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PDF TMC223 Data sheet ( Hoja de datos )
| Número de pieza | TMC223 | |
| Descripción | Micro Stepping Stepper Motor Controller / Driver | |
| Fabricantes | TRINAMIC | |
| Logotipo |  |
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Hay una vista previa y un enlace de descarga de TMC223 (archivo pdf) en la parte inferior de esta página. Total 30 Páginas | ||
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TMC223 DATASHEET (V. 1.05 / March 7, 2011)
1
TMC223 – DATASHEET
Micro Stepping Stepper Motor
Controller / Driver with Two Wire Serial Interface
and Sensorless Stall Detection
1
SDA
2
SCL
3
VDD
4
GND
5
TST
6
open
7
GND
8
HW
9
CPN
10
CPP
20
SWI
19
VBAT
18
OA1
17
GND
16
OA2
15
OB1
14
GND
13
OB2
12
VBAT
11
VCP
32 31 30 29 28 27 26 25
TRINAMIC® Motion Control GmbH & Co. KG
Sternstraße 67
D – 20357 Hamburg
GERMANY
OA1
OA1
VBAT
VBAT
VBAT
SWI
NC
SDA
TMC 223
QFN32
OB2
OB2
VBAT
VBAT
VBAT
VCP
CPP
CPN
P +49 - (0) 40 - 51 48 06 - 0
F +49 - (0) 40 - 51 48 06 - 60
www.trinamic.com
9 10 11 12 13 14 15 16
Top view
1 Features
The TMC223 is a combined micro-stepping stepper motor motion controller and driver with RAM and
OTP memory and integrated sensorless stall detection. The RAM or OTP memory is used to store
motor parameters and configuration settings. The TMC223 allows up to four bit of micro stepping 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. Communications to a host takes place via a two wire serial
interface. Together with an inexpensive micro controller the TMC223 forms a complete motion control
system. The main benefits of the TMC223 are:
• Motor driver
• Controls one stepper motor with four bit micro stepping
• 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
• Two wire serial interface
• Transfer rates up to 350 kbps
• Diagnostics and status information as well as motion parameters accessible
• Field-programmable node addresses (32)
• Sensorless Stall Detection
o GetFullStatus1 & GetFullStatus2 with parameters concerning stall detection
o SetStallParam to set stall detection parameters
Copyright © 2007-2009 TRINAMIC Motion Control GmbH & Co. KG
1 page  
TMC223 DATASHEET (V. 1.05 / March 7, 2011)
5
2 General Description
2.1 Block Diagramm
SWI
SDA
SCL
HW
TST
VBAT
VDD
Two Wire
Serial
Interface
Serial
Interface
Controller
Test
Position Controller
Decoder
Sinewave
table
Main control
& Registers
OTP + ROM
DACs
PWM
regulator
X
PWM
regulator
Y
Voltage
Regulator
Oscillator
Charge Pump
Reference Voltage
&
Thermal Monitoring
OA1
OA2
OB1
OB2
VCP CP2 CP1
2.2 Position Controller / Main Control
Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control
block via the serial interface. These information are stored internally in RAM or OTP memory and are
accessible by the position controller. This block takes over all time critical tasks to drive a stepper
motor to the desired position under abiding the desired motion parameters.
The main controller gets feedback from the stepper motor driver block and is able to arrange internal
actions in case of possible problems. Diagnostics information about problems and errors are
transferred to the serial interface block.
2.3 Stepper Motor Driver
Two H-bridges are employed to drive both windings of a bipolar stepper motor. The internal transistors
can reach an output current of up to 800 mA. The PWM principle is used to force the given current
through the coils. The regulation loop performs a comparison between the sensed output current and
the internal reference. The PWM signals to drive the power transistors are derived from the output of
the current comparator.
2.4 Two Wire Serial Interface
Communication between a host and the TMC223 takes places via the two wire bi-directional serial
interface. Motion instructions and diagnostics information are provided to or from the Main Control
block. It is possible to connect up to 32 devices on the same bus. Slave addresses are programmable
via OTP memory or an external pin.
Copyright © 2007-2009 TRINAMIC Motion Control GmbH & Co. KG
5 Page 
TMC223 DATASHEET (V. 1.05 / March 7, 2011)
11
5.1.4 Vmax Parameter
The desired maximum velocity Vmax can be chosen from the table below:
Vmax
index
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Vmax
[FS/s]
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
Vmax
group
A
B
C
D
Half-Step
Mode
[half-steps/s]
197
273
334
395
425
456
486
546
607
668
729
790
912
1091
1457
1945
Stepping Mode
1/4 micro
stepping
1/8 micro
stepping
[micro-steps/s] [micro-steps/s]
395 790
546 1091
668 1335
790 1579
851 1701
912 1823
973 1945
1091
2182
1213
2426
1335
2670
1457
2914
1579
3159
1823
3647
2182
4364
2914
5829
3891
7782
Table 3: Vmax Parameter
1/16 micro
stepping
[micro-steps/s]
1579
2182
2670
3159
3403
3647
3891
4364
4852
5341
5829
6317
7294
8728
11658
15564
Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.
All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing
Vmax during a motion take care that the new Vmax value is within the same group. Background: The
TMC223 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is
equal. When changing Vmax between different groups during a motion, correct positioning is not
ensured anymore.
Copyright © 2007-2009 TRINAMIC Motion Control GmbH & Co. KG
11 Page | ||
| Páginas | Total 30 Páginas | |
| PDF Descargar | [ Datasheet TMC223.PDF ] | |
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