TMC260步进电机驱动IC资料_四相步进电机驱动芯片资源-CSDN文库

TMC260

需积分: 17 87 浏览量 2017-11-02 21:36:41 上传评论收藏 1.05MB PDF 举报

资源推荐

资源详情

资源评论

POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC260 & TMC261 DATASHEET

Half Bridge 2

Half Bridge 1

Half Bridge 2

VSA / B

2 x Current

Comparator

TMC260 / TMC261

RSA / B

Protection

& Diagnostics

Sine Table

4*256 entry

STEP

DIR

2 x DAC

SPI control,

Config & Diags

CSN

SCK

SDO

SDI

stallGuard2™

coolStep™

Step Multiplier

SG_TST

OA1

OA2

BRA / B

SENSE

OB1

OB2

Chopper

VCC_IO

2 Phase

Stepper

BLOCK DIAGRAM

FEATURES AND BENEFITS

Drive Capability up to 2A motor current

Highest Voltage up to 60V DC (TMC261) or 40V DC (TMC260)

Highest Resolution up to 256 microsteps per full step

Compact Size 10x10mm QFP-44 package

Low Power Dissipation, low RDSON & synchronous

rectification

EMI-optimized programmable slope

Protection & Diagnostics overcurrent, short to GND,

overtemperature & undervoltage

stallGuard2™ high precision sensorless motor load detection

coolStep™ load dependent current control for energy savings

up to 75%

microPlyer™ microstep interpolation for increased

smoothness with coarse step inputs.

spreadCycle™ high-precision chopper for best current sine

wave form and zero crossing

APPLICATIONS

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

Printer and Scanner

CCTV, Security

ATM, Cash recycler

POS

Pumps and Valves

Heliostat Controller

CNC Machines

DESCRIPTION

The TMC260 and TMC261 drivers for two-

phase stepper motors offer an industry-

leading feature set, including high-

resolution microstepping, sensorless

mechanical load measurement, load-

adaptive power optimization, and low-

resonance chopper operation. Standard

SPI™ and STEP/DIR interfaces simplify

communication. Integrated power MOSFETs

handle motor currents up to 2A per coil.

Integrated protection and diagnostic

features support robust and reliable

operation. High integration, high energy

efficiency and small form factor enable

miniaturized designs with low external

component count for cost-effective and

highly competitive solutions.

Universal, cost-effective stepper drivers for two-phase bipolar motors with state-of-the-art features.

Integrated MOSFETs for up to 2 A motor currents per coil. With Step/Dir Interface and SPI.

捷多邦，您值得信赖的PCB打样专家！

TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05) 2

www.trinamic.com

Layout for Evaluation

APPLICATION EXAMPLES: SMALL SIZE – BEST PERFORMANCE

The TMC260 and the TMC261 score with power density, integrated power MOSFETs, and a versatility that

covers a wide spectrum of applications and motor sizes, all while keeping costs down. Extensive support at

the chips, board, and software levels enables rapid design cycles and fast time-to-market with competitive

products. High energy efficiency from TRINAMIC’s coolStep technology delivers further cost savings in

related systems such as power supplies and cooling.

Layout for up to six stepper motors

ORDER CODES

Order code

Description

Size

TMC260-PA

coolStep™ driver with internal MOSFETs, up to 40V DC,

QFP-44 with 12x12 pins

10 x 10 mm

TMC261-PA

coolStep™ driver with internal MOSFETs, up to 60V DC,

QFP-44 with 12x12 pins

10 x 10 mm

TMC429+26x-EVAL

Chipset evaluation board for TMC429, TMC260, TMC261,

TMC262, and TMC424.

16 x 10 cm

TMCM-6110

FOR UP TO 6 STEPPER MOTORS

The TMCM-6110 is a compact stepper motor

controller / driver standalone board. It

supports up to 6 bipolar stepper motors with

up to 1.1A RMS coil current. The TMC260 has

been tested successfully for 2A peak (1,4A

RMS) on this module.

The TMCM-6110 features an embedded

microcontroller with USB, CAN and RS485

interfaces for communication.

All cooling requirements are satisfied by

passive convection cooling.

TMC429+TMC26X EVAL

EVALUATION & DEVELOPMENT PLATFORM

This evaluation board is a development

platform for applications based on the

TMC260, TMC261, and TMC262.

Supply voltages are 8… 40V DC (TMC260) and

8… 60V DC (TMC261 and TMC262).

The board features an embedded

microcontroller with USB and RS232 interfaces

for communication. 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 through

the step/direction interface using inputs from

an external source or signals generated by the

TMC429 motion controller acting as a step

generator.

TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05) 3

www.trinamic.com

TABLE OF CONTENTS

1 PRINCIPLES OF OPERATION ............... 4

1.1 KEY CONCEPTS ............................................... 4

1.2 CONTROL INTERFACES .................................... 5

1.3 MECHANICAL LOAD SENSING ......................... 5

1.4 CURRENT CONTROL ........................................ 5

2 PIN ASSIGNMENTS ................................. 6

2.1 PACKAGE OUTLINE ......................................... 6

2.2 SIGNAL DESCRIPTIONS .................................. 6

3 INTERNAL ARCHITECTURE .................... 8

4 STALLGUARD2 LOAD MEASUREMENT 9

4.1 TUNING THE STALLGUARD2 THRESHOLD ...... 10

4.2 STALLGUARD2 MEASUREMENT FREQUENCY

AND FILTERING ............................................ 11

4.3 DETECTING A MOTOR STALL ........................ 11

4.4 LIMITS OF STALLGUARD2 OPERATION ......... 11

5 COOLSTEP LOAD-ADAPTIVE CURRENT

CONTROL 12

5.1 TUNING COOLSTEP ....................................... 14

6 SPI INTERFACE ...................................... 15

6.1 BUS SIGNALS............................................... 15

6.2 BUS TIMING ................................................ 15

6.3 BUS ARCHITECTURE ..................................... 16

6.4 REGISTER WRITE COMMANDS ...................... 17

6.5 DRIVER CONTROL REGISTER (DRVCTRL) .... 18

6.6 CHOPPER CONTROL REGISTER (CHOPCONF)

6.7 COOLSTEP CONTROL REGISTER (SMARTEN)21

6.8 STALLGUARD2 CONTROL REGISTER

(SGCSCONF) ............................................. 22

6.9 DRIVER CONTROL REGISTER (DRVCONF) ... 23

6.10 READ RESPONSE .......................................... 24

6.11 DEVICE INITIALIZATION ............................... 25

7 STEP/DIR INTERFACE ........................... 26

7.1 TIMING ........................................................ 26

7.2 MICROSTEP TABLE ....................................... 27

7.3 CHANGING RESOLUTION .............................. 28

7.4 MICROPLYER STEP INTERPOLATOR ............... 28

7.5 STANDSTILL CURRENT REDUCTION ................ 29

8 CURRENT SETTING ................................ 30

8.1 SENSE RESISTORS ........................................ 31

9 CHOPPER OPERATION ......................... 32

9.1 SPREADCYCLE MODE .................................... 33

9.2 CONSTANT OFF-TIME MODE ........................ 35

10 POWER MOSFET STAGE ...................... 37

10.1 BREAK-BEFORE-MAKE LOGIC ........................ 37

10.2 ENN INPUT ................................................. 37

11 DIAGNOSTICS AND PROTECTION ... 38

11.1 SHORT TO GND DETECTION ........................ 38

11.2 OPEN-LOAD DETECTION .............................. 39

11.3 OVERTEMPERATURE DETECTION ................... 39

11.4 UNDERVOLTAGE DETECTION ......................... 40

12 POWER SUPPLY SEQUENCING .......... 41

13 SYSTEM CLOCK ...................................... 42

13.1 FREQUENCY SELECTION ................................ 42

15 LAYOUT CONSIDERATIONS ............... 43

15.1 SENSE RESISTORS ........................................ 43

15.2 POWER MOSFET OUTPUTS ......................... 43

15.3 POWER FILTERING ....................................... 43

15.4 LAYOUT EXAMPLE ........................................ 44

16 ABSOLUTE MAXIMUM RATINGS ....... 45

17 ELECTRICAL CHARACTERISTICS ....... 46

17.1 OPERATIONAL RANGE .................................. 46

17.2 DC AND AC SPECIFICATIONS ...................... 46

17.3 THERMAL CHARACTERISTICS ........................ 49

18 PACKAGE MECHANICAL DATA .......... 50

18.1 DIMENSIONAL DRAWINGS ........................... 50

18.2 PACKAGE CODE ........................................... 50

19 DISCLAIMER ........................................... 51

20 ESD SENSITIVE DEVICE ...................... 51

21 TABLE OF FIGURES ............................... 52

22 REVISION HISTORY ............................. 53

23 REFERENCES ............................................ 53

TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05) 4

www.trinamic.com

1 Principles of Operation

µC

SPI

S/D

High-Level

Interface

0A+

0A-

0B+

TMC260

TMC261

0B-

µC

SPI

S/D

TMC429

Motion

Controller

for up to

3 Motors

High-Level

Interface

0A+

0A-

0B+

TMC260

TMC261

0B-

Figure 1.1 applications block diagram

The TMC260 and the TMC261 motor driver chips with included MOSFETs are intelligence and power

between a motion controller and the two phase stepper motor as shown in Figure 1.1. Following

power-up, an embedded microcontroller initializes the driver by sending commands over an SPI bus

to write control parameters and mode bits in the TMC260/TMC261. The microcontroller may implement

the motion-control function as shown in the upper part of the figure, or it may send commands to a

dedicated motion controller chip such as TRINAMIC’s TMC429 as shown in the lower part.

The motion controller can control the motor position by sending pulses on the STEP signal while

indicating the direction on the DIR signal. The TMC260/TMC261 has a microstep counter and sine table

to convert these signals into the coil currents which control the position of the motor. If the

microcontroller implements the motion-control function, it can write values for the coil currents

directly to the TMC260/261 over the SPI interface, in which case the STEP/DIR interface may be

disabled. This mode of operation requires software to track the motor position and reference a sine

table to calculate the coil currents.

