TMC236/A/B DATA SHEET (V2.11 / 2018-Mar-01) 1 TMC236/B DATA SHEET High current, low power dissipation microstep stepper motor driver with protection / diagnostics and SPI Interface TRINAMIC Motion Control GmbH & Co KG Hamburg, Germany WWW.TRINAMIC.COM Features The TMC236 / TMC236A / TMC236B (1) is a dual full bridge driver IC for bipolar stepper motor control applications. It is realized in a HVCMOS technology combined with Low-RDS-ON high efficiency MOSFETs (pat. pend.). It allows driving a coil current of up to 1500mA even at high environment temperatures. Its low current consumption and high efficiency together with the miniature package make it a perfect solution for embedded motion control and for battery powered devices. The low power dissipation makes the TMC236 an optimum choice for drives, where a high reliability is desired. Internal DACs allow microstepping as well as smart current control. The device can be controlled by a i serial interface (SPI ) or by analog / digital input signals. Short circuit, temperature, undervoltage and overvoltage protection are integrated. Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals Short circuit, overvoltage and over temperature protection integrated Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage Integrated 4 bit DACs allow up to 16 times microstepping via SPI (can be expanded to 64 microsteps) Any resolution via analog control Mixed decay feature for smooth motor operation Slope control user programmable to reduce electromagnetic emissions Chopper frequency programmable via a single capacitor or external clock Current control allows cool motor and driver operation Internal open load detector 7V to 34V motor supply voltage (A-type) Up to 1500mA output current and more than 800mA at 105C 3.3V or 5V operation for digital part Low power dissipation via low RDS-ON power stage Standby and shutdown mode available (1) The term TMC236 in this datasheet always refers to the TMC236B, TMC236A and the TMC236. The major differences in the older TMC236 are explicitly marked with non-A-type. The TMC236A brings a number of enhancements and is fully backward compatible to the TMC236. The latest revision TMC236B is 100% compatible to the TMC236A. Copyright 2004, TRINAMIC Motion Control GmbH & Co KG TMC236/A/B DATA SHEET (V2.11 / 2018-Mar-01) 2 FEATURES.............................................................................................................................................. 1 PINNING .................................................................................................................................................. 5 PACKAGE CODES.................................................................................................................................... 5 PQFP44 DIMENSIONS ............................................................................................................................ 6 APPLICATION CIRCUIT / BLOCK DIAGRAM ....................................................................................... 7 PIN FUNCTIONS ...................................................................................................................................... 7 LAYOUT CONSIDERATIONS ................................................................................................................ 8 CONTROL VIA THE SPI INTERFACE ................................................................................................... 9 SERIAL DATA WORD TRANSMITTED TO TMC236 ....................................................................................... 9 SERIAL DATA WORD TRANSMITTED FROM TMC236 .................................................................................. 9 TYPICAL WINDING CURRENT VALUES ..................................................................................................... 10 BASE CURRENT CONTROL VIA INA AND INB IN SPI MODE ....................................................................... 10 CONTROLLING THE POWER DOWN MODE VIA THE SPI INTERFACE ........................................................... 10 OPEN LOAD DETECTION ........................................................................................................................ 11 STANDBY AND SHUTDOWN MODE........................................................................................................... 11 POWER SAVING .................................................................................................................................... 11 PROTECTION FUNCTIONS ................................................................................................................. 12 OVERCURRENT PROTECTION AND DIAGNOSIS ........................................................................................ 12 OVERTEMPERATURE PROTECTION AND DIAGNOSIS................................................................................. 12 OVERVOLTAGE PROTECTION AND ENN PIN BEHAVIOR ............................................................................ 12 CHOPPER PRINCIPLE ......................................................................................................................... 13 CHOPPER CYCLE / USING THE MIXED DECAY FEATURE............................................................................ 13 ADAPTING THE SINE WAVE FOR SMOOTH MOTOR OPERATION .................................................................. 14 BLANK TIME ......................................................................................................................................... 14 BLANK TIME SETTINGS .......................................................................................................................... 14 CLASSICAL NON-SPI CONTROL MODE (STAND ALONE MODE) .................................................. 15 PIN FUNCTIONS IN STAND ALONE MODE.................................................................................................. 15 INPUT SIGNALS FOR MICROSTEP CONTROL IN STAND ALONE MODE .......................................................... 15 CALCULATION OF THE EXTERNAL COMPONENTS ....................................................................... 16 SENSE RESISTOR ................................................................................................................................. 16 EXAMPLES FOR SENSE RESISTOR SETTINGS .......................................................................................... 16 HIGH SIDE OVERCURRENT DETECTION RESISTOR RSH ............................................................................ 16 MAKING THE CIRCUIT SHORT CIRCUIT PROOF ......................................................................................... 17 OSCILLATOR CAPACITOR ...................................................................................................................... 18 TABLE OF OSCILLATOR FREQUENCIES.................................................................................................... 18 PULL-UP RESISTORS ON UNUSED INPUTS ............................................................................................... 18 POWER SUPPLY SEQUENCING CONSIDERATIONS .................................................................................... 18 SLOPE CONTROL RESISTOR ................................................................................................................. 19 EXAMPLE FOR SLOPE SETTINGS ............................................................................................................ 19 ABSOLUTE MAXIMUM RATINGS ....................................................................................................... 20 ELECTRICAL CHARACTERISTICS ..................................................................................................... 20 OPERATIONAL RANGE .......................................................................................................................... 20 DC CHARACTERISTICS ......................................................................................................................... 21 AC CHARACTERISTICS ......................................................................................................................... 22 THERMAL PROTECTION (1) ................................................................................................................... 23 THERMAL CHARACTERISTICS ................................................................................................................ 23 TYPICAL POWER DISSIPATION AT HIGH LOAD / HIGH TEMPERATURE ........................................................ 23 SPI INTERFACE TIMING ...................................................................................................................... 24 Copyright 2004, TRINAMIC Motion Control GmbH & Co KG