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 DESCRIPTION FEATURES AND BENEFITS The TMC4210 is a 1-axis miniaturized 1-Axis stepper motor controller stepper motor controller with an industry 3.3 V or 5 V operation with CMOS / TTL compatible IOs leading feature set. It controls the motor Serial 4-wire interface for C with easy-to-use protocol via Step/Direction interface. Based on Step/Direction interface to driver target positions and velocities - which can Clock frequency: up to 32 MHz (can use CPU clock) be altered on the fly - it performs all real Internal position counters 24 bit wide time critical tasks autonomously. The TMC4210 offers high level control functions Microstep frequency up to 1 MHz for robust and reliable operation. The 4 Read-out option for all motion parameters wire serial peripheral interface allows for Ramp generator for autonomous positioning / speed control communication with the microcontroller. On-the-fly change of target motion parameters Together with a microcontroller the Low power operation: 1.25 mA at 4 MHz (typ.) TMC4210 forms a complete motion control Compact Size: ultra small 16 pin SSOP package system. High integration and small form factor allow for miniaturized designs for Directly controls TMC260, TMC261, TMC262, TMC2660, TMC389, TMC2100 and TMC2130 cost-effective and highly competitive solutions. BLOCK DIAGRAM Ref. Switches Ref. Switch CLK Processing Step/Dir SPI to Linear SPI to C Pulse Step/Dir OUT Master RAMP Generator Generation SDO to C Interrupt 24 Bit Controller Muliplexed Output Position Target Position Position Counter Comparator TMC4210 TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany TMC4210 DATASHEET (Rev. 1.05 / 2017-NOV-16) 2 APPLICATION EXAMPLE: RELIABLE CONTROL USING STEP/DIR The TMC4210 scores with its autonomous handling of all real time critical tasks. By offloading the motion control function to the TMC4210, the stepper motor can be operated reliably with very little demand for service from the microcontroller. Software only needs to send target positions, and the TMC4210 generates precisely timed step pulses by hardware. Parameters for the motor can be changed on the fly while software retains full control. This way, high precision and reliable operation is achieved while costs are kept down. TMC4210+TMC2660-EVAL EVALUATION BOARD This evaluation board is a development platform for applications based on the TMC4210 and the TMC2660 stepper motor driver IC. The board features USB and CAN interfaces for communication with control software running on a PC. The power TMC2660 MOSFETs of the TMC2660 support drive currents up to 2.8A RMS at 29V. The control software provides a user-friendly GUI for setting control parameters and visualizing the dynamic response of the motor. LOGIC OF THE CONTROLLER/DRIVER CHAIN DIAGNOSTICS VELOCITY STEP AND DIRECTION ACCELERATION POWER SIGNALS TARGET POSITION CPU TMC4210 DRIVER M HOME & STOP DIAGNOSTICS SYSTEM WITH TMC4210 AND TMC2660 Mechanical Feedback or virtual stop switch REF L, REF R +V M TMC2660 VSA / B TMC4210 VCC IO Half Bridge 1 OA1 Half Bridge 1 Position Reference switch 2 phase N STEP IN processing counter sine table OA2 S stepper 4*256 entry x chopper motor DIR IN OB1 nSCS C STEP OUT Half Bridge 2 SCK C Step & Half Bridge 2 OB2 SPI to master Linear RAMP Direction pulse STEP/DIR SDI C DIR OUT generator generation BRA / B nINT SDO C CSN RSA / B coolStep SCK R R SPI control, SENSE SENSE SDI Config & diags SDO Interrupt Position 2 x current controller comparator 2 x DAC Protection comparator stallGuard2 & diagnostics CLK SG TST Realtime event trigger Virtual stop switch 1K *) Motion command SPI *) Connect 1K resistor to nINT SDO C to use the SPI interface. Another possibility is to use a tristate output (e.g., 74HC1G125) as shown below. User CPU nINT SDO C SDO System interfacing nSCS C ORDER CODES Order code Description Size 2 TMC4210-I 1-axis Step/Dir motion controller, SSOP16-package 6 x 5 mm 2 TMC4210+2660-EVAL Evaluation board for TMC4210 and TMC2660 chipset 55 x 85 mm www.trinamic.com Driver incl. MOSFETs Motion control System control step multiplier