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TMC5160 Datasheet(PDF) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC5160 Datasheet(HTML) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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5 / 133 page  TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19) 5 www.trinamic.com 1 Principles of Operation The TMC5160 motion controller and driver chip is an intelligent power component interfacing between CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No software is required to control the motor – just provide target positions. The TMC5160 offers a number of unique enhancements which are enabled by the system-on-chip integration of driver and controller. The sixPoint ramp generator of the TMC5160 uses stealthChop, dcStep, coolStep, and stallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents. THE TMC5160 OFFERS THREE BASIC MODES OF OPERATION: MODE 1: Full Featured Motion Controller & Driver All stepper motor logic is completely within the TMC5160. No software is required to control the motor – just provide target positions. Enable this mode by tying low pin SD_MODE. MODE 2: Step & Direction Driver An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates step & direction signals synchronized to other components like additional motors within the system. The TMC5160 takes care of intelligent current and mode control and delivers feedback on the state of the motor. The microPlyer automatically smoothens motion. Tie SD_MODE high. MODE 3: Simple Step & Direction Driver The TMC5160 positions the motor based on step & direction signals. The microPlyer automatically smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic standby current control can be done by the TMC5160. Optional feedback signals allow error detection and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high. 47R 47R LS VCC_IO TMC5160 SPI interface CSN SCK SDO SDI Ref. switch processing DIAG / INT out and Single wire interface 5V Voltage regulator charge pump 22n 100V 100n 16V DIAG0/SWN CLK_IN DIAG1/SWP +VM 5VOUT VSA 2.2µ +VIO VCC opt. ext. clock 12-16MHz 3.3V or 5V I/O voltage 100n 100n LS stepper motor N S BMA2 100n SRAH CE 2R2 470n Encoder unit A B N Encoder input / dcStep control in S/D mode opt. driver enable B.Dwersteg, © TRINAMIC 2014 RS SRAL LA1 LA2 HA1 HA2 BMA1 HS HS CA1 CB CA2 CB +VM LS LS BMB2 SRBH RS SRBL LB1 LB2 HB1 HB2 BMB1 HS HS CB1 CB CB2 CB +VM Both GND: UART mode 11.5V Voltage regulator 12VOUT 2.2µ mode selection 470n 470n RG RG RG RG RG RG RG RG 47R 47R +VIO pd pd pd +VIO Stepper driver Protection & diagnostics spreadCycle & stealthChop Chopper programmable sine table 4*256 entry stallGuard2™ coolStep™ x linear 6 point RAMP generator Step & Direction pulse generation Control register set Interf ace dcStep™ coolS tep & stealt hCho p moto r driv er B.Dwersteg, © TRINAMIC 2014 Motio n con trol Figure 1.1 TMC5160 basic application block diagram (motion controller) |
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