TMC389 DATASHEET (V. 1.15 / 2015-OCT-27)
1
TMC389–DATASHEET
Energy saving high resolution microstepping
three phase stepper driver with step and
direction interface and external power stage
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, GERMANY
www.trinamic.com
®
1 Features
The TMC389 is an energy efficient three phase stepper motor driver for high resolution microstepping
applications. It integrates a low resonance three phase chopper for quiet motor operation. Its step and
direction interface allows simple use. An SPI™ management interface allows for parameterization and
diagnostics. The TMC389 directly drives 3 external N/P channel dual MOSFETs for motor currents up
to 8A and up to 60V. Protection and diagnostic features further reduce system cost and increase
reliability.
Highlights
Up to 171 microsteps (256 sine wave steps) using step/direction interface or 20 Bit SPI™ interface
High precision sensorless motor load measurement stallGuard2
Energy efficiency and coolness by automatic load dependant motor current regulation coolStep™:
Save up to 75% of energy!
Internal microstep extrapolation allows 256 wave step smoothness with low frequency step input
Dual edge step option allows half step frequency requirement, e.g. for opto-couplers
Up to 8A Motor current using external N&P channel MOSFET pairs
Synchronous rectification reduces transistor heating
9V to 60V operating voltage (peak)
3.3V or 5V interface
QFN32 package for extremely small solution with superior thermal performance
EMV optimized current controlled gate drivers – up to 45mA gate current
Overcurrent, short to GND and overtemperature protection and diagnostics integrated
Applications
Precision three phase stepper motor drives
Stage lighting
Medical applications
Optical applications
Robotics
Motor type
3 phase Stepper
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TMC389 DATASHEET (V. 1.15 / 2015-OCT-27)
2
2 Table of contents
1
2
FEATURES
.......................................................................................................................................... 1
TABLE OF CONTENTS
........................................................................................................................ 2
2.1
3
D
ISCLAIMER
................................................................................................................................... 3
PRINCIPLE OF OPERATION
............................................................................................................... 4
3.1
M
OVING THE MOTOR
........................................................................................................................ 4
3.1.1
Step and direction control
.................................................................................................. 4
3.1.2
SPI control
.......................................................................................................................... 4
3.2
C
HOPPED MOTOR COIL DRIVER
............................................................................................................ 4
3.3
E
NERGY EFFICIENT DRIVER WITH LOAD FEEDBACK
.................................................................................... 4
4
PINNING
........................................................................................................................................... 5
4.1
TMC389-LA
.................................................................................................................................. 5
4.2
P
ACKAGE CODES
............................................................................................................................. 5
4.3
D
IMENSIONAL DRAWINGS
................................................................................................................. 6
4.3.1
QFN32 dimensions
.............................................................................................................. 6
5
BLOCK DIAGRAM
.............................................................................................................................. 8
5.1
P
IN DESCRIPTION OF
TMC389-LA
...................................................................................................... 9
6
SPI™ MODE SHIFT REGISTER
........................................................................................................ 10
6.1
O
VERVIEW
(
WRITE
)
........................................................................................................................ 10
6.2
O
VERVIEW
(
READ
)
......................................................................................................................... 10
6.3
D
RIVER CONTROL REGISTER BIT ASSIGNMENT
....................................................................................... 11
6.3.1
Driver control register bit assignment in SPI mode
......................................................... 11
6.3.2
Driver control register bit assignment in StepDir mode
.................................................. 12
6.4
C
ONFIGURATION REGISTER BIT ASSIGNMENT
........................................................................................ 13
6.5
B
IT ASSIGNMENT FOR READ
............................................................................................................. 16
6.6
SPI™
TIMING
.............................................................................................................................. 17
7
STEP AND DIRECTION INTERFACE
................................................................................................. 18
7.1
7.2
7.3
7.4
T
IMING
....................................................................................................................................... 18
I
NTERNAL MICROSTEP TABLE
............................................................................................................ 18
S
WITCHING BETWEEN DIFFERENT MICROSTEP RESOLUTIONS
..................................................................... 19
S
