TMC5130_datasheet.pdf_tmc5130中文资料资源-CSDN文库

步进电机

数据手册

需积分: 45 71 浏览量 2020-07-06 09:20:29 上传评论 1 收藏 13.36MB 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

TMC5130A-TA DATASHEET

FEATURES AND BENEFITS

2-phase stepper motors up to 2A coil current (2.5A peak)

Motion Controller with sixPoint™

ramp

Step/Dir Interface with microstep interpolation microPlyer™

Voltage Range 4.75… 46V DC

SPI & Single Wire UART

Encoder Interface and 2x Ref.-Switch Input

Highest Resolution 256 microsteps per full step

stealthChop™ for extremely quiet operation and smooth motion

spreadCycle™ highly dynamic motor control chopper

dcStep™ load dependent speed control

stallGuard2™ high precision sensorless motor load detection

coolStep™ current control for energy savings up to 75%

Integrated Current Sense Option

Passive Braking and freewheeling mode

Full Protection & Diagnostics

Compact Size 9x9mm

TQFP48 package

APPLICATIONS

Textile, Sewing Machines

Factory Automation

Lab Automation

Liquid Handling

Medical

Office Automation

CCTV, Security

ATM, Cash recycler

POS

Pumps and Valves

Heliostat Controller

DESCRIPTION

The TMC5130A is a high performance

stepper motor controller and driver IC

with serial communication interfaces. It

combines a flexible ramp generator for

automatic target positioning with

industries’ most advanced stepper motor

driver. Based on TRINAMICs sophisticated

stealthChop chopper, the driver ensures

absolutely noiseless operation combined

with maximum efficiency and best motor

torque. High integration, high energy

efficiency and a small form factor enable

miniaturized and scalable systems for

cost effective solutions. The complete

solution reduces learning curve to a

minimum while giving best performance

in class.

Universal high voltage controller/driver for two-phase bipolar stepper motor. stealthChop™ for quiet

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

BLOCK DIAGRAM

spreadCycle

stealthChop

MOTION CONTROLLER

with Linear 6 Point

RAMP Generator

DRIVER

TMC5130A

Programmable

256 µStep

Sequencer

Protection

& Diagnostics

Ref. Switches

SPI

stallGuard2 coolStep dcStep

Power

Supply

Charge

Pump

ABN

Motor

Encoder Unit

Step/Dir

Step Multiplyer

spreadCycle

stealthChop

DAC Reference

IREF

optional current scaling

Reference Switch

Processing

Interrupts

Position

Pulse Output

UART

Single Wire

SPI to

Master

UART

CLK

Oscillator / Selector

TMC5130A DATASHEET (Rev. 1.13 / 2016-SEP-21) 2

www.trinamic.com

APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE

The TMC5130A scores with complete motion controlling features, integrated power stages, and power

density. It offers a versatility that covers a wide spectrum of applications from battery powered systems up

to embedded applications with 2A motor current per coil. The TMC5130A contains the complete intelligence

which is required to drive a motor. Receiving target positions the TMC5130A manages motor movement.

Based on TRINAMICs unique features stallGuard2, coolStep, dcStep, spreadCycle, and stealthChop, the

TMC5130A optimizes drive performance. It trades off velocity vs. motor torque, optimizes energy efficiency,

smoothness of the drive, and noiselessness. The small form factor of the TMC5130A keeps costs down and

allows for miniaturized layouts. Extensive support at the chip, board, and software levels enables rapid

design cycles and fast time-to-market with competitive products. High energy efficiency and reliability

deliver cost savings in related systems such as power supplies and cooling.

CPU

TMC5130A

High-Level

Interface

SPI

CPU

High-Level

Interface

TMC5130A

Up to 255 TMC5130

can be addressed.

UART

MINIATURIZED DESIGN FOR ONE STEPPER MOTOR

COMPACT DESIGN FOR UP TO 255 STEPPER MOTORS

Encoder

Ref.

Switches

Addr.

TMC5130-EVAL EVALUATION BOARD

ORDER CODES

Order code

Description

Size [mm

]

TMC5130A-TA

1-axis dcStep, coolStep, and stealthChop controller/driver;

TQFP48

9 x 9

TMC5130-EVAL

Evaluation board for TMC5130A two phase stepper motor

controller/driver

85 x 55

STARTRAMPE

Baseboard for TMC5130-EVAL and further evaluation boards.

85 x 55

ESELSBRÜCKE

Connector board for plug-in evaluation board system.

