Motion Controller for Stepper Motors Integrated Circuits TMC4330A DATASHEET TMC4330A Document Revision 1.00 2016-NOV-25 SHORT SPEC The S-ramp and sixPoint ramp motion controller for stepper motors is optimized for high velocities, allowing on-the-fly changes. TMC4330A offers Step/Dir interfaces, as well as an encoder interface for closed-loop operation. Features SPI Interfaces for C with easy-to-use protocol. Encoder interface for incremental or serial encoders. Closed-loop operation for Step drivers. Internal ramp generator generating S-shaped ramps or sixPoint ramps supporting on-the-fly changes. Controlled PWM output. Reference switch handling. Hardware and virtual stop switches. Figure 1: Sample Image TMC4330A Closed-Loop Drive *Marking details are explained on page 159. Applications Textile, sewing machines Office automation Pumps and valves CCTV, security POS Heliostat controllers Printers, scanners Factory automation CNC machines ATM, cash recycler Lab automation Robotics Block Diagram: TMC4330A Interfaces & Features START Ref. Switches TMC4330 Ref. Switch Processing Driver SPI to Step S-Ramp Timer Unit SPI to C Interface: Step/Dir Master Sequencer Generator Step/Dir incl. trapezoid, rectangle, 4bows Status Flags INTR / TR to C ABN Interrupt Encoder SSI Controller Interface SPI CLK Power-on NRST Reset Closed Loop Figure 2: Block Diagram 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com. Read entire documentation especially the Supplemental Directives in chapter 17 (page 160). SHORT SPEC TMC4330A Datasheet Document Revision 1.00 2016-NOV-25 2/166 Functional Scope of TMC4330A TMC4330A is a miniaturized high-performance motion controller for stepper motor drivers, particularly designed for fast and jerk-limited motion profile applications with a wide range of ramp profiles. The S-shaped or sixPoint velocity profile, closed-loop and open-loop features offer many configuration options to suit the users specifications, as presented below: S-Shaped S-shaped ramp profiles are jerk-free. Seven ramp segments form the S-shaped ramp that can be optimally adapted to suit the users requirements. High torque Velocity Profile with high velocities can be reached by calibrating the bows of the ramp, as explained in this user manual. v(t) VMAX t Figure 3: S-shaped Velocity Profile i More information on ramp configurations and other velocity profiles, e.g. sixPoint ramps, are provided in chapter 6 (Page 24). Closed-loop A typical hardware setup for closed-loop operation with a TMC220x/222x stepper motor driver is shown in the figure below. Operation Feature TMC4330 SPI STEP/DIR High level TMC22xx Motion C interface M Motor Driver Controller Encoder ABN/ SSI/SPI Figure 4: Hardware Set-up for Closed-loop Operation with TMC220x/222x Reference A typical hardware setup for open-loop operation with enhanced modifications, by use of external stop switches with the TMC2100 motor stepper driver is shown Switch Support below. Home switches with different configurations are also supported. TMC4330 TMC2100 SPI STEP/DIR High level C Motion Motor M interface Controller Driver Stop switches +5V Figure 5: Hardware Set-up for Open-loop Operation with TMC2100 supporting External Stop Switches Order Codes Order code Description Size 2 TMC4330A-LA Motion controller with closed-loop features, QFN32 4 x 4 mm Table 1: TMC4330A Order Codes 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com . Read entire documentation especially the Supplemental Directives on page 160. SHORT SPEC