POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC262 DATASHEET
Universal, cost-effective stepper driver for two-phase bipolar motors with state-of-the-art features.
External MOSFETs fit different motor sizes. With Step/Dir Interface and SPI.
A
PPLICATIONS
Textile, Sewing Machines
Factory Automation
Lab Automation
Liquid Handling
Medical
Office Automation
Printer and Scanner
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
Heliostat Controller
CNC Machines
F
EATURES
AND
B
ENEFITS
High Current
up to 10A Motor current using external (N&P)
MOSFETs.
Highest Voltage
up to 60V DC operating voltage
Highest Resolution
up to 256 microsteps per full step
Smallest Size
5x5mm QFN32 package
Low Power Dissipation
synchronous rectification
EMI-optimized
slope & current controlled gate drivers
Protection & Diagnostics
overcurrent,
overtemperature & undervoltage
short
to
GND,
D
ESCRIPTION
The TMC262 driver for two-phase stepper
motors offers an industry-leading feature
set, including high-resolution micro-
stepping, sensorless mechanical load
measurement,
load-adaptive
power
optimization, and low-resonance chopper
operation. Standard SPI™ and STEP/DIR
interfaces simplify communication. The
TMC262 drives four external N- and P-
channel dual MOSFETs for motor currents
up to 8A and up to 60V. Integrated
protection and diagnostic features support
robust and reliable operation.
High integration, high energy efficiency
and small form factor enable miniaturized
designs with low external component
count for cost-effective and highly
competitive solutions.
stallGuard2™
high precision sensorless motor load detection
coolStep™
load dependent current control for energy savings
up to 75%
microPlyer™
microstep
interpolation
smoothness with coarse step inputs.
for
increased
spreadCycle™
high-precision chopper for best current sine
wave form and zero crossing
B
LOCK
D
IAGRAM
+V
M
TMC262
VCC_IO
STEP
DIR
Step Multiplier
Gate driver
Gate Driver
HS
S
BM
N
Sine Table
4*256 entry
x
Chopper
Gate driver
Gate Driver
2 Phase
Stepper
LS
RS
CSN
SCK
SDI
SDO
SPI control,
Config & Diags
coolStep™
Protection
& Diagnostics
stallGuard2™
2 x Current
Comparator
2 x DAC
R
S
R
S
SG_TST
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC262 DATASHEET (V2.14 / 2016-JUL-14)
2
APPLICATION EXAMPLES: HIGH POWER – SMALL SIZE
The TMC262 scores with its high power density and a versatility that covers a wide spectrum of
applications and motor sizes, all while keeping costs down. Extensive support at the chip, board, and
software levels enables rapid design cycles and fast time-to-market with competitive products. High energy
efficiency from TRINAMIC’s coolStep technology delivers further cost savings in related systems such as
power supplies and cooling.
STEP
R
OCKER
™
The driver stage shown uses 6A-capable dual MOSFETs. All cooling
requirements are satisfied by passive convection cooling. The
stepRocker is supported by the motioncontrol-community, with
forum, applications, schematics, open source projects, demos etc.:
Layout with 6A MOSFETs
TMCM-M
ODULE FOR
NEMA 11
STEPPER MOTORS
This miniaturized power stage drives up to 1.2A RMS and mounts
directly on a 28mm-size motor. Tiny TSOP6 dual MOSFETs enable an
ultra-compact and flexible PCB layout.
Miniaturized Layout
TMC262-EVAL
DEVELOPMENT PLATFORM
This evaluation board is a development platform for applications
based on the TMC262.
The board features USB and RS232 interfaces for communication
with control software running on a PC. External power MOSFETs
support drive currents up to 6A at 40 V.
The control software provides a user-friendly GUI for setting
control parameters and visualizing the dynamic response of the
motor.
Layout for Evaluation
Motor movement can be controlled through the Step and Dir
interface using inputs from an external source or signals
generated by the onboard microcontroller acting as a step
generator.
O
RDER
C
ODES
Order code
TMC262-LA
TMC262-EVAL
TMC429+26x-EVAL
Description
coolStep™ driver for external MOSFETs, QFN32
Evaluation board for TMC262 (RS232, USB)
Chipset evaluation board for TMC429, TMC260, TMC261,
TMC262, and TMC424.
