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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS

TRINAMIC Motion Control GmbH & Co. KG

Hamburg, Germany

TMC2208/2 & TMC2224/0/5 family Datasheet

FEATURES AND BENEFITS

2-phase stepper motors up to 2A coil current (peak)

STEP/DIR Interface with 2, 4, 8, 16 or 32 microstep pin

setting

Smooth Running 256 microsteps by microPlyer™ interpolation

stealthChop2™ silent motor operation

spreadCycle™ highly dynamic motor control chopper

Low RDSon LS 280mΩ & HS 290mΩ (typ. at 25°C)

Voltage Range 4.75… 36V DC

Automatic Standby current reduction (option)

Internal Sense Resistor option (no sense resistors required)

Passive Braking and Freewheeling

Single Wire UART & OTP for advanced configuration options

Integrated Pulse Generator for standalone motion

Full Protection & Diagnostics

Choice of QFN, TQFP and HTSSOP packages for best fit

APPLICATIONS

Compatible Design Upgrade

3D Printers

Printers, POS

Office and home automation

Textile, Sewing Machines

CCTV, Security

ATM, Cash recycler

HVAC

DESCRIPTION

The TMC2202, TMC2208, TMC2220, TMC2224

and TMC2225 are ultra-silent motor driver

ICs for two phase stepper motors. Their

pinning is compatible to a number of

legacy drivers. TRINAMICs sophisticated

stealthChop2 chopper ensures noiseless

operation, maximum efficiency and best

motor torque. Its fast current regulation

and optional combination with spreadCycle

allow for highly dynamic motion.

Integrated power-MOSFETs handle motor

current up to 1.4A RMS. Protection and

diagnostic features support robust and

reliable operation. A simple to use UART

interface opens up more tuning and

control options. Application specific tuning

can be stored to OTP memory. Industries’

most advanced STEP/DIR stepper motor

driver family upgrades designs to noiseless

and most precise operation for cost-

effective and highly competitive solutions.

TMC2202, TMC2208, TMC2220, TMC2224, TMC2225 Step/Dir Drivers for Two-Phase Bipolar Stepper Motors

up to 2A peak - stealthChop™ for Quiet Movement - UART Interface Option.

BLOCK DIAGRAM

spreadCycle

stealthChop2

DRIVER

TMC220X

TMC222X

256 µStep

Sequencer

Pulse Generator

UART

optional control

Power

Supply

Motor

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

DAC Reference

IREF optional current scaling

UART Control

CLK

Control

Set

Standstill Current

Reduction

CLK Oscillator /

Selector

Charge Pump

+5V Regulator

Mode

Selection

Configuration

Pins

OTP

memory

Protection

& Diagnostics

Diag Out /

Index

TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 2

www.trinamic.com

APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE

The TMC22xx family scores with power density, integrated power MOSFETs, smooth and quiet

operation, and a congenial simplicity. The TMC22xx covers a wide spectrum of applications from

battery systems to embedded applications with up to 2A motor current per coil. TRINAMICs unique

chopper modes spreadCycle and stealthChop2 optimize drive performance. stealthChop reduces motor

noise to the point of silence at low velocities. Standby current reduction keeps costs for power

dissipation and cooling down. Extensive support enables rapid design cycles and fast time-to-market

with competitive products.

STANDALONE REPLACEMENT FOR LEGACY STEPPER DRIVER

S/D

0A+

0A-

0B+

TMC22xx

0B-

ERROR, INDEX

S/D

0A+

0A-

0B+

TMC22xx

0B-

UART

CPU

High-Level

Interface

UART INTERFACE FOR FULL DIAGNOSTICS AND CONTROL

Sense Resistors may be omitted

TMC2208-EVAL EVALUATION BOARD

ORDER CODES

Order code

Description

Size [mm

]

TMC2208-LA

stealthChop standalone driver; QFN28 (RoHS compliant)

5 x 5

TMC2224-LA

stealthChop standalone driver; QFN28 (RoHS compliant)

5 x 5

TMC2202-WA

stealthChop driver; wettable edge QFN32 (RoHS compliant)

5 x 5

TMC2220-TA

Option package: TQFP 48 – please request for availability!

