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1、TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 1 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG TMC 246/A DATA SHEET High Current Microstep Stepper Motor Driver with sensorless stall detection, protection / diagnosis and SPI Interface TRINAMIC? Motion Control GmbH & Co KG Sternstra?e
2、67 D 20357 Hamburg GERMANY WWW.TRINAMIC.COM Features The TMC246 / TMC246A (1) is a dual full bridge driver IC for bipolar stepper motor control applications. The integrated unique sensorless stall detection (pat. pend.) StallGuard? makes it a good choice for applications, where a reference point is
3、needed, but where a switch is not desired. Its ability to predict an overload makes the TMC246 an optimum choice for drives, where a high reliability is desired. The TMC246 is realized in a HVCMOS technology combined with Low-RDS-ON high efficiency MOSFETs (pat. pend.). It allows to drive a coil cur
4、rent of up to 1500mA even at high environment temperatures. Its low current consumption and high efficiency together with the miniature package make it a perfect solution for embedded motion control and for battery powered devices. Internal DACs allow microstepping as well as smart current control.
5、The device can be controlled by a serial interface (SPI?i) or by analog / digital input signals. Short circuit, temperature, undervoltage and overvoltage protection are integrated. ? Sensorless stall detection StallGuard? and load measurement integrated ? Control via SPI with easy-to-use 12 bit prot
6、ocol or external analog / digital signals ? Short circuit, overvoltage and overtemperature protection integrated ? Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage ? Integrated 4 bit DACs allow up to 16 times microstepping via SPI (can be expanded to 6
7、4 microsteps) ? Any resolution via analog control ? Mixed decay feature for smooth motor operation ? Slope control user programmable to reduce electromagnetic emissions ? Chopper frequency programmable via a single capacitor or external clock ? Current control allows cool motor and driver operation
8、? 7V to 34V motor supply voltage (A-type) ? Up to 1500mA output current and more than 800mA at 105C ? 3.3V or 5V operation for digital part ? Low power dissipation via low RDS-ON power stage ? Standby and shutdown mode available (1) The term TMC246 in this datasheet always refers to the TMC246A and
9、the TMC246. The major differences in the older TMC246 are explicitly marked with “non-A-type ”. The TMC246A brings a number of enhancements and is fully backward compatible to the TMC246. 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 1 页，共 27 页 - - - - - - - - - TMC
10、246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 2 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG FEATURES.1PINNING.5PACKAGE CODES.5PQFP44 DIMENSIONS.6APPLICATION CIRCUIT / BLOCK DIAGRAM.7PIN FUNCTIONS.7LAYOUT CONSIDERATIONS.8CONTROL VIA THE SPI INTERFACE.9SERIAL DATA WORD TRANSMITTED TO T
11、MC246.9SERIAL DATA WORD TRANSMITTED FROM TMC246.9TYPICAL WINDING CURRENT VALUES.10BASE CURRENT CONTROL VIA INA AND INB IN SPI MODE.10CONTROLLING THE POWER DOWN MODE VIA THE SPI INTERFACE.10OPEN LOAD DETECTION.11STANDBY AND SHUTDOWN MODE.11POWER SAVING.11STALL DETECTION.12USING THE SENSORLESS LOAD ME
12、ASUREMENT.12IMPLEMENTING SENSORLESS STALL DETECTION.12PROTECTION FUNCTIONS.13OVERCURRENT PROTECTION AND DIAGNOSIS.13OVERTEMPERATURE PROTECTION AND DIAGNOSIS.13OVERVOLTAGE PROTECTION AND ENN PIN BEHAVIOR.13CHOPPER PRINCIPLE.14CHOPPER CYCLE / USING THE MIXED DECAY FEATURE.14BLANK TIME.14BLANK TIME SET
13、TINGS.14CLASSICAL NON-SPI CONTROL MODE (STAND ALONE MODE).15PIN FUNCTIONS IN STAND ALONE MODE.15INPUT SIGNALS FOR MICROSTEP CONTROL IN STAND ALONE MODE.15CALCULATION OF THE EXTERNAL COMPONENTS.16SENSE RESISTOR.16EXAMPLES FOR SENSE RESISTOR SETTINGS.16HIGH SIDE OVERCURRENT DETECTION RESISTOR RSH.16MA
14、KING THE CIRCUIT SHORT CIRCUIT PROOF.17OSCILLATOR CAPACITOR.18TABLE OF OSCILLATOR FREQUENCIES.18PULLUP RESISTORS ON UNUSED INPUTS.18POWER SUPPLY SEQUENCING CONSIDERATIONS.18SLOPE CONTROL RESISTOR.19EXAMPLE FOR SLOPE SETTINGS.19ABSOLUTE MAXIMUM RATINGS.20ELECTRICAL CHARACTERISTICS.20OPERATIONAL RANGE
15、.20DC CHARACTERISTICS.21AC CHARACTERISTICS.22THERMAL PROTECTION.22THERMAL CHARACTERISTICS.23名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 2 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 3 Copyright ? 2005, TRINAMIC Motion Control G
16、mbH & Co KG TYPICAL POWER DISSIPATION AT HIGH LOAD / HIGH TEMPERATURE.23SPI INTERFACE TIMING.24PROPAGATION TIMES.24USING THE SPI INTERFACE.24SPI FILTER.24ESD PROTECTION.25APPLICATION NOTE: EXTENDING THE MICROSTEP RESOLUTION.26DOCUMENTATION REVISION.27名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - -
