MOTION CONTROLLER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC429 DATASHEET Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces and Step/Direction Full Compatible Successor of the TMC428 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 DESCRIPTION Controls up to three stepper motors The TMC429 is a miniaturized stepper motor 3.3 V or 5 V operation with CMOS / TTL compatible IOs controller with an industry leading feature Serial 4-wire interface for C with easy-to-use protocol set. It controls up to three motors via SPI or Step/Direction interface. The SPI interface Interface for SPI motor drivers with data rates up to 1 Mbit/s provides a programmable 6 bit microstep Step/Direction interface table (64 steps / fullstep) for best step Clock frequency: up to 32 MHz (can use CPU clock) accuracy with 2-phase stepper motors. Based Internal position counters 24 bit wide on target positions and velocities - which can Microstep frequency up to 1 MHz be altered on the fly - it performs all real Read-out option for all motion parameters time critical tasks autonomously. The TMC429 offers high level control functions for robust Programmable 6 bit microstep table, up to 64 entries for a quarter sine wave period and reliable operation. Two separate 4 wire serial peripheral interfaces allow for Ramp generators for autonomous positioning / speed control communication with the microcontroller and On-the-fly change of target motion parameters with up to three daisy chained stepper motor Power boost automatic acceleration dependent current control drivers. Low power operation: 1.25 mA at 4 MHz (typ.) Together with a microcontroller the TMC429 Compact Size: ultra small 16 pin SSOP package, small 24 pin SOP forms a complete motion control system. package, and 32 pin QFN 5x5 mm package High integration and small form factor allow Directly controls TMC23x, TMC24x, TMC26x, and TMC389 for miniaturized designs for cost-effective and highly competitive solutions. BLOCK DIAGRAM 3x Ref. Switches TMC429 Ref. Switch Processing OUTPUT SELECT SPI to Stepper - SPI Motor Driver 0/1/2 Step/Dir or SPI to 3x Linear SPI to C Pulse Master RAMP Generator Generation Step/Dir OUT 0/1/2 - Step/Dir SDO to C Interrupt Position Muliplexed Controller Comparator Serial Driver Output Microstep Interface Table CLK Position Compare OUT TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 2 APPLICATION EXAMPLES: RELIABLE CONTROL FOR UP TO 3 MOTORS The TMC429 scores with its autonomous handling of all real time critical tasks. By offloading the motion-control function to the TMC429, up to three motors can be operated reliably with very little demand for service from the microcontroller. Software only needs to send target positions, and the TMC429 generates precisely timed step pulses by hardware for up to three stepper motor driver chips. Parameters for each motor can be changed on the fly while software retains full control using an SPI bus. This way, high precision and reliable operation is achieved while costs are kept down. STEPROCKER The TMCM-1110 stepRocker is a single axis motor controller and driver board for 2-phase bipolar stepper motors. It features the TRINAMIC controller/driver chain consisting of TMC429 and TMC262. The Module is intended to be a fully functional development platform with Controller/Driver Chain 6A MOSFETs. Because of the TMC429s ability to control up to three motors the stepRocker can be extended to a full 3-axes system. Development platform with TMC262 TMC429+TMC26X-EVAL This evaluation board is a development platform for applications based on the TMC429 in combination with TMC260, TMC261, and TMC262. Common supply voltages are +12V DC / +24V DC / +48V DC (TMC261 only). The board features an embedded microcontroller with USB and RS232 interfaces. The control software TMC429 provides a user-friendly GUI for setting control parameters and visualizing the dynamic responses of the motors. Motor movements can be controlled via the Layout for Evaluation of TMC429 with step and direction interface using inputs from TMC262, TMC261, and TMC260 an external source or signals generated by the microcontroller acting as a step generator. ORDER CODES Order code Description Size 2 TMC429-LI 3-axis controller QFN32-package (5x5mm2), full functionality 5 x 5 mm 2 TMC429-PI24 3-axis controller SOP24-package (TMC428 replacement 15.5 x 10.5 mm possible) 2 TMC429-I 3-axis controller SSOP16-package (SPI only, for TMC428 6 x 5 mm replacement) 2 TMC429+26x-EVAL Evaluation board for S/D chipset (TMC429with TMC260, 16 x 10 cm TMC261, TMC262 and TMC424) 2 TMC429+TMC24x-EVAL Evaluation board for SPI chipset (TMC429, TMC246, and 13.5 x 8,2 cm TMC249) www.trinamic.com