9 x 9

TMC2225-SA

Option package: HTSSOP28 – please request for availability!

9.7 x 6.4

TMC2208-EVAL

Evaluation board for TMC2208 stepper motor driver

85 x 55

TMC2224-EVAL

Evaluation board for TMC2224 stepper motor driver

85 x 55

TMC22xx-Bridge

Connector and jumper board fitting to TMC22xx family

61 x 38

STARTRAMPE

Baseboard for TMC2208-EVAL and further evaluation boards

85 x 55

In this example, configuration is hard

wired via pins. Software based motion

control generates STEP and DIR

(direction) signals, INDEX and ERROR

signals report back status information.

A CPU operates the driver via step and

direction signals. It accesses diagnostic

information and configures the

TMC22xx via the UART interface. The

CPU manages motion control and the

TMC22xx drives the motor and smoo-

thens and optimizes drive performance.

The TMC22xx-EVAL is part of

TRINAMICs universal evaluation board

system which provides a convenient

handling of the hardware as well as a

user-friendly software tool for

evaluation. The TMC22xx evaluation

board system consists of three parts:

STARTRAMPE (base board), TMC2208-

BRIDGE (connector board with several

test points and stand-alone settings),

and TMC22xx-EVAL.

TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 3

www.trinamic.com

Table of Contents

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

1.1 KEY CONCEPTS ................................................ 5

1.2 CONTROL INTERFACES ..................................... 6

1.3 MOVING AND CONTROLLING THE MOTOR ........ 6

1.4 STEALTHCHOP2 & SPREADCYCLE DRIVER ........ 6

1.5 PRECISE CLOCK GENERATOR AND CLK INPUT... 7

1.6 AUTOMATIC STANDSTILL POWER DOWN......... 7

1.7 INDEX OUTPUT ................................................ 7

2 PIN ASSIGNMENTS ........................................... 8

2.1 PACKAGE OUTLINE TMC2208 ........................ 8

2.2 SIGNAL DESCRIPTIONS TMC2208 .................. 8

2.3 PACKAGE OUTLINE TMC2202 ........................ 9

2.4 SIGNAL DESCRIPTIONS TMC2202 .................. 9

2.5 PACKAGE OUTLINE TMC2224 ...................... 10

2.6 SIGNAL DESCRIPTIONS TMC2224 ................ 11

2.7 PACKAGE OUTLINE TMC2225 ...................... 12

2.8 SIGNAL DESCRIPTIONS TMC2225 ................ 12

2.9 PACKAGE OUTLINE TMC2220 ...................... 13

2.10 SIGNAL DESCRIPTIONS TMC2220 ................ 13

3 SAMPLE CIRCUITS .......................................... 15

3.1 STANDARD APPLICATION CIRCUIT ................ 15

3.2 INTERNAL RDSON SENSING .......................... 15

3.3 5V ONLY SUPPLY .......................................... 16

3.4 CONFIGURATION PINS .................................. 17

3.5 HIGH MOTOR CURRENT ................................. 17

3.6 DRIVER PROTECTION AND EME CIRCUITRY ... 18

4 UART SINGLE WIRE INTERFACE ................ 19

4.1 DATAGRAM STRUCTURE ................................. 19

4.2 CRC CALCULATION ....................................... 21

4.3 UART SIGNALS ............................................ 21

4.4 ADDRESSING MULTIPLE SLAVES .................... 22

5 REGISTER MAP ................................................. 23

5.1 GENERAL REGISTERS ..................................... 24

5.2 VELOCITY DEPENDENT CONTROL ................... 29

5.3 SEQUENCER REGISTERS ................................. 30

5.4 CHOPPER CONTROL REGISTERS ..................... 31

6 STEALTHCHOP™ .............................................. 37

6.1 AUTOMATIC TUNING ..................................... 37

6.2 STEALTHCHOP OPTIONS ................................ 39

6.3 STEALTHCHOP CURRENT REGULATOR ............. 39

6.4 VELOCITY BASED SCALING ............................ 41

6.5 COMBINING STEALTHCHOP AND SPREADCYCLE ..

..................................................................... 43