61 x 38

An ABN encoder interface with scaler

unit and two reference switch inputs are

used to control motor movement.

An application with 2 stepper motors is

shown. Additionally, the ABN Encoder

interface and two reference switches can

be used for each motor. A single CPU

controls the whole system. The CPU-

board and the controller / driver boards

are highly economical and space saving.

The TMC5130-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 TMC5130 evaluation

board system consists of three parts:

STARTRAMPE (base board),

ESELSBRÜCKE (connector board

including several test points), and

TMC5130-EVAL.

TMC5130A DATASHEET (Rev. 1.13 / 2016-SEP-21) 3

www.trinamic.com

Table of Contents

1 PRINCIPLES OF OPERATION ......................... 5

1.1 KEY CONCEPTS ................................................ 7

1.2 CONTROL INTERFACES ..................................... 7

1.3 SOFTWARE ...................................................... 7

1.4 MOVING AND CONTROLLING THE MOTOR ........ 8

1.5 STEALTHCHOP DRIVER ..................................... 8

1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8

1.7 COOLSTEP – LOAD ADAPTIVE CURRENT

CONTROL ...................................................................... 9

1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9

1.9 ENCODER INTERFACE ....................................... 9

2 PIN ASSIGNMENTS ......................................... 10

2.1 PACKAGE OUTLINE ........................................ 10

2.2 SIGNAL DESCRIPTIONS ................................. 10

3 SAMPLE CIRCUITS .......................................... 13

3.1 STANDARD APPLICATION CIRCUIT ................ 13

3.2 REDUCED NUMBER OF COMPONENTS ............. 14

3.3 INTERNAL RDSON SENSING .......................... 14

3.4 EXTERNAL 5V POWER SUPPLY ...................... 15

3.5 PRE-REGULATOR FOR REDUCED POWER

DISSIPATION .............................................................. 16

3.6 5V ONLY SUPPLY .......................................... 17

3.7 HIGH MOTOR CURRENT ................................. 18

3.8 DRIVER PROTECTION AND EME CIRCUITRY ... 20

4 SPI INTERFACE ................................................ 21

4.1 SPI DATAGRAM STRUCTURE ......................... 21

4.2 SPI SIGNALS ................................................ 22

4.3 TIMING ......................................................... 23

5 UART SINGLE WIRE INTERFACE ................ 24

5.1 DATAGRAM STRUCTURE ................................. 24

5.2 CRC CALCULATION ....................................... 26

5.3 UART SIGNALS ............................................ 26

5.4 ADDRESSING MULTIPLE SLAVES .................... 27

6 REGISTER MAPPING ....................................... 29

6.1 GENERAL CONFIGURATION REGISTERS .......... 30

6.2 VELOCITY DEPENDENT DRIVER FEATURE

CONTROL REGISTER SET ............................................. 33

6.3 RAMP GENERATOR REGISTERS ....................... 35

6.4 ENCODER REGISTERS ..................................... 40

6.5 MOTOR DRIVER REGISTERS ........................... 42

7 STEALTHCHOP™ .............................................. 51

7.1 TWO MODES FOR CURRENT REGULATION ...... 51

7.2 AUTOMATIC SCALING .................................... 52

7.3 VELOCITY BASED SCALING ............................ 54

7.4 COMBINING STEALTHCHOP AND SPREADCYCLE

7.5 FLAGS IN STEALTHCHOP ................................ 57

7.6 FREEWHEELING AND PASSIVE BRAKING ........ 58

8 SPREADCYCLE AND CLASSIC CHOPPER ... 59

8.1 SPREADCYCLE CHOPPER ................................ 60

8.2 CLASSIC CONSTANT OFF TIME CHOPPER ...... 63

8.3 RANDOM OFF TIME ...................................... 64

8.4 CHOPSYNC2 FOR QUIET 2-PHASE MOTOR .... 65

9 ANALOG CURRENT CONTROL AIN ............. 66

10 SELECTING SENSE RESISTORS ............... 67

11 INTERNAL SENSE RESISTORS ................. 69