TEP RATE MULTIPLIER AND STAND STILL DETECTION
............................................................................. 19
8
CURRENT SETTING
.......................................................................................................................... 21
8.1
C
ONSIDERATIONS ON THE CURRENT SENSE RESISTORS AND LAYOUT
........................................................... 21
9
CHOPPER OPERATION OF THE MOTOR COILS
................................................................................ 23
9.1
SPREAD
C
YCLE CHOPPER
................................................................................................................... 24
10
10.1
10.2
10.3
10.4
11
11.1
11.2
11.3
11.4
MOSFET DRIVER STAGE
.............................................................................................................. 26
P
RINCIPLE OF OPERATION
............................................................................................................ 26
B
REAK
-
BEFORE
-
MAKE LOGIC
.......................................................................................................... 26
ENN
INPUT
.............................................................................................................................. 26
S
LOPE CONTROL IN
TMC389
....................................................................................................... 27
DIAGNOSTICS AND PROTECTION
............................................................................................... 28
S
HORT TO
GND
DETECTION
......................................................................................................... 28
O
PEN LOAD DETECTION
............................................................................................................... 28
T
EMPERATURE MEASUREMENT
........................................................................................................ 29
U
NDERVOLTAGE DETECTION
.......................................................................................................... 30
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TMC389 DATASHEET (V. 1.15 / 2015-OCT-27)
12
3
STALLGUARD2™ SENSORLESS LOAD MEASUREMENT
................................................................. 31
T
UNING THE STALL
G
UARD
2™
THRESHOLD
SGT
................................................................................ 31
Variable velocity operation...............................................................................................
31
Accuracy and reproducibility of stallGuard2™ measurement
........................................... 32
STALL
G
UARD
2™
MEASUREMENT FREQUENCY AND FILTERING
................................................................ 32
D
ETECTING A MOTOR STALL
.......................................................................................................... 32
L
IMITS OF STALL
G
UARD
2™
OPERATION
.......................................................................................... 33
12.1
12.1.1
12.1.2
12.2
12.3
12.4
13
COOLSTEP™ SMART ENERGY OPERATION
.................................................................................. 34
13.1
COOL
S
TEP
™
SMART ENERGY CURRENT REGULATOR
............................................................................. 34
13.1.1
Adaptation to the load situation
..................................................................................... 34
13.1.2
Low velocity and standby operation
................................................................................ 34
13.2
U
SER BENEFITS
,
SAVE ENERGY
,
REDUCE POWER AND COOLING INFRASTRUCTURE
........................................ 36
14
15
15.1
16
17
17.1
17.2
17.3
17.4
18
19
19.1
19.2
20
21
21.1
POWER SUPPLY SEQUENCING
..................................................................................................... 37
CLOCK OSCILLATOR AND CLOCK INPUT
..................................................................................... 38
C
ONSIDERATIONS ON THE FREQUENCY
............................................................................................ 38
ABSOLUTE MAXIMUM RATINGS
.................................................................................................. 39
ELECTRICAL CHARACTERISTICS
.................................................................................................. 39
O
PERATIONAL
R
ANGE
................................................................................................................. 39
DC C
HARACTERISTICS AND
T
IMING
C
HARACTERISTICS
........................................................................ 40
ESD
SENSITIVE DEVICE
............................................................................................................... 44
MOSFET
EXAMPLES
................................................................................................................... 45
USING AN EXTERNAL POWER STAGE FOR HIGHER VOLTAGE OR CURRENT...............................
46
GETTING STARTED
...................................................................................................................... 47
I
NITIALIZATION OF THE DRIVER
..................................................................................................... 47
S
ENDING
SPI
DATA FROM A
CPU
................................................................................................. 47
TABLE OF FIGURES
...................................................................................................................... 48
REVISION HISTORY
.................................................................................................................... 48
D
OCUMENTATION
R
EVISION
......................................................................................................... 48
2.1
Disclaimer
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.
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 are subject to change without notice.
™: All trademarks used are property of their respective owners.
