TMC603A DATA SHEET (V. 1.15 / 2009-Nov-19)
1
TMC603A – DATASHEET
Three phase motor driver with BLDC back EMF
commutation hallFX™ and current sensing
TRINAMIC Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg
GERMANY
www.trinamic.com
®
1 Features
The TMC603 is a three phase motor driver for highly compact and energy efficient drive solutions. It
contains all power and analog circuitry required for a high performance BLDC motor system. The
TMC603 is designed to provide the frontend for a microcontroller doing motor commutation and control
algorithms. It directly drives 6 external N-channel MOSFETs for motor currents up to 30A and up to
50V and integrates shunt less current measurement, by using the MOSFETs channel resistance for
sensing. Integrated hallFX™ (pat.) allows for sensorless commutation. Protection and diagnostic
features as well as a step down switching regulator further reduce system cost and increase reliability.
Highlights
Up to 30A motor current, up to 50V operating voltage
3.3V or 5V interface
8mm x 8mm QFN package
Integrated dual range high precision current measurement amplifiers
Supports shunt less current measurement using power MOS transistor RDSon
hallFX™ sensorless back EMF commutation emulates hall sensors
Integrated break-before-make logic: No special microcontroller PWM hardware required
EMV optimized current controlled gate drivers – up to 150mA possible
Overcurrent / short to GND and undervoltage protection and diagnostics integrated
Internal Q
GD
protection: Supports latest generation of power MOSFETs
Integrated supply concept: Step down switching regulator up to 500mA / 300kHz
Common rail charge pump allows for 100% PWM duty cycle
Applications
Motor driver for industrial applications
Integrated miniaturized drives
Robotics
High-reliability drives (dual position sensor possible)
Pump and blower applications with sensorless commutation
Motor type
3 phase BLDC, stepper, DC motor
Sine or block commutation
Rotor position feedback: Sensorless, encoder or hall sensor, or any mix
*) note: The term TMC603 in this datasheet refers to the TMC603A and TMC603
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC603A DATA SHEET (V. 1.15 / 2009-Nov-19)
2
Life support policy
TRINAMIC Motion Control GmbH & Co. KG does
not authorize or warrant any of its products for use in
life support 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 injury or death.
© TRINAMIC Motion Control GmbH & Co. KG 2009
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 from its use.
Specifications subject to change without notice
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC603A DATA SHEET (V. 1.15 / 2009-Nov-19)
3
2 Table of contents
1
2
3
4
FEATURES
.......................................................................................................................................... 1
TABLE OF CONTENTS
........................................................................................................................ 3
SYSTEM ARCHITECTURE USING THE TMC603
................................................................................... 5
PINOUT
............................................................................................................................................. 6
4.1
4.2
5
P
ACKAGE CODES
............................................................................................................................. 6
P
ACKAGE DIMENSIONS
QFN52
........................................................................................................... 7
TMC603 FUNCTIONAL BLOCKS
.......................................................................................................... 8
5.1
B
LOCK DIAGRAM AND PIN DESCRIPTION
................................................................................................ 8
5.2
MOSFET D
RIVER
S
TAGE
................................................................................................................ 10
5.2.1
Principle of operation
....................................................................................................... 10
5.2.2
Break-before-make logic
................................................................................................... 11
5.2.3
PWM control via microcontroller
...................................................................................... 12
5.2.4
Slope control
.................................................................................................................... 13
5.2.5
Reverse capacity (QGD) protection
.................................................................................... 14
5.2.6
Considerations for QGD protection
................................................................................... 15
5.2.7
Effects of the MOSFET bulk diode
..................................................................................... 16
5.2.8
Adding Schottky diodes across the MOSFET bulk diodes
................................................. 16
5.2.9
Short to GND detection
.................................................................................................... 17
5.2.10
Error logic
......................................................................................................................... 17
5.2.11
Paralleling gate drivers for higher gate current
............................................................... 18
5.3
C
URRENT MEASUREMENT AMPLIFIERS
.................................................................................................. 19
5.3.1
Current measurement timing............................................................................................
