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MOTION CONTROLLER FOR STEPPER MOTORS INTEGRATED CIRCUITS
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC429 DATASHEET
Triple Stepper Motor Ramp Generator Controller with Serial Peripheral Interfaces and Step/Direction
Fully Compatible Successor of the TMC428
BLOCK DIAGRAM
FEATURES AND BENEFITS
Controls up to three stepper motors
3.3 V or 5 V operation with CMOS / TTL compatible IOs
Serial 4-wire interface for µC with easy-to-use protocol
Interface for SPI™ motor drivers with data rates up to 1 Mbit/s
Step/Direction interface to control any Step&Dir driver
Clock frequency: up to 32 MHz (can use CPU clock)
Internal position counters 24 bit wide
Microstep frequency up to 1 MHz
Read-out option for all motion parameters
Programmable 6-bit microstep table for SPI drivers
Ramp generators for autonomous positioning / speed control
On-the-fly change of target motion parameters
Homing and Stop Switch Monitoring integrated for 1-3 switches
Power boost automatic acceleration dependent current control
Low power operation: 1.25 mA at 4 MHz (typ.)
Compact Size: ultra-small 16 pin SSOP package, 24 pin SOP
package, and 32 pin QFN 5x5 mm package
Directly controls TMC26x, TMC2660, TMC2590, TMC246, TMC249
APPLICATIONS
CCTV, Security
Antenna Positioning
Heliostat Controller
Battery powered applications
Office Automation
ATM, Cash recycler, POS
Lab Automation
Liquid Handling
Medical
Printer and Scanner
Pumps and Valves
DESCRIPTION
The TMC429 is a miniaturized stepper motor
controller with an industry leading feature
set. It controls up to three motors via SPI or
Step/Direction interface. Using Trinamic
Step&Dir drivers, up to 256 microstep
resolution realize highly precise motion.
Based on target positions and velocities -
which can be altered on the fly - it performs
all real time critical tasks autonomously. The
TMC429 offers high level control functions for
robust and reliable operation. Two separate 4
wire serial peripheral interfaces allow for
communication with the microcontroller and
with up to three daisy chained stepper motor
drivers.
Together with a microcontroller the TMC429
forms a complete motion control system.
High integration and small form factor allow
for miniaturized designs for cost-effective and
highly competitive solutions.
PROTOTYPING BOB
TMC429 DATASHEET (Rev. 2.06 / 2022-FEB-24) 2
www.trinamic.com
Layout for Evaluation of TMC429 with
TMC262, TMC261, and TMC260
APPLICATION EXAMPLES: RELIABLE CONTROL FOR UP TO 3 MOTORS
The TMC429 scores with its autonomous handling of all real time critical tasks. By offloading the
motion-control function to the TMC429, up to three motors can be operated reliably with very little
demand for service from the microcontroller. Software only needs to send target posit ions, and the
TMC429 generates precisely timed step pulses by hardware for up to three stepper motor driver chips.
Parameters for each motor can be changed on the fly while software retains full control using an SPI
bus. This way, high precision and reliable operation is achieved while costs are kept down.
Controller/Driver Chain
Development platform with TMC262
TMC429
ORDER CODES
Order code
Description
Size [mm
2
]
TMC429-LI
3-Axis Motion Controller IC, SPI, Step/Dir, QFN32, Tray
5 x 5
TMC429-LI-T
3-Axis Motion Controller IC, SPI, Step/Dir, QFN32, Tape & Reel
5 x 5
TMC429-PI24
3-Axis Motion Controller IC, SPI, Step/Dir, SOP24, Tube
15.5 x 10.5
TMC429-I
3-Axis Motion Controller IC, SPI, Step/Dir, SSOP16, Tube
5 x 4
TMC429-I
3-Axis Motion Controller IC, SPI, Step/Dir, SSOP16, Tape & Reel
5 x 4
TMC429-BOB
Break-out-board with TMC429 for quick prototyping
25 x 25
STEPROCKER™
The TMCM-1110 stepRocker is a single axis
motor controller and driver board for 2-phase
bipolar stepper motors. It features the
TRINAMIC controller/driver chain consisting of
TMC429 and TMC262. The Module is intended to
be a fully functional development platform with
6A MOSFETs. Because of the TMC429s ability to
control up to three motors the stepRocker can
be extended to a full 3-axes system.
TMC429+TMC26X-EVAL
This evaluation board is an example design for
applications based on the TMC429 in
combination with TMC260, TMC261, and TMC262.
