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PDF TMC260 Data sheet ( Hoja de datos )
| Número de pieza | TMC260 | |
| Descripción | (TMC260 / TMC261) cost-effective stepper drivers | |
| Fabricantes | TRINAMIC | |
| Logotipo |  |
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Hay una vista previa y un enlace de descarga de TMC260 (archivo pdf) en la parte inferior de esta página. Total 30 Páginas | ||
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POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC260 & TMC261 DATASHEET
Universal, cost-effective stepper drivers for two-phase bipolar motors with state-of-the-art features.
Integrated MOSFETs for up to 2 A motor currents per coil. With Step/Dir Interface and SPI.
FEATURES AND BENEFITS
Drive Capability up to 2A motor current
Highest Voltage up to 60V DC (TMC261) or 40V DC (TMC260)
Highest Resolution up to 256 microsteps per full step
Compact Size 10x10mm QFP-44 package
Low Power Dissipation, low RDSON & synchronous
rectification
EMI-optimized programmable slope
Protection & Diagnostics overcurrent, short to GND,
overtemperature & undervoltage
stallGuard2™ high precision sensorless motor load detection
coolStep™ load dependent current control for energy savings
up to 75%
microPlyer™ microstep interpolation for increased
smoothness with coarse step inputs.
spreadCycle™ high-precision chopper for best current sine
wave form and zero crossing
APPLICATIONS
Textile, Sewing Machines
Factory Automation
Lab Automation
Liquid Handling
Medical
Office Automation
Printer and Scanner
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
Heliostat Controller
CNC Machines
DESCRIPTION
The TMC260 and TMC261 drivers for two-
phase stepper motors offer an industry-
leading feature set, including high-
resolution microstepping, sensorless
mechanical load measurement, load-
adaptive power optimization, and low-
resonance chopper operation. Standard
SPI™ and STEP/DIR interfaces simplify
communication. Integrated power MOSFETs
handle motor currents up to 2A per coil.
Integrated protection and diagnostic
features support robust and reliable
operation. High integration, high energy
efficiency and small form factor enable
miniaturized designs with low external
component count for cost-effective and
highly competitive solutions.
BLOCK DIAGRAM
VCC_IO
STEP
DIR
CSN
SCK
SDI
SDO
TMC260 / TMC261
Sine Table
4*256 entry
x
Chopper
HaHlaf lBf rBidrigdege1 1
HaHlaf lBf rBidrigdege2 2
SPI control,
Config & Diags
Protection
& Diagnostics
coolStep™
stallGuard2™
SG_TST
2 x Current
Comparator
2 x DAC
+VM
VSA / B
OA1
OA2
2 Phase
Stepper
N
S
OB1
OB2
BRA / B
RSA / B
RSENSE
RSENSE
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
Free Datasheet http://www.datasheetlist.com/
1 page  
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
5
In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to
detect and protect against shorted outputs, open-circuit output, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
There are two control interfaces from the motion controller to the motor driver: the SPI serial
interface and the STEP/DIR interface. The SPI interface is used to write control information to the chip
and read back status information. This interface must be used to initialize parameters and modes
necessary to enable driving the motor. This interface may also be used for directly setting the currents
flowing through the motor coils, as an alternative to stepping the motor using the STEP and DIR
signals, so the motor can be controlled through the SPI interface alone.
The STEP/DIR interface is a traditional motor control interface available for adapting existing designs
to use TRINAMIC motor drivers. Using only the SPI interface requires slightly more CPU overhead to
look up the sine tables and send out new current values for the coils.
1.2.1 SPI Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave, another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC260 or TMC261 slave always consists of sending
one 20-bit command word and receiving one 20-bit status word.
The SPI command rate typically corresponds to the microstep rate at low velocities. At high velocities,
the rate may be limited by CPU bandwidth to 10-100 thousand commands per second, so the
application may need to change to fullstep resolution.
1.2.2 STEP/DIR Interface
The STEP/DIR interface is enabled by default. Active edges on the STEP input can be rising edges or
both rising and falling edges, as controlled by another mode bit (DEDGE). Using both edges cuts the
toggle rate of the STEP signal in half, which is useful for communication over slow interfaces such as
optically isolated interfaces.