Size
5 x 5 mm
2
10 x 16 cm
2
10 x 16 cm
2
www.trinamic.com
TMC262 DATASHEET (V2.14 / 2016-JUL-14)
3
T
ABLE OF
C
ONTENTS
1
PRINCIPLES OF OPERATION ......................... 4
1.1
1.2
1.3
1.4
2
K
EY
C
ONCEPTS
............................................... 4
C
ONTROL
I
NTERFACES
.................................... 5
M
ECHANICAL
L
OAD
S
ENSING
......................... 5
C
URRENT
C
ONTROL
........................................ 5
11
DIAGNOSTICS AND PROTECTION ............. 40
S
HORT TO
GND D
ETECTION
........................ 40
O
PEN
-L
OAD
D
ETECTION
.............................. 41
O
VERTEMPERATURE
D
ETECTION
................... 41
U
NDERVOLTAGE
D
ETECTION
......................... 42
11.1
11.2
11.3
11.4
12
13
PIN ASSIGNMENTS ........................................... 6
2.1
2.2
P
ACKAGE
O
UTLINE
......................................... 6
S
IGNAL
D
ESCRIPTIONS
.................................. 6
POWER SUPPLY SEQUENCING .................... 43
SYSTEM CLOCK ................................................ 43
F
REQUENCY
S
ELECTION
................................ 44
3
4
INTERNAL ARCHITECTURE ............................. 8
STALLGUARD2 LOAD MEASUREMENT ......... 9
4.1
4.2
4.3
4.4
T
UNING THE STALL
G
UARD
2 T
HRESHOLD
......10
STALL
G
UARD
2 M
EASUREMENT
F
REQUENCY
AND
F
ILTERING
............................................11
D
ETECTING A
M
OTOR
S
TALL
........................12
L
IMITS OF STALL
G
UARD
2 O
PERATION
.........12
13.1
14
15
16
MOSFET EXAMPLES ......................................... 45
EXTERNAL POWER STAGE ............................ 46
LAYOUT CONSIDERATIONS ......................... 48
S
ENSE
R
ESISTORS
........................................ 48
E
XPOSED
D
IE
P
AD
....................................... 48
P
OWER
F
ILTERING
....................................... 48
L
AYOUT
E
XAMPLE
........................................ 49
5
COOLSTEP LOAD-ADAPTIVE CURRENT
CONTROL ...........................................................13
5.1
T
UNING COOL
S
TEP
.......................................15
16.1
16.2
16.3
16.4
17
18
ABSOLUTE MAXIMUM RATINGS................. 50
ELECTRICAL CHARACTERISTICS ................. 51
O
PERATIONAL
R
ANGE
.................................. 51
DC
AND
AC S
PECIFICATIONS
...................... 51
6
SPI INTERFACE ................................................16
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
B
US
S
IGNALS
...............................................16
B
US
T
IMING
................................................16
B
US
A
RCHITECTURE
.....................................17
R
EGISTER
W
RITE
C
OMMANDS
......................18
D
RIVER
C
ONTROL
R
EGISTER
(DRVCTRL) ....19
C
HOPPER
C
ONTROL
R
EGISTER
(CHOPCONF) ..
...................................................................21
COOL
S
TEP
C
ONTROL
R
EGISTER
(SMARTEN)22
STALL
G
UARD
2 C
ONTROL
R
EGISTER
(SGCSCONF) .............................................23
D
RIVER
C
ONTROL
R
EGISTER
(DRVCONF) ...24
R
EAD
R
ESPONSE
..........................................25
D
EVICE
I
NITIALIZATION
...............................26
18.1
18.2
19
PACKAGE MECHANICAL DATA .................... 55
D
IMENSIONAL
D
RAWINGS
........................... 55
P
ACKAGE
C
ODE
........................................... 55
19.1
19.2
20
21
22
23
24
DISCLAIMER ..................................................... 56
ESD SENSITIVE DEVICE ................................ 56
TABLE OF FIGURES......................................... 57
REVISION HISTORY ....................................... 58
REFERENCES ...................................................... 58
7
STEP/DIR INTERFACE.....................................27
7.1
7.2
7.3
7.4
7.5
T
IMING
........................................................27
M
ICROSTEP
T
ABLE
.......................................28
C
HANGING
R
ESOLUTION
..............................29
MICRO
P
LYER
S
TEP
I
NTERPOLATOR
...............29
S
TANDSTILL CURRENT REDUCTION
................30
8
CURRENT SETTING ..........................................31
8.1
S
ENSE
R
ESISTORS
........................................32
9
CHOPPER OPERATION ...................................33
9.1
9.2
SPREAD
C
YCLE
M
ODE
....................................34
C
ONSTANT
O
FF
-T
IME
M
ODE
........................36
10
POWER MOSFET STAGE ................................38
B
REAK
-B
EFORE
-M
AKE
L
OGIC
........................38
ENN I
NPUT
.................................................38
S
LOPE
C
ONTROL
..........................................39
10.1
10.2
10.3
www.trinamic.com
TMC262 DATASHEET (Rev. 2.14 / 2016-JUL-14)
4
1
Principles of Operation
0A+
High-Level
Interface
µC
S/D
TMC262
MOSFET
Driver
Stage
0A-
0B+
0B-
S
N
SPI
TMC429
High-Level
Interface
0A+
S/D
µC
SPI
Motion
Controller
for up to
3 Motors
SPI
TMC262
MOSFET
Driver
Stage
0A-
0B+
0B-
S
N
Figure 1.1 Applications block diagrams
The TMC262 motor driver is the intelligence between a motion controller and the power MOSFETs for
driving a two-phase stepper motor, as shown in Figure 1.1 Following power-up, an embedded
microcontroller initializes the driver by sending commands over an SPI bus to write control
parameters and mode bits in the TMC262. The microcontroller may implement the motion-control
function as shown in the upper part of the figure, or it may send commands to a dedicated motion
controller chip such as TRINAMIC’s TMC429 as shown in the lower part.
