Motion Controller for Stepper Motors Integrated Circuits TMC4361A DATASHEET TMC4361A Document Revision 1.21 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. TMC4361A offers SPI and Step/Dir interfaces, as well as an encoder interface for closed-loop operation. NOTE: TMC4361A is a product upgrade of TMC4361. Features SPI Interfaces for C with easy-to-use protocol. SPI Interfaces for SPI motor stepper drivers. Encoder interface for incremental or serial encoders. Closed-loop operation for Step and SPI 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. Figure 1: Sample Image Hardware and virtual stop switches. TMC4361A Closed-Loop Drive *Marking details are explained on page 223. Extensive Support of TMC stepper motor drivers. 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: TMC4361A Interfaces & Features START Ref. Switches TMC4361 Ref. Switch dcStep Processing Step Driver SPI Sequencer SPI to Interface: S-Ramp Timer Unit SPI to C Master SPI / Generator Current Step/Dir Step/Dir incl. trapezoid, Regulation rectangle, 4bows Status Flags INTR / TR to C ABN Interrupt Encoder SSI Controller Interface SPI CLK Power-on NRST Safe Ramp Down Reset Closed Loop NFreeze 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 22 (page 224). SHORT SPEC TMC4361A Datasheet Document Revision 1.21 2016-NOV-25 2/230 Functional Scope of TMC4361A TMC4361A 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 28). Closed-loop A typical hardware setup for closed-loop operation with a TMC262 stepper motor gate driver is shown in the diagram below. In case internal MOSFETs are desired, Operation combine the TMC4361A with the TMC2620, the TMC261 or the TMC2660. Feature TMC4361 TMC262 MOSFET SPI SPI High level C Motion Motor Gate Driver interface M Controller Driver Stage Encoder ABN/ SSI/SPI Figure 4: Hardware Set-up for Closed-loop Operation with TMC262 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 TMC4361 SPI High level S/D TMC2130 C Motion M interface Motor Driver Controller dcStep signals Figure 5: Hardware Set-up for Open-loop Operation with TMC2130 Order Codes Order code Description Size 2 TMC4361A-LA Motion controller with closed-loop and dcStep features, QFN40 6 x 6 mm Table 1: TMC4361A 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 224. SHORT SPEC