6.6 FLAGS IN STEALTHCHOP ................................ 44

6.7 FREEWHEELING AND PASSIVE BRAKING ........ 45

7 SPREADCYCLE CHOPPER ............................... 47

7.1 SPREADCYCLE SETTINGS ............................... 48

8 SELECTING SENSE RESISTORS .................... 51

9 MOTOR CURRENT CONTROL ........................ 52

9.1 ANALOG CURRENT SCALING VREF ............... 53

10 INTERNAL SENSE RESISTORS ..................... 55

11 STEP/DIR INTERFACE .................................... 57

11.1 TIMING ......................................................... 57

11.2 CHANGING RESOLUTION ............................... 58

11.3 MICROPLYER STEP INTERPOLATOR AND STAND

STILL DETECTION ....................................................... 59

11.4 INDEX OUTPUT ............................................. 60

12 INTERNAL STEP PULSE GENERATOR ......... 61

13 DRIVER DIAGNOSTIC FLAGS ...................... 62

13.1 TEMPERATURE MEASUREMENT ....................... 62

13.2 SHORT PROTECTION ...................................... 62

13.3 OPEN LOAD DIAGNOSTICS ........................... 63

13.4 DIAGNOSTIC OUTPUT ................................... 63

14 QUICK CONFIGURATION GUIDE ................ 64

15 EXTERNAL RESET ............................................. 67

16 CLOCK OSCILLATOR AND INPUT ............... 67

17 ABSOLUTE MAXIMUM RATINGS ................. 68

18 ELECTRICAL CHARACTERISTICS ................. 68

18.1 OPERATIONAL RANGE ................................... 68

18.2 DC AND TIMING CHARACTERISTICS .............. 69

18.3 THERMAL CHARACTERISTICS.......................... 73

19 LAYOUT CONSIDERATIONS ......................... 74

19.1 EXPOSED DIE PAD ........................................ 74

19.2 WIRING GND .............................................. 74

19.3 SUPPLY FILTERING ........................................ 74

19.4 LAYOUT EXAMPLE TMC2208 ........................ 75

20 PACKAGE MECHANICAL DATA .................... 76

20.1 DIMENSIONAL DRAWINGS QFN28 ............... 76

20.2 DIMENSIONAL DRAWINGS QFN32-WA ....... 78

20.3 PACKAGE CODES ........................................... 79

21 TABLE OF FIGURES ......................................... 80

22 REVISION HISTORY ....................................... 81

23 REFERENCES ...................................................... 81

TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 4

www.trinamic.com

1 Principles of Operation

The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low cost stepper

driver applications. Its silent drive technology stealthChop enables non-bugging motion control for

home and office applications. A highly efficient power stage enables high current from a tiny package.

The TMC22xx requires just a few control pins on its tiny package. They allow selection of the most

important setting: the desired microstep resolution. A choice of 2, 4, 8, 16 or 32 microsteps adapts the

driver to the capabilities of the motion controller. Some package options also allow chopper mode

selection by pin.

Even at low microstepping rate, the TMC22xx offers a number of unique enhancements over

comparable products: TRINAMICs sophisticated stealthChop2 chopper plus the microstep enhancement

microPlyer ensure noiseless operation, maximum efficiency and best motor torque. Its fast current

regulation and optional combination with spreadCycle allow for highly dynamic motion. Protection

and diagnostic features support robust and reliable operation. A simple-to-use 8 bit UART interface

opens up more tuning and control options. Application specific tuning can be stored to on-chip OTP

memory. Industries’ most advanced step & direction stepper motor driver family upgrades designs to

noiseless and most precise operation for cost-effective and highly competitive solutions.