On each active edge, the state sampled from the DIR input determines whether to step forward or
back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256
microsteps per fullstep. During microstepping, a step impulse with a low state on DIR increases the
microstep counter and a high decreases the counter by an amount controlled by the microstep
resolution. An internal table translates the counter value into the sine and cosine values which
control the motor current for microstepping.
1.3 Mechanical Load Sensing
The TMC260 and TMC261 provide stallGuard2 high-resolution load measurement for determining the
mechanical load on the motor by measuring the back EMF. In addition to detecting when a motor
stalls, this feature can be used for homing to a mechanical stop without a limit switch or proximity
detector. The coolStep power-saving mechanism uses stallGuard2 to reduce the motor current to the
minimum motor current required to meet the actual load placed on the motor.
1.4 Current Control
Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes
are available: a traditional constant off-time mode and the new spreadCycle mode. spreadCycle mode
offers smoother operation and greater power efficiency over a wide range of speed and load.
www.trinamic.com
Free Datasheet http://www.datasheetlist.com/
5 Page 
TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
11
4.1.2 Small Motors with High Torque Ripple and Resonance
Motors with a high detent torque show an increased variation of the stallGuard2 measurement value
SG with varying motor currents, especially at low currents. For these motors, the current dependency
might need correction in a similar manner to velocity correction for obtaining the highest accuracy.
4.1.3 Temperature Dependence of Motor Coil Resistance
Motors working over a wide temperature range may require temperature correction, because motor
coil resistance increases with rising temperature. This can be corrected as a linear reduction of SG at
increasing temperature, as motor efficiency is reduced.
4.1.4 Accuracy and Reproducibility of stallGuard2 Measurement
In a production environment, it may be desirable to use a fixed SGT value within an application for
one motor type. Most of the unit-to-unit variation in stallGuard2 measurements results from
manufacturing tolerances in motor construction. The measurement error of stallGuard2 – provided that
all other parameters remain stable – can be as low as:
4.2 stallGuard2 Measurement Frequency and Filtering
The stallGuard2 measurement value SG is updated with each full step of the motor. This is enough to
safely detect a stall, because a stall always means the loss of four full steps. In a practical application,
especially when using coolStep, a more precise measurement might be more important than an
update for each fullstep because the mechanical load never changes instantaneously from one step to
the next. For these applications, the SFILT bit enables a filtering function over four load
measurements. The filter should always be enabled when high-precision measurement is required. It
compensates for variations in motor construction, for example due to misalignment of the phase A to
phase B magnets. The filter should only be disabled when rapid response to increasing load is
required, such as for stall detection at high velocity.
4.3 Detecting a Motor Stall
To safely detect a motor stall, a stall threshold must be determined using a specific SGT setting.
Therefore, you need to determine the maximum load the motor can drive without stalling and to
monitor the SG value at this load, for example some value within the range 0 to 400. The stall
threshold should be a value safely within the operating limits, to allow for parameter stray. So, your
microcontroller software should set a stall threshold which is slightly higher than the minimum value
seen before an actual motor stall occurs. The response at an SGT setting at or near 0 gives some idea
on the quality of the signal: Check the SG value without load and with maximum load. These values
should show a difference of at least 100 or a few 100, which shall be large compared to the offset. If
you set the SGT value so that a reading of 0 occurs at maximum motor load, an active high stall
output signal will be available at SG_TST output.
4.4 Limits of stallGuard2 Operation
stallGuard2 does not operate reliably at extreme motor velocities: Very low motor velocities (for many
motors, less than one revolution per second) generate a low back EMF and make the measurement
unstable and dependent on environment conditions (temperature, etc.). Other conditions will also lead
to extreme settings of SGT and poor response of the measurement value SG to the motor load.
Very high motor velocities, in which the full sinusoidal current is not driven into the motor coils also
lead to poor response. These velocities are typically characterized by the motor back EMF reaching the
supply voltage.
www.trinamic.com
Free Datasheet http://www.datasheetlist.com/
11 Page | ||
| Páginas | Total 30 Páginas | |
| PDF Descargar | [ Datasheet TMC260.PDF ] | |
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