The motion controller can control the motor position by sending pulses on the STEP signal while
indicating the direction on the DIR signal. The TMC262 has a microstep counter and sine table to
convert these signals into the coil currents which control the position of the motor. If the
microcontroller implements the motion-control function, it can write values for the coil currents
directly to the TMC262 over the SPI interface, in which case the STEP/DIR interface may be disabled.
This mode of operation requires software to track the motor position and reference a sine table to
calculate the coil currents.
To optimize power consumption and heat dissipation, software may also adjust coolStep and
stallGuard2 parameters in real-time, for example to implement different tradeoffs between speed and
power consumption in different modes of operation.
The motion control function is a hard real-time task which may be a burden to implement reliably
alongside other tasks on the embedded microcontroller. By offloading the motion-control function to
the TMC429, up to three motors can be operated reliably with very little demand for service from the
microcontroller. Software only needs to send target positions, and the TMC429 generates precisely
timed step pulses. Software retains full control over both the TMC262 and TMC429 through the SPI
bus.
1.1 Key Concepts
The TMC262 motor driver implements several advanced patented features which are exclusive to
TRINAMIC products. These features contribute toward greater precision, greater energy efficiency,
higher reliability, smoother motion, and cooler operation in many stepper motor applications.
stallGuard2™
coolStep™
spreadCycle™
microPlyer™
High-precision load measurement using the back EMF on the coils
Load-adaptive current control which reduces energy consumption by as much as
75%
High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm
Microstep interpolator for obtaining increased smoothness of microstepping over a
STEP/DIR interface
www.trinamic.com
TMC262 DATASHEET (Rev. 2.14 / 2016-JUL-14)
5
In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to
detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
There are two control interfaces from the motion controller to the motor driver: the SPI serial
interface and the STEP/DIR interface. The SPI interface is used to write control information to the chip
and read back status information. This interface must be used to initialize parameters and modes
necessary to enable driving the motor. This interface may also be used for directly setting the currents
flowing through the motor coils, as an alternative to stepping the motor using the STEP and DIR
signals, so the motor can be controlled through the SPI interface alone.
The STEP/DIR interface is a traditional motor control interface available for adapting existing designs
to use TRINAMIC motor drivers. Using only the SPI interface requires slightly more CPU overhead to
look up the sine tables and send out new current values for the coils.
1.2.1 SPI Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave, another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC262 slave always consists of sending one 20-bit
command word and receiving one 20-bit status word.
The SPI command rate typically corresponds to the microstep rate at low velocities. At high velocities,
the rate may be limited by CPU bandwidth to 10-100 thousand commands per second, so the
application may need to change to fullstep resolution.
1.2.2 STEP/DIR Interface
The STEP/DIR interface is enabled by default. Active edges on the STEP input can be rising edges or
both rising and falling edges, as controlled by another mode bit (DEDGE). Using both edges cuts the
toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as
optically isolated interfaces.
On each active edge, the state sampled from the DIR input determines whether to step forward or
back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256
microsteps per fullstep. During microstepping, a low state on DIR increases the microstep counter and
a high decreases the counter by an amount controlled by the microstep resolution. An internal table
translates the counter value into the sine and cosine values which control the motor current for
microstepping.
1.3 Mechanical Load Sensing
The TMC262 provides stallGuard2 high-resolution load measurement for determining the mechanical
load on the motor by measuring the back EMF. In addition to detecting when a motor stalls, this
feature can be used for homing to a mechanical stop without a limit switch or proximity detector. The
coolStep power-saving mechanism uses stallGuard2 to reduce the motor current to the minimum
motor current required to meet the actual load placed on the motor.
1.4 Current Control
Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes
are available: a traditional constant off-time mode and the new spreadCycle mode. spreadCycle mode
offers smoother operation and greater power efficiency over a wide range of speed and load.
www.trinamic.com
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