To optimize power consumption and heat dissipation, software may also adjust coolStep and

stallGuard2 parameters in real-time, for example to implement different tradeoffs between speed and

power consumption in different modes of operation.

The motion control function is a hard real-time task which may be a burden to implement reliably

alongside other tasks on the embedded microcontroller. 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 positions, and the TMC429 generates precisely

timed step pulses. Software retains full control over both the TMC260/TMC261 and TMC429 through the

SPI bus.

1.1 Key Concepts

The TMC260 and TMC261 motor drivers implement 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.

stallGuard2™ High-precision load measurement using the back EMF on the coils

coolStep™ Load-adaptive current control which reduces energy consumption by as much as

75%

spreadCycle™ High-precision chopper algorithm available as an alternative to the traditional

constant off-time algorithm

microPlyer™ Microstep interpolator for obtaining increased smoothness of microstepping over a

STEP/DIR interface

TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05) 5

www.trinamic.com

In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to

detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage

conditions for enhancing safety and recovery from equipment malfunctions.

1.2 Control Interfaces

There are two control interfaces from the motion controller to the motor driver: the SPI serial

interface and the STEP/DIR interface. The SPI interface is used to write control information to the chip

and read back status information. This interface must be used to initialize parameters and modes

necessary to enable driving the motor. This interface may also be used for directly setting the currents

flowing through the motor coils, as an alternative to stepping the motor using the STEP and DIR

signals, so the motor can be controlled through the SPI interface alone.

The STEP/DIR interface is a traditional motor control interface available for adapting existing designs

to use TRINAMIC motor drivers. Using only the SPI interface requires slightly more CPU overhead to

look up the sine tables and send out new current values for the coils.

1.2.1 SPI Interface

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 simultaneously from the slave to the master.

Communication between an SPI master and the TMC260 or TMC261 slave always consists of sending

one 20-bit command word and receiving one 20-bit status word.

The SPI command rate typically corresponds to the microstep rate at low velocities. At high velocities,

the rate may be limited by CPU bandwidth to 10-100 thousand commands per second, so the

application may need to change to fullstep resolution.

1.2.2 STEP/DIR Interface

The STEP/DIR interface is enabled by default. Active edges on the STEP input can be rising edges or

both rising and falling edges, as controlled by another mode bit (DEDGE). Using both edges cuts the

toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as

optically isolated interfaces.

On each active edge, the state sampled from the DIR input determines whether to step forward or

back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256

microsteps per fullstep. During microstepping, a step impulse with a low state on DIR increases the

microstep counter and a high decreases the counter by an amount controlled by the microstep

resolution. An internal table translates the counter value into the sine and cosine values which

control the motor current for microstepping.

1.3 Mechanical Load Sensing

The TMC260 and TMC261 provide stallGuard2 high-resolution load measurement for determining the

mechanical load on the motor by measuring the back EMF. In addition to detecting when a motor

stalls, this feature can be used for homing to a mechanical stop without a limit switch or proximity

detector. The coolStep power-saving mechanism uses stallGuard2 to reduce the motor current to the

minimum motor current required to meet the actual load placed on the motor.

1.4 Current Control

Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes

are available: a traditional constant off-time mode and the new spreadCycle mode. spreadCycle mode

offers smoother operation and greater power efficiency over a wide range of speed and load.

剩余52页未读，继续阅读

评论收藏

内容反馈

flody1993

粉丝: 1
资源: 2

TMC260步进电机驱动IC资料

TMC260驱动代码

stm32，TMC260步进电机驱动程序

TOS-100:TMC260步进驱动程序Arduino Shield

步进电机驱动芯片TMC260电路及PCB

TMC260_TMC261_TMC262_步进电机驱动芯片手册.pdf

TMC262硬件手册中文版（TMC260、TMC261、TMC2660通用）

TMC2660或者TMC260步进电机电路图设计

SPI-7210M应用电路及步进电机驱动原理

mc33886封装压缩包，希望能对你有帮助电机驱动

FLYFOT MC260 AT COMMAND 中文SPEC

步进电机控制IC

驱动IC资料.pdf

步进电机，直流电机驱动IC PCB布局

CH01.rar_TMC260_TMC260 步进电机驱动程序_步进电机 TMC260_步进电机驱动_电机

DRV8824 步进电机控制器 IC

STM32F407驱动并控制四个TMC26x驱动芯片的代码

HX8347G LCD 驱动IC资料

vk1072c段码CLD驱动IC资料

OLED的驱动IC ssd1307Z 资料

TB62262FTAG步进电机驱动驱动IC规格书datasheet

TB6600(O)datasheets步进电机驱动IC

PIR驱动IC资料

常用LCM驱动IC资料及初始化

液晶驱动IC资料splc502C

三相电机驱动IC_l62341

LCD驱动IC资料

晶门驱动IC资料SSD1623

电机驱动IC l9942.pdf

串口助手工具合集.zip

OLED显示温度和时间-STM32F103C8T6（完整程序工程+原理图+相关资料）.zip

最新资源