TMC211 DATASHEET (V. 0.9 / July 9, 2003)
- PRELIMINARY -
1
Copyright 2003 TRINAMIC Microchips GmbH
TMC211 DATASHEET
Micro Stepping Stepper Motor
Controller / Driver with LIN Interface
TRINAMIC
Microchips GmbH
Deelbgenkamp 4c
D 22297 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 TMC211 is a combined micro-stepping stepper motor motion controller and driver with RAM and
OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings.
The TMC211 allows up to four bit of microstepping and a coil current of up to 800 mA. After
initialization it performs all time critical tasks autonomously based on target positions and velocity
parameters. The TMC211 provides two different interfaces: LIN and a two wire serial interface.
Communications to a host takes place either via LIN interface or via two wire serial interface. Together
with an inexpensive microcontroller the TMC211 forms a complete motion control system. The main
benefits of the TMC211 are:
Motor driver
Controls one stepper motor with four bit microstepping
Programmable Coil current up to 800 mA
Supply voltage range operating range 8V ... 29V
Fixed frequency PWM current control with automatic selection of fast and slow decay mode
Full step frequencies up to 1 kHz
High temperature, open circuit, short, over-current and under-voltage diagnostics
Motion controller
Internal 16-bit wide position counter
Configurable speed and acceleration settings
Build-in ramp generator for autonomous positioning and speed control
On-the-fly alteration of target position
reference switch input available for read out
LIN interface
Physical and Data-Link Layers conform to LIN rev. 1.2
Field-programmable node addresses (128)
Dynamically allocated identifiers
Diagnostics and status information as well as motion parameters accessable
LIN bus short-circuit protection to supply and ground and Lost LIN safe operation
Lost LIN safe operation
TRINAMIC
M I C R O C H I P S
SWI
MOTYP
MOTXN
GND
MOTXP
VBAT
VCP
VBAT
MOTYN
GND
20
19
18
17
16
15
14
13
12
11
SCL_HW1
2
VDD
3
GND
4
TST
5
LIN (*)
6
GND
7
CPP
10
SDA_HW0
1
HW_HW2
8
CPN
9
TMC211
SOIC-20
TMC211 DATASHEET (V. 0.9 / July 9, 2003)
- PRELIMINARY -
2
Copyright 2003 TRINAMIC Microchips GmbH
Life support policy
TRINAMIC Microchips GmbH does not authorize
or warrant any of its products for use in life
support systems, without the specific written
consent of TRINAMIC Microchips GmbH.
Life support systems are equipment intended to
support or sustain life, and whose failure to
perform, when properly used in accordance with
instructions provided, can be reasonably
expected to result in personal injury or death.
TRINAMIC Microchips GmbH 2003
Information given in this data sheet is believed to
be accurate and reliable. However no
responsibility is assumed for the consequences
of its use nor for any infringement of patents or
other rights of third parties which may result form
its use.
Specifications subject to change without notice.
TMC211 DATASHEET (V. 0.9 / July 9, 2003)
- PRELIMINARY -
3
Copyright 2003 TRINAMIC Microchips GmbH
Table of contents
1
FEATURES.......................................................................................................................................1
2
GENERAL DESCRIPTION...............................................................................................................7
2.1
P
OSITION
C
ONTROLLER
/ M
AIN
C
ONTROL
.....................................................................................7
2.2
S
TEPPER
M
OTOR
D
RIVER
............................................................................................................7
2.3
LIN I
NTERFACE
............................................................................................................................8
2.4
M
ISCELLANEOUS
..........................................................................................................................8
2.5
P
INNING
(
PRELIMINARY
) ...............................................................................................................8
3
APPLICATION ENVIRONMENT CONFIGURATIONS .................................................................9
4
ORDERING INFORMATION ............................................................................................................9
4.1
P
ACKAGE
T
HERMAL
R
ESISTANCE
...............................................................................................10
4.1.1
SOIC-20 Package.............................................................................................................10
4.1.2
QFN-32 Package..............................................................................................................10
5
PIN-OUT .........................................................................................................................................10
6
FUNCTIONAL DESCRIPTION .......................................................................................................11
6.1
P
OSITION
C
ONTROLLER AND
M
AIN
C
ONTROLLER
.........................................................................11
6.1.1
Stepping Modes................................................................................................................11
6.1.2
Velocity Ramp ..................................................................................................................11
6.1.3
Examples for different Velocity Ramps.............................................................................12
6.1.3.1
Motion with change of target position ........................................................................................ 12
6.1.3.2
Motion with change of target position while in deceleration phase ............................................ 12
6.1.3.3
Short Motion Vmax is not reached............................................................................................. 12
6.1.3.4
Motion with change of target position in opposite direction ....................................................... 12
6.1.4
Vmax Parameters.............................................................................................................13
6.1.5
Vmin Parameters..............................................................................................................14
6.1.6