Common supply voltages are +12V DC / +24V DC /
+48V DC (TMC261 only). The board features an
embedded microcontroller with USB and RS232
interfaces. The control software provides a user-
friendly GUI for setting control parameters and
visualizing the dynamic responses of the
motors.
Motor movements can be controlled via the
step and direction interface using inputs from
an external source or signals generated by the
microcontroller acting as a step generator.
TMC429 DATASHEET (Rev. 2.06 / 2022-FEB-24) 3
www.trinamic.com
TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 4
1.1 KEY CONCEPTS 4
1.2 CONTROL INTERFACES 5
1.3 SOFTWARE VISIBILITY 6
1.4 STEP FREQUENCIES 6
1.5 MOVING THE MOTOR 7
2 GENERAL DEFINITIONS, UNITS, AND
NOTATIONS 9
2.1 NOTATIONS 9
2.2 SIGNAL POLARITIES 9
2.3 UNITS OF MOTION PARAMETERS 9
2.4 REPRESENTATION OF SIGNED VALUES BY TWO’S
COMPLEMENT 9
3 PACKAGE VARIANTS 10
4 PIN ASSIGNMENTS 10
4.1 PACKAGE OUTLINES 11
4.2 SIGNAL DESCRIPTIONS 12
5 SAMPLE CIRCUITS 13
5.1 APPLICATION EXAMPLE: TMC429 IN QFN32
PACKAGE 13
5.2 APPLICATION EXAMPLE: TMC429 IN SSOP16
PACKAGE 14
5.3 APPLICATION EXAMPLE: TMC429 WITH DRIVERS
WITHOUT SERIAL DATA OUTPUT (SDO) 14
6 CONTROL INTERFACE 15
6.1 BUS SIGNALS 15
6.2 SERIAL PERIPHERAL INTERFACE FOR µC 15
7 ADDRESS SPACE PARTITIONS 20
7.1 READ AND WRITE 20
7.2 REGISTER SET 20
7.3 REGISTER MAPPING 21
8 REGISTER DESCRIPTION 22
8.1 AXIS PARAMETER REGISTERS 22
8.2 GLOBAL PARAMETER REGISTERS 39
9 REFERENCE SWITCH INPUTS 49
9.1 REFERENCE SWITCH CONFIGURATION, MOT1R,
AND REFMUX 49
9.2 TRIPLE SWITCH CONFIGURATION 51
9.3 HOMING PROCEDURE 52
9.4 SIMULTANEOUS START OF UP TO THREE STEPPER
MOTORS 52
10 STEP/DIR DRIVERS 53
10.1 TIMING 53
11 SPI MODE DRIVER INTERFACE 54
11.1 BUS SIGNALS 54
11.2 TIMING 54
11.3 RAM ADDRESS PARTITIONING AND DATA
ORGANIZATION 55
11.4 STEPPER DRIVER SPI DATAGRAM CONFIGURATION
57
11.5 INITIALIZATION OF MICROSTEP LOOK-UP TABLE62
12 RUNNING A MOTOR 67
12.1 GETTING STARTED 67
12.2 RUNNING A MOTOR WITH START-STOP-SPEED IN
RAMP_MODE 67
13 ON-CHIP VOLTAGE REGULATOR 68
14 POWER-ON RESET 69
15 ABSOLUTE MAXIMUM RATINGS 70
16 ELECTRICAL CHARACTERISTICS 70
16.1 POWER DISSIPATION 70
16.2 DC CHARACTERISTICS 71
16.3 TIMING CHARACTERISTICS 72
18 PACKAGE MACHANICAL DATA 73
18.1 TMC429-LI / QFN32 73
18.2 TMC429-PI24 / SOP24 74
18.4 TMC429-I / SSOP16 75
19 MARKING 76
20 COMPATIBILITY INFORMATION: TMC429
AND TMC428 77
20.1 SIGNAL DESCRIPTIONS: TMC428 VS. TMC42977
20.2 TMC428 SDO_C OUTPUT 78
20.3 UNUSED ADDRESSES 78
20.4 GENERAL TIMING PARAMETERS 79
21 DISCLAIMER 80
22 ESD SENSITIVE DEVICE 80
23 TABLE OF FIGURES 81
24 REVISION HISTORY 82
25 REFERENCES 83
TMC429 DATASHEET (Rev. 2.06 / 2022-FEB-24) 4
www.trinamic.com
1 Principles of Operation
Serial
µC
Interface
3 x RAMP
Generator
3 x STEPPULS
Generator
3x Step/Dir
Microstep
Unit
(incl. Sequencer)
Serial Driver
Interface
Multiple Ported RAM
M
U
X
SPI Mode
6
Voltage
Regulator
GND
Power-on
Reset
POSCOMP
Interrupt Controller
REF1
REF2
REF3
REF1R*
REF2R*
REF3R*
nSCS_C
SCK_C
SDI_C
nINT_SDO_C
TEST
SDOZ_C*
nSCS_S / Step 2
SCK_S / Dir 1
SDO_S / Step 1
SDI_S / Dir 2
nSCS3 / Dir 3*
nSCS2 / Step 3*
470nF
POSCMP*
CLK
4-32MHz
GND
DIE PAD
GND
GND
100nF
TMC429
GND
V5 /+5V supply or
+3V supply
* Not available with all IC packages. Please refer to the package outlines.