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TMC389 DATASHEET (V. 1.15 / 2015-OCT-27)
4
3 Principle of operation
+V
M
CLK
VHS
P-Gate
VM-10V
regulator
clock select
clk
HS
slope
control
step multiplier
LS
short to
GND
detection
spreadCycle
step & direction
input
sine table
4*256 entry
HS-drive
220n
VS
PFET power MOS
5V
linear
regulator
TMC389 / three phase
stepper driver IC
clock oscillator
15MHz
5VOUT
470n
+V
M
DRIVER SECTION
1 of 3 shown
HS
N
S
BM
STEP
DIR
x
Three phase
chopper logic
fast break
before
make
logic
gate off detection
3phase
stepper
LS-drive
ENABLE
CSN
SCK
SDI
SDO
SPI configuration and diagnostic
interface / SPI drive interface
(20 Bit)
PHA, A0-7, PHB, B0-7
coolStep™
Smart energy current
scaling
current
comparator
stallGuard2™
sensorless stall
detection
LS
SR
R
S
temperature
measurement /
protection
DAC
NFET power MOS
MOSFET bridges are integrated into
IC package for TMC388
VCC_IO
SG_TST
figure 1: Basic application block diagram
3.1
Moving the motor
3.1.1 Step and direction control
The TMC389 is a chopped stepper motor driver with integrated sequencer and SPI interface. It
provides two possibilities to control the motor: The motor can be controlled by applying pulses on the
step and direction interface, following an initialization phase which uses the SPI interface to
parameterize the driver for the application. Control and diagnostic registers give the flexibility to react
to changing operation conditions and to modify the behavior of the chip when it receives a step
impulse. An internal microstep table supplies sine and cosine values which control the motor current
for each step. Each step impulse advances the step pointer in the tables and hence leads to the IC
executing the next microstep.
3.1.2 SPI control
A second mode of operation uses the SPI interface, only. The motor coil currents can be controlled via
the SPI interface, while taking advantage of all other control and diagnostic functions. This mode is
more flexible, as the microstep waves can be specially adapted to the motor to give the best fit for
smoothest operation. It requires slightly more CPU overhead to look up the driver tables and to send
out new current values for both coils. The SPI update rate corresponds to the step rate at low
velocities. At highest velocities the update rate can be limited to a few 10kHz or some 100kHz,
depending on the processor power, or alternatively to an update rate corresponding to a fullstep.
3.2
Chopped motor coil driver
The driver use a cycle by cycle chopper mode: The motor current becomes regulated by comparing
the motor current to a set value for each chopper cycle. This constant off time chopper scheme allows
highest dynamic. The spreadCycle chopper scheme automatically integrates a fast decay cycle and
guarantees smooth zero crossing performance. In an optional operation mode, fast decay length per
cycle can be selected by the user. In this classic constant off time mode, zero crossing can be
optimized by setting a programmable current offset.
3.3
Energy efficient driver with load feedback
The TMC389 integrates a high resolution load measurement stallGuard2™, which allows sensing the
mechanical load on the motor. This gives more information on the drive allowing functions like
sensorless homing. Its coolStep™ feature uses load measurement information to reduce the motor
current to the minimum motor current required in the actual load situation. This saves lots of energy
and keeps components cool, making the drive an efficient and precise solution.
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TMC389 DATASHEET (V. 1.15 / 2015-OCT-27)
5
4 Pinning
4.1
TMC389-LA
TST_MODE
TST_ANA
26
SG_TST
VCC_IO
GNDP
STEP
DIR
32
31
30
29
28
27
VS
25
24
23
22
20
19
18
GND
HU
HV
BMV
BMU
LU
LV
-
VHS
HW
-
-
BMW
LW
-
SR
TMC 389-LA
9
10
11
12
13
14
15
16
SDO
5VOUT
SDI
SCK
GND
CSN
Top view
figure 2: TMC389 pinning
4.2
Type
Package codes
Package
QFN32 (ROHS)
QFN32 (ROHS)
Temperature range
-40°C ... +125°C
-40°C ... +125°C
Code/marking
TMC389-LA
TMC389-ES
TMC389
TMC389
eng.
sample
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
ENN
CLK
17
21
1
2
3
4
5
6
7
8
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