TMC457 datasheet, PDF - EEWORLD Datasheet

TMC457: DescriptionS-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors; File Size476KB，37 Pages; ManufacturerTrinamic Motion Control GmbH; Websitehttps://www.trinamic.com/

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S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors

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TMC457 – DATA SHEET

S-profile motion controller with PID feedback

control and high resolution micro stepping

sequencer for stepper motors and piezo motors

TRINAMIC Motion Control GmbH & Co. KG

Sternstraße 67

D – 20357 Hamburg

GERMANY

www.trinamic.com

1 Features

The TMC457 is a high end single axis micro stepping motion controller. It adds to any microcontroller

or processor with SPI (SPI is Trademark of Motorola) interface. It is intended for applications, where

a precise and fast, jerk-free motion profile is desired. An encoder can be added for extremely quick

and precise positioning using the internal hardware PID regulator and provides for increased reliability /

fault detection. The high-resolution micro step sequencer directly controls stepper motors and piezo

motors. Wide range motion control parameters eliminate any “gear switching”. The TMC457 supports

linear velocity ramps and S-shaped velocity ramps. For maximum flexibility all motion control

parameters (target position, target velocity, acceleration, deceleration and bow) can be changed any

time during motion.

Highlights

• S-shaped and linear ramps with on-the-fly alteration of all parameters

• Programmable high resolution sequencer with (12 bit, 8192 entry) micro step look-up table

• Incremental encoder interface with flexible up- and down scaling to match drive resolution

• Fast and stable easyPID PID controller

• 32 bit registers – from mHz to MHz / from nanometer to meter

• SPI interface to microcontroller

• Reference switch processing / virtual stop switches (programmable soft limits)

• Step / direction output (with programmable timing)

• Position pulse output to trigger external events

• Synchronization of multiple axis via scalable step / direction input

• Direct interface for TMC246/TMC249 family stepper motor drivers supports StallGuard™ (pat.)

• ChopSync™ (pat. fil.) built in for best motor velocity range

• Analog high resolution motor driver control via external dual 12 bit DAC

• Automatic load angle limitation using encoder for stepless servo behaviour

Types of Motors

• Two phase stepper motors (direct sequencer support)

• PiezoMotors (direct sequencer support for PiezoMotor’s PiezoLEGS motor)

• Any type of motor via step/direction interface

Applications

• Medical and laboratory equipment with high speed motion e.g. for liquid handling

• High end placement and positioning systems / High reliability drives

• Sub-micrometer positioning (piezo motors)

• Active stabilization with incremental encoder and fast PID regulator

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)

2 Contents

FEATURES ...................................................................................................................................... 1

CONTENTS ...................................................................................................................................... 3

2.1

2.2

Figures ...................................................................................................................................... 4

Tables........................................................................................................................................ 4

GENERAL DESCRIPTION .............................................................................................................. 5

TMC457 BLOCK DIAGRAM AND INTERFACES ........................................................................... 6

4.1

Microcontroller Interface (SPI ) ............................................................................................... 6

4.2

Step Direction Inputs ................................................................................................................. 6

4.3

DAC (LTC2602) Interface ......................................................................................................... 6

4.3.1

Piezo Motor Driver ............................................................................................................. 6

4.4

Stepper Motor Driver Interface (TMC236, TMC239, TMC246, TMC249) ................................. 7

4.4.1

Stepper Motor Driver (high resolution micro stepping) ...................................................... 7

4.4.2

Stepper Motor Driver (low resolution micro stepping) ........................................................ 7

FUNCTIONAL BLOCKS AND REGISTERS ................................................................................... 8

5.1

Ramp Generator ....................................................................................................................... 8

5.2

ABN Incremental Encoder Interface.......................................................................................... 8

5.2.1

Setting the encoder to match the motor resolution: ........................................................... 9

5.3

Vector control ............................................................................................................................ 9

5.3.1

Initialization of vector control mode .................................................................................. 10

5.4

PID Controller - easyPID ...................................................................................................... 10