Acceleration Parameters ..................................................................................................14
6.1.7
Position Ranges ...............................................................................................................15
6.1.8
Secure Position ................................................................................................................15
6.1.9
External Switch.................................................................................................................15
6.1.10
Motor Shutdown Management..........................................................................................15
6.1.11
Reference Search / Position initialization .........................................................................16
6.1.12
Sleep Mode.......................................................................................................................17
6.1.13
Temperature Management ...............................................................................................18
6.1.14
Battery Voltage Management ...........................................................................................19
6.1.15
Internal handling of commands and flags.........................................................................19
6.2
RAM
AND
OTP M
EMORY
...........................................................................................................23
6.2.1
RAM Registers .................................................................................................................23
6.2.2
OTP Memory Structure.....................................................................................................24
6.3
S
TEPPER
M
OTOR
D
RIVER
..........................................................................................................24
6.3.1
Coil current shapes...........................................................................................................25
6.3.2
Transition Irun to Ihold......................................................................................................26
6.3.3
Chopper Mechanism ........................................................................................................27
7
LIN INTERFACE.............................................................................................................................28
7.1.1
LIN - General Description .................................................................................................28
7.1.2
LIN - Physical Layer .........................................................................................................28
7.1.2.1
LIN - Analog Part ....................................................................................................................... 28
7.1.3
Slave operational range for proper self synchronization ..................................................29
7.1.4
LIN - Physical Address of the circuit.................................................................................29
7.1.5
LIN - Electro Magnetic Compability ..................................................................................30
7.1.6
LIN - Error Status Register ...............................................................................................30
7.1.7
LIN - Dynamic Assignment of Identifiers ..........................................................................30
TMC211 DATASHEET (V. 0.9 / July 9, 2003)
- PRELIMINARY -
4
Copyright 2003 TRINAMIC Microchips GmbH
7.1.8
LIN Frames.......................................................................................................................32
7.1.8.1
Overview .................................................................................................................................... 32
7.1.8.2
LIN - Writing Frames ................................................................................................................. 32
7.1.8.3
LIN - Reading Frames ............................................................................................................... 33
7.1.9
LIN - Description of Application Commands.....................................................................35
7.1.10
LIN - Command Overview ................................................................................................35
7.1.11
LIN - Command Description .............................................................................................36
7.1.11.1
GetFullStatus1 ....................................................................................................................... 36
7.1.11.2
GetActualPos......................................................................................................................... 37
7.1.11.3
GetOTPParam ....................................................................................................................... 38
7.1.11.4
GetStatus............................................................................................................................... 38
7.1.11.5
GotoSecurePosition............................................................................................................... 39
7.1.11.6
HardStop................................................................................................................................ 39
7.1.11.7
SoftStop ................................................................................................................................. 39
7.1.11.8
ResetPosition......................................................................................................................... 40
7.1.11.9
ResetToDefault...................................................................................................................... 40
7.1.11.10
RunInit ................................................................................................................................... 41
7.1.11.11
SetPosition............................................................................................................................. 41
7.1.11.12
SetMotorParameter................................................................................................................ 42
7.1.11.13
SetOTP .................................................................................................................................. 43
