Motion Controller for Stepper Motors Integrated Circuits TMC4331A DATASHEET TMC4331A Document Revision 1.01 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. TMC4331A offers SPI and Step/Dir interfaces. Features SPI Interfaces for C with easy-to-use protocol. SPI Interfaces for SPI motor stepper drivers. Integrated ChopSync and dcStep support. 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 TMC4331A Extensive Support of TMC stepper motor drivers. *Marking details are explained on page 172. Electronic gearing support. 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: TMC4331A Interfaces & Features Ref. Switches START TMC4331 Ref. Switch Processing dcStep SPI to Timer Unit Master SPI to C Step Driver S-Ramp Sequencer SPI Interface: Generator SPI / Status Flags Current incl. trapezoid, Step/Dir Step/Dir INTR / TR to C Interrupt Regulation rectangle, 4bows Controller Power-on CLK Reset 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 18 (page 173). SHORT SPEC TMC4331A Datasheet Document Revision 1.01 2016-NOV-25 2/179 Functional Scope of TMC4331A TMC4331A 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, 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). Reference A typical hardware setup for open-loop operation with enhanced modifications, by use of external stop switches with the TMC26x motor stepper driver is shown below. Switch Support Home switches with different configurations are also supported. SPI TMC4331 TMC26x SPI High level Motion C Motor M STEP/DIR interface Driver Controller Stop switches +5V Figure 4: Open-Loop Hardware Set-up with TMC26x supporting External Stop Switches Open-loop A typical hardware setup for dcStep operation with a TMC2130 stepper motor driver is shown in the diagram below. This feature is also available for TMC26x stepper Operation with motor drivers. dcStep Feature SPI TMC4331 SPI High level S/D TMC2130 C Motion interface M Motor Driver Controller dcStep signals Figure 5: Hardware Set-up for Open-loop Operation with TMC2130 Order Codes Order code Description Size 2 TMC4331A-LA Motion controller with dcStep features, QFN32 4 x 4 mm Table 1: TMC4331A 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 173. SHORT SPEC