17、- - - - 名师精心整理 - - - - - - - 第 3 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 4 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Life support policy TRINAMIC Motion Control GmbH & Co KG does not authorize or warrant any of its products for use in life suppor
18、t 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 instructions provided, can be reasonably expected to result in personal
19、 injury or death. ? TRINAMIC Motion Control GmbH & Co KG 2005 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 infringement of patents or other rights of third parties, which may result form
20、 its use. Specifications subject to change without notice. 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 4 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 5 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Pinning Package codes
21、 Type Package Temperature range Lead free (ROHS) Code/marking TMC246A PQFP44 automotive (1) Yes TMC246A-PA TMC246 PQFP44 automotive (1) From date code 30/04 TMC246-PA (1) ICs are not tested according to automotive standards, but are usable within the complete automotive temperature range. 1941217141
22、5162218211319203325304144434239363540383734TMC 246 / 236AQFP44BL2OB1OB1OB2OB2BRBVSBINBAGNDSLPINAGNDVSVTVCC-ANNOA1OA2OA2OA1BRAVSASRAGNDSDOSDISCKSRBCSNBL1OSCENNSPE23567810112423272629283231名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 5 页，共 27 页 - - - - - - - - - TMC2
23、46 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 6 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG PQFP44 Dimensions REFMIN. MAX. A 12 C 10 D 1 E - 1.6 F 0.09 0.2 G 0.05 0.15 H 0.30 0.45 I 0.45 0.75 K 0.8 L 0 0.08 All dimensions are in mm. L: Co-planarity of pins IEFCKHDGA名师资料总结 - - -精品资料欢迎下
24、载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 6 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 7 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Application Circuit / Block Diagram RSRSHCoil A+VMCoil B100F220nFNNNNPPPPTMC246VTVS4DAC4DACINAINBVR
25、EFREFSELPWM-CTRLANNSPE1001CurrentControlledGateDriversCurrentControlledGateDriversSLPRSLPPWM-CTRLOSCControl&DiagnosisParallelControlSPI-InterfaceREFSELGNDAGNDUnder-voltageTem-peratureOSCVCC1nF100nF+VCCSCKSDISDOCSNENNBL2BL1MDBNPHAERRPHBstand alone modeMDANOA1OA2OB1OB2VSBVSASRABRARSSRBBRB.: function i
26、n stand alone modeLoadmesure-mentVCC/2Pin Functions Pin Function Pin Function VS Motor supply voltage VT Short to GND detection comparator connect to VS if not used VCC 3.0-5.5V supply voltage for analog and logic circuits GND Digital / Power ground AGND Analog ground (Reference for SRA, SRB, OSC, S
27、LP, INA, INB, SLP) OSC Oscillator capacitor or external clock input for chopper INA Analog current control phase A INB Analog current control input phase B SCK Clock input of serial interface SDO Data output of serial interface (tri-state) SDI Data input of serial interface CSN Chip select input of
28、serial interface ENN Device enable (low active), and overvoltage shutdown input SPE Enable SPI mode (high active). Tie to GND for non-SPI applications ANN Enable analog current control via INA and INB (low active) SLP Slope control resistor. BL1, BL2 Digital blank time select SRA, SRB Bridge A/B cur
29、rent sense resistor inputOA1, OA2 Output of full-bridge A OB1, OB2 Output of full-bridge B VSA, VSB Supply voltage for bridge A/B BRA, BRB Bridge A/B sense resistor 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 7 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEE
30、T (V2.04 / Jul. 26th, 2007) 8 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Layout Considerations For optimal operation of the circuit a careful board layout is important, because of the combination of high current chopper operation coupled with high accuracy threshold comparators. Please p
31、ay special attention to a massive grounding. Depending on the required motor current, either a single massive ground plane or a ground plane plus star connection of the power traces may be used. The schematic shows how the high current paths can be routed separately, so that the chopper current does
32、 not flow through the systems GND-plane. Tie the TMC246s AGND and GND to the GND plane. Additionally, use enough filtering capacitors located near to the boards power supply input and small ceramic capacitors near to the power supply connections of the TMC246. Use low inductance sense resistors, or
33、add a ceramic capacitor in parallel to each resistor to avoid high voltage spikes. In some applications it may become necessary to introduce additional RC-filtering into the VT and SRA / SRB line, as shown in the schematic, to prevent spikes from triggering the short circuit protection or the choppe
34、r comparator. Be sure to connect all pins of the PQFP package for each of the double/quad output pins externally. Each two of these output pins should be treated as if they were fused to a single wide pin (as shown in the drawing). Each two pins are used as cooling fin for one of the eight integrate