7.1.11.14
SetPosition Short ................................................................................................................... 43
7.1.11.15
Sleep Mode............................................................................................................................ 45
7.1.12
Positioning Task Example ................................................................................................45
8
PACKAGE OUTLINE .....................................................................................................................47
8.1
SOIC-20...................................................................................................................................47
8.2
QFN-32 ....................................................................................................................................48
9
ELECTRICAL CHARACTERISTICS ..............................................................................................49
9.1
A
BSOLUTE
M
AXIMUM
R
ATINGS
...................................................................................................49
9.2
O
PERATING
R
ANGES
..................................................................................................................49
9.3
DC P
ARAMETERS
......................................................................................................................49
9.4
AC P
ARAMETERS
......................................................................................................................50
REVISION HISTORY .............................................................................................................................51
List of figures
F
IGURE
1: B
LOCK DIAGRAM
........................................................................................................................7
F
IGURE
2: A
PPLICATION
E
NVIRONNENT
.......................................................................................................9
F
IGURE
3: L
AYOUT CONSIDERATION
..........................................................................................................10
F
IGURE
4: P
IN
-O
UT
SOIC-20 P
ACKAGE
(
LEFT SIDE
)
AND
QFN-32 P
ACKAGE
(
RIGHT SIDE
) .........................10
F
IGURE
5: T
YPICAL
V
ELOCITY
R
AMP
.........................................................................................................11
F
IGURE
6: M
OTION WITH CHANGE OF TARGET POSITION
.............................................................................12
F
IGURE
7: M
OTION WITH CHANGE OF TARGET POSITION WHILE IN DECELERATION PHASE
.............................12
F
IGURE
8: S
HORT
M
OTION
V
MAX IS NOT REACHED
....................................................................................12
F
IGURE
9: L
INEAR
Z
ERO CROSSING
...........................................................................................................12
F
IGURE
10: R
UN
I
NIT
.................................................................................................................................17
F
IGURE
11: T
EMPERATURE
M
ANAGEMENT
................................................................................................18
F
IGURE
12: B
ATTERY
V
OLTAGE
M
ANAGEMENT
..........................................................................................19
F
IGURE
13: I
NTERNAL HANDLING OF COMMANDS AND FLAGS
......................................................................20
F
IGURE
14: C
OIL
C
URRENT FOR
H
ALF
S
TEPPING
M
ODE
............................................................................25
F
IGURE
15: C
OIL
C
URRENT FOR
1/4 M
ICRO
S
TEPPING
M
ODE
....................................................................25
F
IGURE
16: C
OIL
C
URRENT FOR
1/8 M
ICRO
S
TEPPING
M
ODE
....................................................................25
F
IGURE
17: C
OIL
C
URRENT FOR
1/16 M
ICRO
S
TEPPING
M
ODE
..................................................................25
F
IGURE
18: T
RANSITION
I
RUN TO
I
HOLD
....................................................................................................26
F
IGURE
19: D
IFFERENT
C
HOPPER
C
YCLES WITH
F
AST AND
S
LOW
D
ECAY
..................................................27
F
IGURE
20: LIN - P
HYSICAL
L
AYER
...........................................................................................................28
F
IGURE
21: LIN - A
NALOG
P
ART
...............................................................................................................29
F
IGURE
22: LIN - P
HYSICAL
S
LAVE
A
DDRESS
...........................................................................................30
TMC211 DATASHEET (V. 0.9 / July 9, 2003)
- PRELIMINARY -
5
Copyright 2003 TRINAMIC Microchips GmbH
F
IGURE
23: LIN - P
RINCIPLE OF DYNAMIC COMMAND ASSIGNMENT
.............................................................31
F
IGURE
24: LIN - W
RITING
F
RAME
T
YPE
#1 ..............................................................................................32
F
IGURE
25: LIN - W
RITING
F
RAME
T
YPE
#2 ..............................................................................................33
F
IGURE
26: LIN - W
RITING
F
RAME
T
YPE
#3 ..............................................................................................33
F
IGURE
27: LIN - W
RITING
F
RAME
T
YPE
#4 ..............................................................................................33
F
IGURE
28: LIN - R
EADING
F
RAME
T
YPE
#5 ..............................................................................................34
F
IGURE
29: LIN - R
EADING
F
RAME
T
YPE
#6 ..............................................................................................34
F
IGURE
30: LIN - P
REPARING
F
RAME
T
YPE
#7 ..........................................................................................34
F
IGURE
31: LIN - P
REPARING
F
RAME
T
YPE
#8 ..........................................................................................35
F
IGURE
32: P
OSITIONING
E
XAMPLE
: I
NITIAL SITUATION
..............................................................................45
F
IGURE
33: P
OSITIONING
E
XAMPLE
: S
ITUATION AFTER REFERENCE SEARCH
..............................................46