SPI
SPI / Step/Dir
to driver
SPI to
µC
Connect for
+3.3V operation
V33
V5
Figure 1.1 TMC429 functional block diagram
The TMC429 is a miniaturized high performance stepper motor controller with an outstanding cost -
performance ratio. It is designed for high volume automotive as well as for demanding industrial
motion control applications. Once initialized the TMC429 controls up to three 2-phase stepper motors
simultaneously. A programmable sequencer for 2-phase motors is integrated. The TMC429 motion
controller is equipped with an SPI™ host interface with easy-to-use protocol and two driver interfaces
(SPI and STEP/DIR) for addressing various stepper motor driver types.
1.1 Key Concepts
The TMC429 realizes real time critical tasks autonomously and guarantees for a robust and reliable
drive. These following features contribute toward greater precision, greater efficiency, higher
reliability, and smoother motion in many stepper motor applications.
Initialization Adapt the TMC429 to the driver type and configuration and send initial configuration
data to SPI drivers. Configure microstep resolution and waveform for SPI drivers.
Interfacing The TMC429 offers application specific interfacing via Step/Dir or SPI.
Positioning The TMC429 operates the motors based on user specified target positions and
velocities. Modify all motion target parameters on-the-fly during motion.
Programming Every parameter can be changed at any time. The uniform access to any TMC429
register simplifies application programming. A read-back option for all internal
registers is available.
Microstepping Based on internal position counters the TMC429 performs up to ±2
23
(micro)steps
completely independent from the microcontroller. Microstep resolutions are
individually programmable for each stepper motor.
The range goes from full stepping (1 microstep = 1 full step) and half stepping (2
microsteps per full step) up to 6 bit micro stepping (64 microsteps per full step) for
precise positioning and noiseless stepper motor rotation. With STEP/DIR drivers any
microstep resolution is possible as supported by the driver.
The internal microstep table can be adapted to specific motor characteristics to
further reduce torque ripple, if desired.
TMC429 DATASHEET (Rev. 2.06 / 2022-FEB-24) 5
www.trinamic.com
1.2 Control Interfaces
1.2.1 Serial µC Interface
From the software point of view, the TMC429 provides a set of registers, accessed by a
microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a read-
write selection bit, and data bits to access the registers and the on-chip memory. Each time the
microcontroller sends a datagram to the TMC429 it simultaneously receives a datagram from the
TMC429. This simplifies the communication with the TMC429 and makes programming easy. Most
microcontrollers have an SPI hardware interface, which directly connects to the serial four wire
microcontroller interface of the TMC429. For microcontrollers without SPI
hardware software doing the
serial communication is sufficient and can easily be implemented.
1.2.2 Step/Dir Driver Interface
The TMC429-LI controls the motor position by sending pulses on the STEP signal while indicating the
direction on the DIR signal. A programmable step pulse length and step frequencies up to 1MHz allow
operation at high speed and high microstep resolution. The driver chip converts these signals into the
coil currents which control the position of the motor. The TMC429-LI perfectly fits to the TMC26x smart
power Step/Dir driver family.
µC
High Level
Interface
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 3
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 2
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 1
TMC429
Motion Controller
SPI
Step/Dir 1 Step/Dir 3Step/Dir 2
SPI
Figure 1.2 Application example using Step/Dir driver interface
1.2.3 Serial Driver Interface
The TMC429 automatically generates the required data-stream for SPI drivers and provides user
configurable microstep waves and motor ramps for up to three motors. The serial interface to the
motor drivers is flexibly configurable for different types (from different vendors) with up to 64 bit
length for the SPI daisy chain. The TMC429-I perfectly fits to the TMC24x driver family.
µC
High Level
Interface
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 3
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 2
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 1
TMC429
Motion Controller
SPI
SPI
Figure 1.3 Application example using SPI driver interface
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