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TMC2130-EVAL Datasheet(PDF) 3 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC2130-EVAL Datasheet(HTML) 3 Page - TRINAMIC Motion Control GmbH & Co. KG. |
3 / 103 page TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 3 www.trinamic.com Table of Contents 1 PRINCIPLES OF OPERATION .........................5 1.1 KEY CONCEPTS................................................7 1.2 SPI CONTROL INTERFACE ...............................7 1.3 SOFTWARE ......................................................7 1.4 MOVING THE MOTOR ......................................7 1.5 STEALTH CHOP AND PROGRAMMABLE MICROSTEPPING WAVE................................................8 1.6 STALL GUARD2 – MECHANICAL LOAD SENSING8 1.7 COOL STEP – LOAD ADAPTIVE CURRENT CONTROL......................................................................8 1.8 DC STEP – LOAD DEPENDENT SPEED CONTROL 9 2 PIN ASSIGNMENTS.........................................10 2.1 PACKAGE OUTLINE ........................................10 2.2 SIGNAL DESCRIPTIONS .................................11 3 SAMPLE CIRCUITS ..........................................13 3.1 STANDARD APPLICATION CIRCUIT ................13 3.2 REDUCED NUMBER OF COMPONENTS.............14 3.3 INTERNAL RDSON SENSING..........................14 3.4 EXTERNAL 5V POWER SUPPLY ......................15 3.5 PRE-REGULATOR FOR REDUCED POWER DISSIPATION..............................................................16 3.6 5V ONLY SUPPLY..........................................17 3.7 HIGH MOTOR CURRENT.................................18 3.8 DRIVER PROTECTION AND EME CIRCUITRY...20 4 SPI INTERFACE ................................................21 4.1 SPI DATAGRAM STRUCTURE .........................21 4.2 SPI SIGNALS................................................22 4.3 TIMING .........................................................23 5 REGISTER MAPPING.......................................24 5.1 GENERAL CONFIGURATION REGISTERS ..........25 5.2 VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET.............................................27 5.3 SPI MODE REGISTER ....................................29 5.4 DC STEP MINIMUM VELOCITY REGISTER.........29 5.5 MOTOR DRIVER REGISTERS...........................30 6 STEALTHCHOP™ ..............................................39 6.1 TWO MODES FOR CURRENT REGULATION......39 6.2 AUTOMATIC SCALING....................................40 6.3 VELOCITY BASED SCALING............................42 6.4 COMBINING STEALTHCHOP WITH OTHER CHOPPER MODES .......................................................44 6.5 FLAGS IN STEALTHCHOP................................45 6.6 FREEWHEELING AND PASSIVE MOTOR BRAKING .....................................................................46 7 SPREADCYCLE AND CLASSIC CHOPPER ...47 7.1 SPREAD CYCLE CHOPPER ................................48 7.2 CLASSIC CONSTANT OFF TIME CHOPPER.......51 7.3 RANDOM OFF TIME.......................................52 7.4 CHOP SYNC2 FOR QUIET 2-PHASE MOTOR.....53 8 ANALOG CURRENT CONTROL AIN.............54 9 CURRENT SETTING .........................................55 9.1 SENSE RESISTORS.........................................56 10 RDSON SENSING ELIMINATES SENSE RESISTORS ................................................................57 10.1 LIMITATIONS OF RDSON SENSING...............57 10.2 DIMENSIONING OF REFERENCE RESISTOR .....57 11 VELOCITY BASED MODE CONTROL.......59 12 DRIVER DIAGNOSTIC FLAGS..................61 12.1 TEMPERATURE MEASUREMENT .......................61 12.2 SHORT TO GND PROTECTION.......................61 12.3 OPEN LOAD DIAGNOSTICS ...........................61 14 STALLGUARD2 LOAD MEASUREMENT...62 14.1 TUNING STALLGUARD2 THRESHOLD SGT .....63 14.2 STALL GUARD2 UPDATE RATE AND FILTER ....65 14.3 DETECTING A MOTOR STALL.........................65 14.4 LIMITS OF STALLGUARD2 OPERATION ..........65 15 COOLSTEP OPERATION.............................66 15.1 USER BENEFITS.............................................66 15.2 SETTING UP FOR COOLSTEP ..........................66 15.3 TUNING COOLSTEP........................................68 16 STEP/DIR INTERFACE................................69 16.1 TIMING.........................................................69 16.2 CHANGING RESOLUTION ...............................70 16.3 MICRO PLYER STEP INTERPOLATOR AND STAND STILL DETECTION.......................................................71 17 DIAG OUTPUTS...........................................72 18 DCSTEP ..........................................................73 18.1 USER BENEFITS.............................................73 18.2 DESIGNING-IN DCSTEP.................................73 18.3 DC STEP WITH STEP/DIR INTERFACE ...........74 18.4 STALL DETECTION IN DCSTEP MODE ............77 19 SINE-WAVE LOOK-UP TABLE...................78 19.1 USER BENEFITS.............................................78 19.2 MICROSTEP TABLE ........................................78 20 EMERGENCY STOP ......................................79 21 DC MOTOR OR SOLENOID .......................80 21.1 SOLENOID OPERATION..................................80 22 QUICK CONFIGURATION GUIDE............81 23 GETTING STARTED.....................................84 23.1 INITIALIZATION EXAMPLE .............................84 24 STANDALONE OPERATION ......................85 |
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