F
IGURE
34: P
OSITIONING
E
XAMPLE
: M
OTION FINISHED
..............................................................................46
F
IGURE
36: P
ACKAGE
O
UTLINE
QFN-32...................................................................................................48
List of tables
T
ABLE
1: TMC211 (
PRELIMINARY
) P
IN
O
UT
................................................................................................8
T
ABLE
2: O
RDERING
I
NFORMATION
.............................................................................................................9
T
ABLE
3: V
MAX
P
ARAMETERS
...................................................................................................................13
T
ABLE
4: V
MAX
G
ROUPS
..........................................................................................................................13
T
ABLE
5: V
MIN
P
ARAMETERS
....................................................................................................................14
T
ABLE
6: A
CC
P
ARAMETERS
.....................................................................................................................14
T
ABLE
7: P
OSITION
R
ANGES
.....................................................................................................................15
T
ABLE
8: S
ECURE
P
OSITION
R
ESOLUTION
.................................................................................................15
T
ABLE
9: P
RIORITY
E
NCODER
USING
LIN (
REF
. F
IGURE
13 ,
PAGE
24)....................................................22
T
ABLE
10: RAM R
EGISTERS
....................................................................................................................23
T
ABLE
11: OTP M
EMORY
S
TRUCTURE
......................................................................................................24
T
ABLE
12: OTP L
OCK BITS
.......................................................................................................................24
T
ABLE
13: S
TEP
M
ODE
.............................................................................................................................24
T
ABLE
14: I
RUN
S
ETTINGS
........................................................................................................................26
T
ABLE
15: IH
OLD
S
ETTINGS
.....................................................................................................................27
T
ABLE
16: LIN - P
HYSICAL
A
DDRESS
E
XPANSION
......................................................................................30
T
ABLE
17: LIN - E
RROR
S
TATUS
R
EGISTER
..............................................................................................30
T
ABLE
18: LIN - D
YNAMIC
I
DENTIFIERS
W
RITING
F
RAME
...........................................................................31
T
ABLE
19: LIN - C
OMMANDS AND
C
ORRESPONDING
D
YNAMIC
ID
S
.............................................................32
T
ABLE
20: LIN - C
OMMAND
O
VERVIEW
.....................................................................................................35
T
ABLE
21: G
ET
F
ULL
S
TATUS PREPARING FRAME
........................................................................................36
T
ABLE
22: G
ET
F
ULL
S
TATUS
I
N
-
FRAME RESPONSE
1 ..................................................................................36
T
ABLE
23: G
ET
F
ULL
S
TATUS
I
N
-
FRAME RESPONSE
2 ..................................................................................37
T
ABLE
24: G
ET
A
CTUAL
P
OS WITH DIRECT
ID .............................................................................................37
T
ABLE
25: G
ET
A
CTUAL
P
OS PREPARING FRAME
.........................................................................................37
T
ABLE
26: G
ET
A
CTUAL
P
OS
I
N
-
FRAME RESPONSE
.....................................................................................38
T
ABLE
27: G
ET
OTPP
ARAM PREPARING FRAME
.........................................................................................38
T
ABLE
28: G
ET
OTPP
ARAM
I
N
-
FRAME RESPONSE
......................................................................................38
T
ABLE
29: G
ET
S
TATUS WITH DIRECT
ID....................................................................................................39
T
ABLE
30: G
OTO
S
ECURE
P
OSITION WRITING FRAME
..................................................................................39
T
ABLE
31: H
ARD
S
TOP WRITING FRAME
.....................................................................................................39
T
ABLE
32: S
OFT
S
TOP WRITING FRAME
......................................................................................................40
T
ABLE
33: S
OFT
S
TOP WRITING FRAME
......................................................................................................40
T
ABLE
34: R
ESET
T
O
D
EFAULT WRITING FRAME
..........................................................................................40
T
ABLE
35: R
UN
I
NIT WITH INDIRECT
ID .......................................................................................................41
T
ABLE
36: S
ET
P
OSITION WITH DIRECT
ID..................................................................................................42
T
ABLE
37: S
ET
P
OSITION WITH A GENERAL PURPOSE
ID.............................................................................42
T
ABLE
38: S
ET
P
OSITION FOR
2
MOTORS WITH INDIRECT
ID .......................................................................42
T
ABLE
39: S
ET
M
OTOR
P
ARAM WITH INDIRECT
ID .......................................................................................43
T
ABLE
40: S
ET
OTPP
ARAM WITH INDIRECT
ID ...........................................................................................43
T
ABLE
41: ADM
BIT IN
S
ET
P
OSITION
S
HORT
C
OMMAND
.............................................................................44
T
ABLE
42: S
ET
P
OSITION
S
HORT
(1 M
OTOR
) ..............................................................................................44
T
ABLE
43: S
ET
P
OSITION
S
HORT
(2 M
OTORS
) ............................................................................................44
PDF 
ZIP