TMC428 DATASHEET (v. 2.02 / April 26
th, 2006)
1
Copyright © 2004-2006, TRINAMIC Motion Control GmbH & Co. KG
TMC428 – DATASHEET
Intelligent Triple Stepper Motor Controller with
Serial Peripheral Interfaces
TRINAMIC Motion Control GmbH & Co. KG
Sternstrasse 67
D – 20357 Hamburg
GERMANY
P +49 - (0) 40 - 51 48 06 - 0
F +49 - (0) 40 - 51 48 06 - 60
www.trinamic.com
info@trinamic.com
1 Features
The TMC428 is a miniaturized high performance stepper motor controller. It controls up to three 2-
phase stepper motors. All motors can operate independently. The TMC428 allows up to 6 bit micro
step resolution – corresponding to 64 micro steps per full step – individually selectable for each motor.
Once initialized, it performs all real time critical tasks autonomously based on target positions and
velocities, which can be altered on-the-fly. So, an inexpensive microcontroller together with the
TMC428 forms a complete motion control system. The microcontroller is free to do application specific
interfacing and high level control functions. Both, the communication with the microcontroller and with
one to three daisy chained stepper motor drivers take place via two separate 4 wire serial peripheral
interfaces. The TMC428 directly connects to SPI
TM* smart power stepper motor drivers.
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Controls up to three 2-phase stepper motors
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Serial 4-wire interface for µC with easy-to-use protocol
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Configurable interface for SPI
TM motor drivers
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Different types of SPI
TM stepper motor driver chips may be mixed within a single daisy chain
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Communication on demand minimizes traffic to the SPI
TM stepper motor driver chain
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Programmable SPI
TM data rates up to 1 Mbit/s
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Wide range for clock frequency – can use CPU clock up to 16 MHz
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Internal 24 bit wide position counters
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Full step frequencies up to 20 kHz
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Read-out facility for actual motion parameters (position, velocity, acceleration) and driver status
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Individual micro step resolution of {64, 32, 16, 8, 4, 2, 1} micro steps via built-in sequencer
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Programmable 6 bit micro step table with up to 64 entries for a quarter sine-wave period
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Built-in ramp generators for autonomous positioning and speed control
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On-the-fly change of target motion parameters (like position, velocity, acceleration)
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Automatic acceleration dependent current control (power boost)
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Low power operation: Only 1.25 mA @ 4 MHz (typ.)
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Power down mode with transparent wake-up for normal operation
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3.3V or 5V operation with CMOS / TTL compatible IOs (all inputs Schmitt-Trigger)
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Available in ultra small 16 pin SSOP package and small 24 pin SOP package
* SPI is Trademark of Motorola, Inc.
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