12 VELOCITY BASED MODE CONTROL ....... 71

13 DRIVER DIAGNOSTIC FLAGS .................. 73

13.1 TEMPERATURE MEASUREMENT ....................... 73

13.2 SHORT TO GND PROTECTION ....................... 73

13.3 OPEN LOAD DIAGNOSTICS ........................... 73

14 RAMP GENERATOR ..................................... 74

14.1 REAL WORLD UNIT CONVERSION ................. 74

14.2 MOTION PROFILES ........................................ 75

14.3 VELOCITY THRESHOLDS ................................. 77

14.4 REFERENCE SWITCHES .................................. 78

14.5 EXTERNAL STEP/DIR DRIVER ...................... 79

15 STALLGUARD2 LOAD MEASUREMENT ... 80

15.1 TUNING STALLGUARD2 THRESHOLD SGT ..... 81

15.2 STALLGUARD2 UPDATE RATE AND FILTER .... 83

15.3 DETECTING A MOTOR STALL ......................... 83

15.4 HOMING WITH STALLGUARD ......................... 83

15.5 LIMITS OF STALLGUARD2 OPERATION .......... 83

16 COOLSTEP OPERATION ............................. 84

16.1 USER BENEFITS ............................................. 84

16.2 SETTING UP FOR COOLSTEP .......................... 84

16.3 TUNING COOLSTEP ........................................ 86

17 STEP/DIR INTERFACE ................................ 87

17.1 TIMING ......................................................... 87

17.2 CHANGING RESOLUTION ............................... 88

17.3 MICROPLYER STEP INTERPOLATOR AND STAND

STILL DETECTION ....................................................... 89

18 DIAG OUTPUTS ........................................... 90

18.1 STEP/DIR MODE ......................................... 90

18.2 MOTION CONTROLLER MODE ........................ 90

19 DCSTEP .......................................................... 92

19.1 USER BENEFITS ............................................. 92

19.2 DESIGNING-IN DCSTEP ................................. 92

19.3 DCSTEP INTEGRATION WITH THE MOTION

CONTROLLER .............................................................. 93

19.4 STALL DETECTION IN DCSTEP MODE ............ 93

19.5 MEASURING ACTUAL MOTOR VELOCITY IN

DCSTEP OPERATION ................................................... 94

19.6 DCSTEP WITH STEP/DIR INTERFACE ........... 95

工作原理

关键概念

控制接口

软件

移动和控制电机

节能驱动

失速检测-机械负载检测

静步-自适应负载电流控制

自适应负载的速度控制

编码器接口

针脚位分配

外部封装

信号描述

5V供电

简化结构

内部RDSon传感器

外部5V供电

PRE调节器应用到节能

大电流电机

驱动保护和EME电路

SPI通用接口

SPI数据包结构

SPI信号

SPI时钟

串口信号接口

数据包结构

CRC校验

串口信号

多从机寻址

寄存器映射

通用寄存器配置

驱动速度相关的

参数控制和设定

斜坡发生器寄存器

编码器寄存器

电机驱动寄存器

隐形斩波

两种电流调节模式

电流自动缩放

基于速度的自动缩放

优速控制

隐形斩波和周期扩展相结合

在隐形斩波中的标志

惯性转动和被动刹车

周期扩展和经典斩波

周期扩展斩波

经典常数斩波

随机断开时间

适用于静音两相

电机

模拟电流输入控

制

选择电阻值

内部电阻值

基于速度的模

式控制

驱动诊断标志

温度测量

短路保护

断路诊断

斜坡发生器

时钟转换

运动简介，参考6.3

速度阈值

极限位置

外部步进和

方向驱动

负载失速检测

失速检测阈值

调节

失速检测

速度更新

和过滤

检测一个电机失速

归零过程带失速检测

失速检测的使用

限制

静步操作

使用优点

设置静步

调优静步

步进和方向接口

时序

改变分辨率

单片机的步进插补和静态检测

内部报警输出

步进和方向模式

运动控制模式

使用优点

优步的设计

优步和动作控制器的结合

失速检测在优

步模式

在优步操作中测量电机真实运行速度

优步和步进方向模式的接

口

采样电路

TMC5130A DATASHEET (Rev. 1.13 / 2016-SEP-21) 4

www.trinamic.com

20 SINE-WAVE LOOK-UP TABLE ................... 98

20.1 USER BENEFITS ............................................. 98

20.2 MICROSTEP TABLE ........................................ 98

21 EMERGENCY STOP ....................................... 99

22 ABN INCREMENTAL ENCODER

INTERFACE .............................................................. 100

22.1 ENCODER TIMING ....................................... 101

22.2 SETTING THE ENCODER TO MATCH MOTOR

RESOLUTION ............................................................ 101

22.3 CLOSING THE LOOP .................................... 102

23 DC MOTOR OR SOLENOID .................... 103

23.1 SOLENOID OPERATION ............................... 103

24 QUICK CONFIGURATION GUIDE ......... 104

25 GETTING STARTED .................................. 109

25.1 INITIALIZATION EXAMPLES ......................... 109