5.5

Step Direction Output Interface ............................................................................................... 11

5.6

Step Direction Input Interface for multi axis interpolation ........................................................ 11

5.7

Reference Switch and Stop Switch Interface .......................................................................... 11

5.8

Micro Step Sequencer ............................................................................................................. 11

5.8.1

ChopSync

CHOPCLK .................................................................................................. 11

5.9

Type and Version Register / Version specific notes and known bugs .................................... 12

5.10

Interrupt Controller ............................................................................................................... 12

5.11

Sine Wave Look-up Table (SIN-LUT) Access and Parameterization.................................. 13

5.11.1 Calculation of the Sine Wave Look-Up-Table to drive a Piezo Motor .............................. 13

5.11.2 Calculation of the Sine Wave Look-Up-Table to drive a Stepper Motor .......................... 13

REGISTER MAPPING ................................................................................................................... 14

6.1

SPI Datagram Structure .......................................................................................................... 14

6.1.1

Selection of Write / Read (WRITE_notREAD) ................................................................. 14

6.1.2

Data Alignment ................................................................................................................ 15

6.2

6.2.1

Nomenclature of Read / Write / Clear on Read / Clear on Write of Registers ................. 15

6.2.2

Time Scaling by Clock Frequency ................................................................................... 15

6.2.3

Real World Units vs. Units of the TMC457 ...................................................................... 26

EXAMPLES .................................................................................................................................... 27

7.1

7.2

How to Get a Motor Running ................................................................................................... 27

Set Incremental Encoder Interface Parameters ...................................................................... 27

NOTATION OF NUMBER SYSTEMS ........................................................................................... 28

PINNING, PACKAGE, AND ELECTRICAL DATA OF THE TMC457 ........................................... 29

9.1

Pinning of TMC457.................................................................................................................. 29

9.1.1

Pull-Up / Pull-Down Resistances ..................................................................................... 32

9.1.2

Blocking Capacitors ......................................................................................................... 32

9.2

Package Outlines and Dimensions ......................................................................................... 33

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)

9.2.1

Fine Pitch BGA Package with 144 Balls (FBGA144) of TMC457-BC .............................. 33

MICRO CONTROLLER INTERFACE (SPI) ............................................................................... 34

CHARACTERISTICS .................................................................................................................. 35

LITERATURE ............................................................................................................................. 36

REVISION HISTORY .................................................................................................................. 36

2.1

Figures

Figure 1 : Functional Block Diagram of the TMC457............................................................................... 5

Figure 2 : TMC457 with Piezo Motor Interface ........................................................................................ 6

Figure 3 : High Resolution Micro Stepping Configuration ........................................................................ 7

Figure 4 : Stepper Motor Driver Configuration (SPI)................................................................................ 7

Figure 5 : Outline of ABN Signals of an Incremental Encoder ................................................................. 8

Figure 6 : Incremental Encoder Signals Outline (AB w/o clear pulse N) ............................................... 28

Figure 7 : Package Outline Drawing FBGA144 – (JEDEC MO-192 VAR DAD-1) ................................. 33

Figure 8 : Timing Diagram of the Serial Micro Controller Interface ....................................................... 34

Figure 9 - General IO Timing Parameters ............................................................................................. 35

2.2

Tables

Table 1 : PWM frequency calculation for ChopSync .......................................................................... 12

Table 2: TMC457-BC Pin Out ................................................................................................................ 32

Table 3 : Dimensions of FBGA144 (Note: BSC = Basis Spacing Between Centers) ............................ 33

Table 4: Timing Characteristics of the Micro Controller Serial Peripheral Interface (SPI) ..................... 34

Table 5 - Absolute Maximum Ratings .................................................................................................... 35

Table 6 – DC Ccharacteristics Operating Conditions ............................................................................ 35

Table 7 - Power Dissipation ................................................................................................................... 35

Table 8 - General IO Timing Parameters .............................................................................................. 35

TMC457 Related Products

	TMC457	TMC457_1
Description	S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors	S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors

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