20
5.3.2
Auto zero cycle
................................................................................................................. 20
5.3.3
Measurement depending on chopper cycle
...................................................................... 21
5.3.4
Compensating for offset voltages
.................................................................................... 21
5.3.5
Getting a precise current value using MOSFET on-resistance
........................................... 21
5.4
HALL
FX™
SENSORLESS COMMUTATION
............................................................................................... 22
5.4.1
Adjusting the hallFX™ spike suppression time
................................................................ 23
5.4.2
Adjusting the hallFX™ filter frequency
............................................................................. 23
5.4.3
Block commutation chopper scheme for hallFX™
............................................................ 24
5.4.4
Start-up sequence for the motor with forced commutation
............................................ 24
5.5
P
OWER SUPPLY
............................................................................................................................. 26
5.5.1
Switching regulator
.......................................................................................................... 26
5.5.2
Charge pump
.................................................................................................................... 28
5.5.3
Filter capacitors for switching regulator and charge pump
............................................. 28
5.5.4
Supply voltage filtering and layout considerations
......................................................... 28
5.5.5
Reverse polarity protection
............................................................................................... 29
5.5.6
Standby with zero power consumption
........................................................................... 29
5.5.7
Low voltage operation down to 9V
................................................................................. 29
5.6
T
EST OUTPUT
................................................................................................................................ 30
5.7
ESD
SENSITIVE DEVICE
................................................................................................................... 30
6
7
ABSOLUTE MAXIMUM RATINGS
..................................................................................................... 31
ELECTRICAL CHARACTERISTICS
...................................................................................................... 31
7.1
7.2
O
PERATIONAL
R
ANGE
..................................................................................................................... 31
DC C
HARACTERISTICS AND
T
IMING
C
HARACTERISTICS
........................................................................... 32
8
DESIGNING THE APPLICATION
...................................................................................................... 39
8.1
C
HOOSING THE BEST FITTING POWER
MOSFET
.................................................................................... 39
8.1.1
Calculating the MOSFET power dissipation
...................................................................... 40
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC603A DATA SHEET (V. 1.15 / 2009-Nov-19)
8.2
8.3
8.4
9
10
10.1
4
MOSFET
EXAMPLES
....................................................................................................................... 41
P
ROGRAMMING A BLOCK COMMUTATION FOR HALL
FX™
......................................................................... 42
D
RIVING A
DC
MOTOR WITH THE
TMC603
......................................................................................... 42
TABLE OF FIGURES
......................................................................................................................... 43
REVISION HISTORY
.................................................................................................................... 44
D
OCUMENTATION
R
EVISION
......................................................................................................... 44
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
TMC603A DATA SHEET (V. 1.15 / 2009-Nov-19)
5
3 System architecture using the TMC603
POWER
TMC603A
NFET power MOS half bridges
slope
control
slope HS
slope LS
12V step
down
regulator
5V
linear
regulator
+V
M
BUS / IO
1 of 3 shown
DRIVER
SECTION
HS-drive
HS
N
S
micro
controller
break
before
make
logic
gate off detection
BLDC motor
LS
RS
R
S1
R
S2
R
S3
LS-drive
bridge current
measurement
short to
GND
detection
position sensor
optional shunt
resistors
HallFX
TM
for
sensorless
commutation
short to GND 1,2,3
error logic
figure 1: application block diagram
The TMC603 is a BLDC driver IC using external power MOS transistors. Its unique feature set allows
equipping inexpensive and small drive systems with a maximum of intelligence, protection and
diagnostic features. Control algorithms previously only found in much more complex servo drives can
now be realized with a minimum of external components. Depending on the desired commutation
scheme and the bus interface requirements, the TMC603 forms a complete motor driver system in
combination with an external 8 bit processor or with a more powerful 32 bit processor. A simple
system can work with three standard PWM outputs even for sine commutation! The complete analog
amplification and filtering frontend as well as the power driver controller are realized in the TMC603.
Its integrated support for sine commutation as well as for back EMF sensing saves cost and allows for
maximum drive efficiency.
The external microcontroller realizes commutation and control algorithms. Based on the position
information from an encoder or hall sensors, the microcontroller can do block commutation or sine
commutation with or without space vector modulation and realizes control algorithms like a PID
regulator for velocity or position or field oriented control based on the current signals from the
TMC603. For sensorless commutation, the microcontroller needs to do a forward controlled motor start
without feedback. This can be realized either using block commutation or sine commutation. A sine
commutated start-up minimizes motor vibrations during start up. As soon as the minimum velocity for
hallFX™ is reached, it can switch to block commutation and drive the motor based on the hallFX™
signals.
The TMC603 also supports control of three phase stepper motors as well as two phase stepper
motors using two devices.
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
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