26 STANDALONE OPERATION .................... 110

27 EXTERNAL RESET ...................................... 113

28 CLOCK OSCILLATOR AND INPUT ........ 113

28.1 USING THE INTERNAL CLOCK...................... 113

28.2 USING AN EXTERNAL CLOCK ....................... 114

28.3 CONSIDERATIONS ON THE FREQUENCY ........ 114

29 ABSOLUTE MAXIMUM RATINGS .......... 115

30 ELECTRICAL CHARACTERISTICS .......... 115

30.1 OPERATIONAL RANGE ................................. 115

30.2 DC AND TIMING CHARACTERISTICS ............ 116

30.3 THERMAL CHARACTERISTICS........................ 119

31 LAYOUT CONSIDERATIONS................... 120

31.1 EXPOSED DIE PAD ...................................... 120

31.2 WIRING GND ............................................ 120

31.3 SUPPLY FILTERING ...................................... 120

31.4 LAYOUT EXAMPLE ....................................... 121

32 PACKAGE MECHANICAL DATA .............. 123

32.1 DIMENSIONAL DRAWINGS TQFP48-EP ..... 123

32.2 PACKAGE CODES ......................................... 124

33 DESIGN PHILOSOPHY ............................. 125

34 DISCLAIMER ............................................... 125

35 ESD SENSITIVE DEVICE.......................... 125

36 TABLE OF FIGURES .................................. 126

37 REVISION HISTORY ................................. 128

38 REFERENCES ............................................... 128

正弦波查找表

使用优点

紧急停止

ABN增量编码器接口

编码器的时序

设置编码器匹配电机分辨率

闭合回路

直流电机和螺纹管

快速配置指南

入门指南；准备开始

初始化的例子

独立操作

外部复位

时钟振荡器与输入

使用内部时钟

使用外部时钟

对频率的考虑

绝对最大额定参数

电特性

操作范围

直流和定时特性

热特性

布线考量

包装机械的数据

设计原理

免责声明

静电敏感设备

数据表

修订历史

参考文献

TMC5130A DATASHEET (Rev. 1.13 / 2016-SEP-21) 5

www.trinamic.com

1 Principles of Operation

The TMC5130A motion controller and driver chip is an intelligent power component interfacing

between CPU and stepper motor. All stepper motor logic is completely within the TMC5130A. No

software is required to control the motor – just provide target positions. The TMC5130A offers a

number of unique enhancements which are enabled by the system-on-chip integration of driver and

controller. The sixPoint ramp generator of the TMC5130A uses stealthChop, dcStep, coolStep, and

stallGuard2 automatically to optimize every motor movement.

THE TMC5130A OFFERS THREE BASIC MODES OF OPERATION:

MODE 1: Full Featured Motion Controller & Driver

All stepper motor logic is completely within the TMC5130A. No software is required to control the

motor – just provide target positions. Enable this mode by tying low pin SD_MODE.

MODE 2: Step & Direction Driver

An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates

step & direction signals synchronized to other components like additional motors within the system.

The TMC5130A takes care of intelligent current and mode control and delivers feedback on the state of

the motor. The microPlyer automatically smoothens motion. Leave open SD_MODE and SPI_MODE.

MODE 3: Simple Step & Direction Driver

The TMC5130A positions the motor based on step & direction signals. The microPlyer automatically

smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic

standby current control can be done by the TMC5130A. Optional feedback signals allow error detection

and synchronization. Enable this mode by tying low pin SPI_MODE.

Diff. Tranceiver

Half Bridge 1

Half Bridge 2

current

comparator

2 phase

stepper

motor

Stepper driver

Protection

& diagnostics

programmable

sine table

4*256 entry

DAC

stallGuard2™

coolStep™

OA1

OA2

BRA

spreadCycle &

stealthChop

Chopper

VCC_IO

TMC 5130A

Stepper motor driver /

controller

SPI interface

CSN

SCK

SDO/NAO

SDI/NAI

linear 6 point RAMP

generator

reference switch

processing

Step &

Direction pulse

generation

REFL

Motion control

REFR

Half Bridge 1

Half Bridge 2

current

comparator

DAC

OB1

OB2

BRB

Control register

set

Single wire

interface

(-TA pckg only)