22n

50V

100n

16V

ENN

GND

DIE PAD

microPlyer

Full Bridge A

Full Bridge B

stepper

motor

OA1

OA2

OB1

OB2

Driver

100n

BRB

100µF

CPI

CPO

BRA

Use low inductivity SMD

type, e.g. 1206, 0.5W for

and R

100n

VCP

VREF

opt. driver enable

stealthChop2

spreadCycle

Integrated

Rsense

IREF

256 Microstep

Sequencer

Stand Still

Current

Reduction

2.2µ

6.3V

5VOUT

Analog current

scaling or leave

open

Low ESR type

Place near IC with

short path to die pad

Connect directly

to GND plane

Connect directly

to GND plane

VCC_IO

TMC22xx

Step&Dir input

5V Voltage

regulator

charge pump

CLK_IN

opt. ext. clock

10-16MHz

3.3V or 5V

I/O voltage

100n

Analog Scaling

VREF

Programmable

Diagnostic

Outputs

Configuration

Interface

MS1

MS2

SPREAD

INDEX

DIAG

Configuration

(GND or VCC_IO)

Index pulse

Driver error

PDN/UART

B. Dwersteg, ©

TRINAMIC 2016

Trimmed

CLK oscillator/

selector

UART interface

+ Register Block

Configuration

Memory (OTP)

(not with TMC2202)

(only TMC222x)

optional UART interface

IREF

Step Pulse

Generator

STEP

DIR

Step and Direction

motion control

Figure 1.1 TMC22xx basic application block diagram

THREE MODES OF OPERATION:

OPTION 1: Standalone STEP/DIR Driver (Legacy Mode)

A CPU (µC) generates step & direction signals synchronized to additional motors and other

components within the system. The TMC22xx operates the motor as commanded by the configuration

pins and STEP/DIR signals. Motor run current either is fixed, or set by the CPU using the analog input

VREF. The pin PDN_UART selects automatic standstill current reduction. Feedback from the driver to

the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN

pin.

TMC220X, TMC222X DATASHEET (Rev. 1.02 / 2017-MAY-16) 5

www.trinamic.com

OPTION 2: Standalone STEP/DIR Driver with OTP pre-configuration

Additional options enabled by pre-programming OTP memory (label UART & OTP):

+ Tuning of the chopper to the application for application tailored performance

+ Cost reduction by switching the driver to internal sense resistor mode

+ Adapting the automatic power down level and timing for best application efficiency

S/D

0A+

0A-

0B+

TMC22xx

0B-

ERROR, INDEX

CPU

High-Level

Interface

TXD only or bit

bang UART

Other drivers

External pre-

programming

Figure 1.2 Stand-alone driver with pre-configuration

To enable the additional options, either one-time program the driver’s OTP memory, or store

configuration in the CPU and transfer it to the on-chip registers following each power-up. Operation

uses the same signals as Option 1. Programming does not need to be done within the application - it

can be executed during testing of the PCB! Alternatively, use bit-banging by CPU firmware to configure

the driver. Multiple drivers can be programmed at the same time using a single TXD line.

OPTION 3: STEP/DIR Driver with Full Diagnostics and Control

Similar to Option 2, but pin PDN_UART is connected to the CPU UART interface.

Additional options (label UART):

+ Detailed diagnostics and thermal management

+ Passive braking and freewheeling for flexible, lowest power stop modes

+ More options for microstep resolution setting (fullstep to 256 microstep)

+ Software controlled motor current setting and more chopper options

This mode allows replacing all control lines like ENN, DIAG, INDEX, MS1, MS2, and analog current

setting VREF by a single interface line. This way, only three signals are required for full control: STEP,

DIR and PDN_UART. Even motion without external STEP pulses is provided by an internal

programmable step pulse generator: Just set the desired motor velocity. However, no ramping is

provided by the TMC22xx. Access to multiple driver ICs is possible using an analog multiplexer IC.

1.1 Key Concepts

The TMC22xx implements 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.

stealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible

standstill of the motor. Allows faster motor acceleration and deceleration than

stealthChop™ and extends stealthChop to low stand still motor currents.

spreadCycle™ High-precision cycle-by-cycle current control algorithm for highest dynamic

movements.

microPlyer™ Microstep interpolator for obtaining full 256 microstep smoothness with lower

resolution step inputs starting from fullstep

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

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

conditions for enhancing safety and recovery from equipment malfunctions.

UART

UART OTP

剩余80页未读，继续阅读

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文件中提供了清晰的技术说明和电路图，对于工程师们来说，无疑是一份宝贵的参考资料。

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