) v srth vsense =1 csactual =31 sin_x =248 hyst.=0; i brxy =0 180 mv sense input tolerance / motor current ful l scale tolerance i coil vsense =0 - 5 +5 % internal resistance from pin brxy to internal sense comparator (additional to sense resistor) r brxy 20 m?
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 78 www.trinamic.com digital pins dc - characteristics parameter symbol conditions min typ max unit input voltage low lev el v inlo - 0.3 0.3 v vio v input voltage high level v inhi 0.7 v vio v vio +0.3 v input schmitt trigger hysteresis v inhyst 0.12 v vio v output voltage low level v outlo i outlo = 2ma 0.2 v output voltage high level v outhi i outhi = - 2ma v vio - 0.2 v in put leakage current i ileak - 10 10 a digital pin capacitance c 3.5 pf
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 79 www.trinamic.com 19.3 thermal characteristics the following table shall give an idea on the thermal resistance of the qfn - 48 package. the thermal resistance for a four layer board will provide a goo d idea on a typical application. the single layer board example is kind of a worst case condition, as the typical application will require a 4 layer board. actual thermal characteristics will depend on the pcb layout, pcb type and pcb size. a thermal resi stance of 23c/w for a typical board means, that the package is capable of continuously dissipating 4w at an ambient temperature of 25c with the die temperature staying below 125c. parameter symbol conditions typ unit typical power dissipation o ne mot or active, one motor in standby at low current p d one motor 1 .00 a rms 115 c (125 c) one motor 0 . 7 1 a rms 85 c (93c ) surface temperature at package center (peak surface temperature ) , board 55 mm x 85mm , 25c environment stealthchop or spreadcycle, s inewave, 40 or 20khz chopper, 24v , 16mhz , internal supply for vcc motors: qsh4218 - 035 - 10 - 027 3. 7 2. 4 w w typical power dissipation two motors active p d two motors 0.71a rms 113c (119c) two motors 0.35a rms 64c (68c) 3. 7 1.4 w w thermal resistance junction t o ambient on a single layer board r tja single signal layer board (1s) as define d in jedec eia jesd51 - 3 (fr4, 76.2mm x 114.3mm , d=1.6mm ) 80 k/w thermal resistance junction to ambient on a multilayer board r tmja dual signal and two internal power plane boa rd (2s2p) as defined in jedec eia jesd51 - 5 and jesd51 - 7 (fr4, 76.2mm x 114.3mm , d=1.6mm ) 23 k/w thermal resistance junction to ambient on a multilayer board with air flow r tmja 1 identical to r tmja , but with a ir flow 1m/s 20 k/w thermal resistance juncti on to board r tjb pcb temperature measured within 1mm distance to the package 10 k/w thermal resistance junction to case r tjc junction temperature to heat slug of package 3 k/w the thermal resistance in an actual layout can be tested by checking for the heat up caused by the standby power consumption of the chip. when no motor is attached, all power seen on the power supply is dissipated within the chip. note a spread - sheet for calculating tmc5 0 41 power dissipation is available on www.trinamic.com.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 80 www.trinamic.com 20 l ayout considerations 20.1 exposed die pad the tmc5 0 41 uses its die attach pad to dissipate heat from the drivers and the linear regulator to the board. for best electrical and thermal performance, use a reasonable amount of solid, thermally conducting vias betw een the die attach pad and the ground plane . the printed circuit board should have a solid ground plane spreading heat into the board and providing for a stable gnd reference. 20.2 wiring gnd all signals of the tmc5 0 41 are referenced to their respective gnd. directly connect all gnd pins under the tmc5 0 41 to a common ground area (gnd, gndp, gnda and die attach pad). the gnd plane right below the die attach pad should be treated as a virtual star point. for thermal reasons, the pcb top layer shall be connected to a large pcb gnd plane spreading heat within the pcb. attention especially, the sense resistors are susceptible to gnd differences and gnd ripple voltage, as the microstep current steps make up for voltages down to 0.5 mv. no current other than the sense resistor current should flow on their connections to gnd and to the tmc5 0 41 . optimally place them close to the tmc5 0 41 , with one or more vias to the gnd plane for each sense resistor. the two sense resistors for one coi l should not share a common ground connection trace or vias, as also pcb traces have a certain resistance. 