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TMC5130A-TA Datasheet(PDF) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC5130A-TA Datasheet(HTML) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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5 / 128 page  TMC5130A DATASHEET (Rev. 1.12 / 2016-APR-22) 5 www.trinamic.com 1 Principles of Operation The TMC5130A motion controller and driver chip is an intelligent power component interfacing between CPU and stepper motor. All stepper motor logic is completely within the TMC5130A. No software is required to control the motor – just provide target positions. The TMC5130A 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 TMC5130A uses stealthChop, dcStep, coolStep, and stallGuard2 automatically to optimize every motor movement. THE TMC5130A OFFERS THREE BASIC MODES OF OPERATION: MODE 1: Full Featured Motion Controller & Driver All stepper motor logic is completely within the TMC5130A. 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 TMC5130A takes care of intelligent current and mode control and delivers feedback on the state of the motor. The microPlyer automatically smoothens motion. Leave open SD_MODE and SPI_MODE. MODE 3: Simple Step & Direction Driver The TMC5130A 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 TMC5130A. Optional feedback signals allow error detection and synchronization. Enable this mode by tying low pin SPI_MODE. Diff. Tranceiver Half Bridge 1 Half Bridge 2 +VM VS current comparator 2 phase stepper motor N S Stepper driver Protection & diagnostics programmable sine table 4*256 entry DAC stallGuard2™ coolStep™ x OA1 OA2 BRA spreadCycle & stealthChop Chopper VCC_IO TMC 5130A Stepper motor driver / controller SPI interface CSN SCK SDO/NAO SDI/NAI linear 6 point RAMP generator reference switch processing Step & Direction pulse generation Motio n con trol Half Bridge 1 Half Bridge 2 VS current comparator DAC OB1 OB2 BRB Control register set Single wire interface (-TA pckg only) CLK oscillator/ selector 5V Voltage regulator charge pump CPO CPI VCP 22n 100n SWN_DIAG0 SW_SEL CLK_IN Interf ace SWP_DIAG1 +VM 5VOUT VSA 4.7µ +VIO Encoder unit A B N INT & position pulse output DRV_ENN GNDP GNDP dcStep™ SPI™ single wire UART opt. ext. clock 10-16MHz 3.3V or 5V I/O voltage 100n 100n 100n 100n interface selection (-TA package only) Opt. interrupt out reference / stop switches opt. driver enable RS RS ISENSE ISENSE ISENSE ISENSE +VM DAC Reference IREF IREF IREF PU PU PU PU PD PDD PMD PU=166K pullup resistor to VCC PD=166k pull down resistor to GND PDD=100k pulldown PMD=50k to VCC/2 Opt. poscomp out leave open optional current scaling Optional for internal current sensing. RREF=9K1 allows for maximum coil current. RS=0R15 allows for maximum coil current; Use low inductance SMD resistor type. Tie BRA and BRB to GND for internal current sensing RREF 5VOUT 2R2 470n 2R2 and 470n are optional filtering components for best chopper precision VCC Optional incremental encoder inputs coolS tep & stealt hCho p moto r driv er Figure 1.1 TMC5130A basic application block diagram with motion controller |
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