35、d output power transistors. Use massive motor current traces on all these pins and multiple vias, if the output trace is changed to a different layer near the package. A symmetrical layout on all of the OA and OB pins is required, to ensure proper heat dissipation on all output transistors. Otherwis
36、e proper function of the thermal protection can not be guaranteed! A multi-layer PCB shows superior thermal performance, because it allows usage of a massive GND plane, which will act as a heat spreader. The heat will be coupled vertically from the output traces to the GND plane, since vertical heat
37、 distribution in PCBs is quite effective. Heat dissipation can be improved by attaching a heat sink to the package directly. Please be aware, that long or thin traces to the sense resistors may add substantial resistance and thus reduce output current. The same is valid for the high side shunt resis
38、tor. Use short and straight traces to avoid parasitic inductivities, because these can generate large voltage spikes and EMV problems. +VMGNDGND-PlaneRSBRSARSHCVM100Roptional voltagedividerVSVTTMC236/TMC246100R100R3.3 -10nFSRASRBoptional filterAGNDGND100nFVSAVSBBRABRBRDIV名师资料总结 - - -精品资料欢迎下载 - - - -
39、 - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 8 页，共 27 页 - - - - - - - - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 9 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Control via the SPI Interface The SPI data word sets the current and polarity for both coils. By applying co
40、nsecutive values, describing a sine and a cosine wave, the motor can be driven in microsteps. Every microstep is initiated by its own telegram. Please refer to the description of the analog mode for details on the waveforms required. The SPI interface timing is described in the timing section. We re
41、commend the TMC428 to automatically generate the required telegrams and motor ramps for up to three motors. Serial data word transmitted to TMC246 (MSB transmitted first) Bit Name Function Remark 11 MDA mixed decay enable phase A “1” = mixed decay 10 CA3 current bridge A.3 MSB 9 CA2 current bridge A
42、.2 8 CA1 current bridge A.1 7 CA0 current bridge A.0 LSB 6 PHA polarity bridge A “0” = current flow from OA1 to OA2 5 MDB mixed decay enable phase B “1” = mixed decay 4 CB3 current bridge B.3 MSB 3 CB2 current bridge B.2 2 CB1 current bridge B.1 1 CB0 current bridge B.0 LSB 0 PHB polarity bridge B “
43、0” = current flow from OB1 to OB2 Serial data word transmitted from TMC246 (MSB transmitted first) Bit NameFunction Remark 11 LD2 load indicator bit 2 MSB 10 LD1 load indicator bit 1 9 LD0 load indicator bit 0 LSB 8 1 always “1” 7 OT overtemperature “1” = chip off due to overtemperature 6 OTPW tempe
44、rature prewarning “1” = prewarning temperature exceeded 5 UV driver undervoltage “1” = undervoltage on VS 4 OCHS overcurrent high side 3 PWM cycles with overcurrent within 63 PWM cycles 3 OLB open load bridge B no PWM switch off for 14 oscillator cycles 2 OLA open load bridge A no PWM switch off for
45、 14 oscillator cycles 1 OCB overcurrent bridge B low side 3 PWM cycles with overcurrent within 63 PWM cycles 0 OCA overcurrent bridge A low side 3 PWM cycles with overcurrent within 63 PWM cycles 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 9 页，共 27 页 - - - - - - -
46、 - - TMC246 / TMC246A DATA SHEET (V2.04 / Jul. 26th, 2007) 10 Copyright ? 2005, TRINAMIC Motion Control GmbH & Co KG Typical winding current values Current setting CA3.0 / CB3.0 Percentage of current Typical trip voltage of the current sense comparator (internal reference or analog input voltage of
47、2V is used)0000 0% 0 V (bridge continuously in slow decay condition) 0001 6.7% 23 mV 0010 13.3% 45 mV . . 1110 93.3% 317 mV 1111 100% 340 mV The current values correspond to a standard 4 Bit DAC, where 100%=15/16. The contents of all registers is cleared to “0” on power-on reset or disable via the E
48、NN pin, bringing the chip to a low power standby mode. All SPI inputs have Schmitt-Trigger function. Base current control via INA and INB in SPI mode In SPI mode, the IC can use an external reference voltage for each DAC. This allows the adaptation to different motors. This mode is enabled by tying
49、pin ANN to GND. A 2.0V input voltage gives full scale current of 100%. In this case, the typical trip voltage of the current sense comparator is determined by the input voltage and the DAC current setting (see table above) as follows: VTRIP,A = 0.17 VINA “percentage SPI current setting A” VTRIP,B =
50、0.17 VINB “percentage SPI current setting B” A maximum of 3.0V VIN is possible. Multiply the percentage of base current setting and the DAC table to get the overall coil current. It is advised to operate at a high base current setting, to reduce the effects of noise voltages. This feature allows a h