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PDF TMC4210 Data sheet ( Hoja de datos )
| Número de pieza | TMC4210 | |
| Descripción | Low cost 1-Axis Stepper Motor Controller | |
| Fabricantes | TRINAMIC | |
| Logotipo |  |
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MOTION CONTROLLER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC4210 DATASHEET
Low cost 1-Axis Stepper Motor Controller for TMC26x and TMC389 Stepper Driver
SPI Communication Interface for Microcontroller and Step/Direction interface to Driver
APPLICATIONS
CCTV, Security
Antenna Positioning
Heliostat Controller
Battery powered applications
Office Automation
ATM, Cash recycler, POS
Lab Automation
Liquid Handling
Medical
Printer and Scanner
Pumps and Valves
FEATURES AND BENEFITS
1-Axis stepper motor controller
3.3 V or 5 V operation with CMOS / TTL compatible IOs
Serial 4-wire interface for µC with easy-to-use protocol
Step/Direction interface to driver
Clock frequency: up to 32 MHz (can use CPU clock)
Internal position counters 24 bit wide
Microstep frequency up to 1 MHz
Read-out option for all motion parameters
Ramp generator for autonomous positioning / speed control
On-the-fly change of target motion parameters
Low power operation: 1.25 mA at 4 MHz (typ.)
Compact Size: ultra small 16 pin SSOP package
Directly controls TMC260, TMC261, TMC262, TMC2660, TMC389,
TMC2100 and TMC2130
BLOCK DIAGRAM
Ref. Switches
DESCRIPTION
The TMC4210 is a 1-axis miniaturized
stepper motor controller with an industry
leading feature set. It controls the motor
via Step/Direction interface. Based on
target positions and velocities - which can
be altered on the fly - it performs all real
time critical tasks autonomously. The
TMC4210 offers high level control functions
for robust and reliable operation. The 4
wire serial peripheral interface allows for
communication with the microcontroller.
Together with a microcontroller the
TMC4210 forms a complete motion control
system. High integration and small form
factor allow for miniaturized designs for
cost-effective and highly competitive
solutions.
CLK
SPI to µC
SDO to µC
Muliplexed
Output
SPI to
Master
Interrupt
Controller
Position
Comparator
Ref. Switch
Processing
Linear
RAMP Generator
Step/Dir
Pulse
Generation
24 Bit
Target Position
Position Counter
TMC4210
Step/Dir OUT
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
1 page  
TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
5
1.2 Control Interfaces
1.2.1 Serial µC Interface
Using this interface, the TMC4210 receives target positions, target velocities, and target acceleration
values for the microcontroller. Further, it is used for configuration.
From the software point of view, the TMC4210 provides a set of registers, accessed by the
microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a read-
write selection bit, and data bits to access the registers and the on-chip memory. Each time the
microcontroller sends a datagram to the TMC4210 it simultaneously receives a datagram from the
TMC4210. This simplifies the communication with the TMC4210 and makes programming easy. Most
microcontrollers have an SPI hardware interface, which directly connects to the serial four wire
microcontroller interface of the TMC4210. For microcontrollers without SPI hardware software doing
the serial communication is sufficient and can easily be implemented.
1.2.2 Step/Dir Driver Interface
The TMC4210-I controls the motor position by sending pulses on the STEP signal while indicating the
direction on the DIR signal. A programmable step pulse length and step frequencies up to 1MHz allow
operation at high speed and high microstep resolution. The driver chip converts these signals into the
coil currents which control the position of the motor. The TMC4210-I perfectly fits to the TMC26x smart
power Step/Dir driver family.
SPI
High Level
Interface
Stepper Motor
µC
SPI
TMC4210
Step/Dir
Motion Controller
Driver incl.
MOSFETs
TMC260/TMC261/
TMC2660
Figure 1.2 Application example using Step/Dir driver interface
M
1.3 Software Visibility
From the software point of view the TMC4210 provides a set of registers and on-chip RAM (see Figure
1.1), accessed via the serial µC interface in a uniform way. The serial interface uses a simple protocol
with fixed datagram length for the read- and write-access. These registers are used for initializing the
chip as required by the hardware configuration. Afterwards the motor can be moved by writing target
positions or velocity and acceleration values.
www.trinamic.com
5 Page 
TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03)
11
4 Sample Circuit
This application example shows how to connect the TMC4210 motion controller with the processor
and one out of TRINAMICs TMC260, TMC261, and TMC2660 stepper motor driver chips. These stepper
motor driver chips have integrated MOSFETs. The TMC262 needs external power transistors.
General purpose input
GP_IN
REF_L REF_R
CLK CLK
Output SDO_C
will nerver be
high impedance
TMC4210-I
SDO_C
SDI_C
SCK_C
nSCS_C
V33
STEP_OUT
DIR_OUT
V5 TEST GND
1K
CLK MISO
MOSI
µC
SCK
CSn_0
CSn_1
100nF
+5V
10K
Reference Switch Inputs
active high
1K 1K
STEP
DIR TMC260
TMC261
SDO TMC2660
SDI
SCK
CSN
Motor
Figure 4.1 TMC4210 application environment with TMC260, TMC261 or TMC2660.
www.trinamic.com
11 Page | ||
| Páginas | Total 30 Páginas | |
| PDF Descargar | [ Datasheet TMC4210.PDF ] | |
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