20.3 supply filtering the 5vout output voltage ceramic filtering capacitor (4.7 f recommended) should be placed as close as possible to the 5vout pin, w ith its gnd return going directly to the gnda pin. use as short and as thick connections as possible. for best microstepping performance and lowest chopper noise an additional filtering capacitor can be used for the vcc pin to gnd, to avoid charge pump and digital part ripple influencing motor current regulation. therefore place a ceramic filtering capacitor (470nf recommended) as close as possible ( 1 - 4 mm distance) to the vcc pin with gnd return going to the ground plane. vcc can be coupled to 5vout using a 2.2 ? resistor in order to supply the digital logic from 5vout while keeping ripple away from this pin. a 100 nf filtering capacitor should be placed as close as possible to the vsa pin to ground p lane. the motor supply pins vs should be decoupled with a n electrolytic capacitor (47 f or larger is recommended) and a ceramic capacitor, placed close to the device. take into account that the switching motor coil outputs have a high dv/dt. t hus capacitive stray into high resistive signals can occur, if the motor traces are near other traces over longer distances.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 81 www.trinamic.com 20.4 layout e xample s chematic 1 - top l ayer (assembly side) 2 - inner l ayer (gnd) 3 - inner l ayer (supply vs) 4 - bottom l ayer c omponents f igure 20 . 1 layout example
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 82 www.trinamic.com 21 package mechanical data 21.1 dimensional drawing s attention: drawings not to scale. figure 21 . 1 dimensional drawings p arameter ref min nom max total thickness a 0.80 0.85 0.90 sta nd off a1 0.00 0.035 0.05 mold thickness a2 - 0.65 0.67 lead frame thickness a3 0.203 lead width b 0.2 0.25 0.3 body size x d 7.0 body size y e 7.0 lead pitch e 0.5 exposed die pad size x j 5.2 5.3 5.4 exposed die pad size y k 5.2 5.3 5.4 lead length l 0.35 0.4 0.45 package edge tolerance aaa 0.1 mold flatness bbb 0.1 coplanarity ccc 0.08 lead offset ddd 0.1 exposed pad offset eee 0.1 21.2 package codes type package temperature range code & marking tmc5 0 41 - la qfn48 (rohs) - 40c ... +125c tmc5 0 41 - la
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 83 www.trinamic.com 22 design philosophy we feel that this is one of the coolest chips which we did within the last years. the tmc50xx and tmc5130 family brings premium functionality, reliability and coherence previously reserved to costly motion contro l units to smart applications . integration at street level cost was possible by squeezing know - how into a few mm2 of layout using one of the most modern smart power processes. the ic comprises all the knowledge gained from designing motion control ler and d river chips and complex motion control systems for more than 20 years. we are often asked if our motion controllers contain software C they definitely do not. the reason is that sharing resources in software leads to complex timing constraints and can crea te interrelations between parts which should not be related. this makes debugging of software so difficult. therefore, the ic is completely designed as a hardware solution, i.e. each internal calculation uses a specially designed dedicated arithmetic unit. the basic philosophy is to integrate all real - time critical functionality in hardware, and to leave additional starting points for highest flexibility . parts of the design go back to previous ics, starting from the tmc453 motion controller developed in 19 97 . our deep involvement , practical testing and the stable team ensure a high level of co nfidence and functional safety. bernhard dwersteg, cto and founder 23 disclaimer trinamic motion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the specific written consent of trinamic motion control gmbh & co. kg. life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with ins tructions provided, can be reasonably expected to result in personal injury or death. information given in this data sheet is believed to be accurate and reliable. however no responsibility is assumed for the consequences of its use nor for any infringeme nt of patents or other rights of third parties which may result from its use. specifications are subject to change without notice. all trademarks used are property of their respective owners. 24 esd sensitive device the tmc5 0 41 is an esd sensitive cmos de vice sensitive to electrostatic discharge. take special care to use adequate grounding of personnel and machines in manual handling. after soldering the devices to the board, esd requirements are more relaxed. failure to do so can result in defect or decre ased reliability.