CLK oscillator/

selector

5V Voltage

regulator

charge pump

CPO

CPI

VCP

22n

100n

SWN_DIAG0

SW_SEL

CLK_IN

Interface

SWP_DIAG1

5VOUT

VSA

4.7µ

Encoder

unit

A B N

INT & position

pulse output

DRV_ENN

GNDP

GNDA

F = 60ns spike filter

TST_MODE

dcStep™

DIE PAD

SPI™

single wire

UART

opt. ext. clock

10-16MHz

3.3V or 5V

I/O voltage

100n

interface selection

(-TA package only)

Opt. interrupt out

reference / stop switches

opt. driver enable

ENCB

ENCA

ENCN

ISENSE

DAC Reference

AIN_IREF

IREF

SD_MODE

SPI_MODE

PDD

PMD

PU=166K pullup resistor to VCC

PD=166k pull down resistor to GND

PDD=100k pulldown

PMD=50k to VCC/2

PU=166K pullup to VCC

Opt. poscomp out

leave open

optional current scaling

Optional for internal

current sensing.

REF

=9K1 allows for

maximum coil current.

=0R15 allows for

maximum coil current;

Use low inductance

SMD resistor type.

Tie BRA and BRB to

GND for internal

current sensing

REF

5VOUT

2R2

470n

2R2 and 470n are optional

filtering components for

best chopper precision

VCC

Optional incremental

encoder inputs

coolStep

stealthChop

motor driver

Figure 1.1 TMC5130A basic application block diagram with motion controller

TMC5130A运动控制器和驱动芯片是CPU和步进电机之间的智能功率器件接口。所有步进电机逻辑完全在TMC51 30A内。没

有软件需要控制电机-只要提供目标位置。TMC5130A提供了许多独特的增强功能，这些功能通过驱动器和控制器的片上

系统集成来实现。TMC51 30A的六点斜坡发生器使用StualthCHOP、DCSTEP、CooStand，以及STALARGADD2自动优化每台

电机的运动

TMC51 30A提供三种基本操作模式：

模式1：全功能运动控制器和驱动程序

所有的步进电机逻辑完全在TMC5130A内。不需要任何软件来控制

电机-只要提供目标位置。通过连接低引脚SD_MODE启用此模式。

模式2：步进和方向驱动

外部高性能的S-斜坡运动控制器，如TMC4361或中央CPU，产生与其他同步的步

进和方向信号。组件，如系统内的附加电机。TMC5130A负责智能电流和模式控

制，并在电机运动时提供状态反馈。微动器自动平滑运动。打开SDK模式和

SPIX模式。

模式3：简单的步骤和方向驱动程序

TMC51 30A基于步进方向信号定位电机。微动器自动平滑运动。不需要CPU交互；配置是通过硬件引脚完成的。

基本待机电流控制可以由TMC51 30A完成。可选的反馈信号允许错误检测和同步。通过连接低SPI_MODE引脚来实现这个

模式。

参考/停止开关

参考开关处理

线性6点斜坡

发生器

可选电流缩放

可选内部电流缩放器，RREF=9K1

时允许最大线圈电流

DAC参考

充电泵

5伏电压监控

微分传输电路

位置脉冲输出

时钟振荡器

编码器单元

可选的增量

编码器的输入

图1.1带有运动控制器的TMC5130A基本应用框图

控制寄存器组

步进/方向

脉冲发生器

可编程的

正弦表

2相步进

电动机

剩余127页未读，继续阅读

评论收藏

内容反馈

鸳鸯冰笔

粉丝: 91
资源: 6

TMC5130_datasheet.pdf

TMC5130_datasheet

STM32控制静音智能步进电机驱动芯片TMC5130.rar

TMC5160数据手册中文版.pdf

tmc 步进电机控制芯片程序

【stm32+tmc5130】程序-通过spi总线控制多个电机

智能步进电机驱控芯片TMC5130Arduino控制

stm32驱动十个步进电机

DRV8825英文手册 TMC5130A英文手册 TMC5160A中文手册

TRAMS-arduino.rar_TMC5130电路_marlin tmc2209_spi配置TMC5130

datasheet.pdf

TMC6100_datasheet_Rev1.00.pdf

如何在TMCL软件中通过SPI快速配置TMC5160 TMC5130 TMC5041

智能步进电机驱控芯片TMC5160中文手册-带书签.pdf

STM32+TMC5160代码电路图.rar

TMC4361A-LA_Datasheet_V124_中文.pdf

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

TMC2209中文手册.pdf

STM32F407驱动并控制四个TMC26x驱动芯片的代码

stm32寄存器控制表

基于STM32实现TMC5160步进电机简单转动

最新资源