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 84 www.trinamic.com 25 table of f igures figure 1.1 basic application and block diagram ................................ ................................ ................................ .......... 5 figure 1.2 energy efficiency with coolstep (example) ................................ ................................ ............................... 7 figure 2.1 TMC5041 pin assignments. ................................ ................................ ................................ ............................. 8 figure 3.1 standard application circuit ................................ ................................ ................................ ......................... 11 figure 3.2 5v only operation ................................ ................................ ................................ ................................ ........... 12 figure 3.3 using an external 5v supply for digital circuitry of driver (different options) ............................. 13 figure 3.4 using an external 5v supply to bypass internal regulator ................................ ................................ 14 figure 3.5 rc - filter on vcc for reduced ripple ................................ ................................ ................................ .......... 14 figure 3.6 simple esd enhancement and more elaborate motor output protection ................................ .... 15 figure 4.1 spi timing ................................ ................................ ................................ ................................ ......................... 18 figure 7.1 motor coil sine wave current with stealthchop (measured with current probe) ....................... 38 figure 7.2 scope shot: good setting for pwm_grad ................................ ................................ ............................... 39 figure 7.3 scope shot: too small setting for pwm_grad ................................ ................................ ...................... 39 figure 7.4 good and too small setting for pwm_grad ................................ ................................ .......................... 40 figure 8.1 chopper phases ................................ ................................ ................................ ................................ .............. 46 figure 8.2 no ledges in cur rent wave with sufficient hysteresis (magenta: current a, yellow & blue: sense resistor voltages a and b) ................................ ................................ ................................ ................................ ... 48 figure 8.3 spreadcycl e chopper scheme showing coil current during a chopper cycle ............................... 49 figure 8.4 classic const. of f time chopper with offset showing coil current ................................ ................... 50 figure 8.5 zero crossing with classic chopper and correction using sine wave of fset ................................ . 50 figure 10.1 ramp generator velocity trace showing consequent move in negative direction ................... 54 figure 10.2 illustration of optimized motor torque usage with TMC5041 ramp generator ......................... 55 figure 10.3 ramp generator velocity dependent motor control ................................ ................................ .......... 56 figure 10.4 using reference switches (example) ................................ ................................ ................................ ....... 57 figure 11.1 function principle of stallguard2 ................................ ................................ ................................ ............ 59 figure 11.2 example: optimum sgt setting and stallguard2 reading with an example motor ................. 61 figure 12.1 coolstep adapts motor current to the load ................................ ................................ ......................... 64 figure 13.1 lut programming example ................................ ................................ ................................ ....................... 66 figure 14.1 current setting and first steps with stealthchop ................................ ................................ ............... 68 figure 14.2 tuning stealthchop and spreadcycle ................................ ................................ ................................ ..... 69 figure 14.3 moving the motor using the motion controller ................................ ................................ ................. 70 figure 14.4 enabling coolstep (only in combination with sprea dcycle) ................................ ............................ 71 figure 20.1 layout example ................................ ................................ ................................ ................................ ............. 81 figure 21.1 dimensional drawings ................................ ................................ ................................ ................................ 82
TMC5041 datasheet (rev. 1.12 / 201 6 - apr - 22 ) 85 www.trinamic.com 26 revision history version date author bd C bernhard dwersteg sd C sonja dwersteg description 1.04 201 3 - nov - 06 sd first version of preliminary TMC5041 datasheet based on tmc5031 datasheet v1.07 1.0 5 201 5 - jan - 2 0 bd full TMC5041 datasheet based on preliminary datasheet and tmc5072 v1.17 datasheet (see revision history in tmc5072 datasheet for full history) 1.06 2015 - jan - 23 bd added stealthchop initialization exam ple 1.09 2015 - mar - 10 bd removed encoder references 1.10 2015 - mar - 25 bd removed preliminary, slight corrections in wording 1.11 2015 - oct - 13 bd correct spi write access example, spi mode 3, added tclk1 data, corrected toff calculation example, comments in gstat, comment on spi_status, 5v only + - 5% , x1=128 in microstep table defaults 1.12 2016 - apr - 22 bd more details on: setting negative encoder factors, stealthchop lower current limit , ramp generator joystick control, terminate ramp , adaptation to internal fclk , interrupt handling corrected: effective stealthchop pwm frequency is 2* divider setting , wording v1 and vmax register , esd schematic w. varistors instead of snubber t able 26 . 1 documentation revisions 27 references [tmc5 0 41 - eval] tmc5 0 41 - eval manual [an001] trinamic appli cation note 001 - parameterization of spreadcycle?, www.trinamic.com [an002] trinamic application note 002 - parameterization of stallguard2? & coolstep?, www.trinamic.com cal culation sheet tmc50 xx _calculations.xlsx

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