TRINAMIC TMC211 Technical data

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TMC211 DATASHEET (V. 1.04 / January 7, 2005) 1

TMC211 – DATASHEET

Micro Stepping Stepper Motor

Controller / Driver with LIN Interface

TRINAMIC

Motion Control GmbH & Co. KG Sternstraße 67 D – 20357 Hamburg GERMANY

P +49 - (0) 40 - 51 48 06 - 0 F +49 - (0) 40 - 51 48 06 - 60

www.trinamic.com info@trinamic.com

SWI

VBAT

OA1

GND

OB1

OA2

GND

OB2

VBAT

TMC211 SOIC-20

HW01

VDD3GND4TST5LIN6GND

HW1

HW2

CPN

VCP

CPP

1 Features

The TMC211 is a combined micro-stepping stepper motor motion controller and driver with RAM and OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings. The TMC211 allows up to four bit of microstepping and a coil current of up to 800 mA. After initialization it performs all time critical tasks autonomously based on target positions and velocity parameters. Communications to a host takes place via LIN. Together with an inexpensive microcontroller the TMC211 forms a complete motion control system. The main benefits of the TMC211 are:

• Motor driver

• Controls one stepper motor with four bit microstepping

• Programmable Coil current up to 800 mA

• Supply voltage operating range 8V ... 29V

• Fixed frequency PWM current control with automatic selection of fast and slow decay mode

• Full step frequencies up to 1 kHz

• High temperature, open circuit, short, over-current and under-voltage diagnostics

• Motion controller

• Internal 16-bit wide position counter

• Configurable speed and acceleration settings

• Build-in ramp generator for autonomous positioning and speed control

• On-the-fly alteration of target position

• reference switch input available for read out

• LIN interface

• Physical and Data-Link Layers conform to LIN specification rev. 1.3

• Field-programmable node addresses (128)

• Dynamically allocated identifiers

• Diagnostics and status information as well as motion parameters accessable

• LIN bus short-circuit protection to supply and ground

• Lost LIN safe operation

2 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

Life support policy

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death.

Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result form its use.

Specifications subject to change without notice.

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 3

Table of Contents

1 FEATURES .....................................................................................................................................1

2 GENERAL DESCRIPTION .............................................................................................................5

2.1 BLOCK DIAGRAMM......................................................................................................................5

2.2 POSITION CONTROLLER / MAIN CONTROL ...................................................................................5

2.3 STEPPER MOTOR DRIVER...........................................................................................................5

2.4 LIN INTERFACE ..........................................................................................................................6

2.5 MISCELLANEOUS ........................................................................................................................6

2.6 PIN AND SIGNAL DESCRIPTIONS..................................................................................................6

3 TYPICAL APPLICATION................................................................................................................7

4 ORDERING INFORMATION ..........................................................................................................7

5 FUNCTIONAL DESCRIPTION .......................................................................................................8

5.1 POSITION CONTROLLER AND MAIN CONTROLLER.........................................................................8

5.1.1 Stepping Modes ................................................................................................................ 8

5.1.2 Velocity Ramp...................................................................................................................8

5.1.3 Examples for different Velocity Ramps.............................................................................9

5.1.4 Vmax Parameter .............................................................................................................10

5.1.5 Vmin Parameter ..............................................................................................................11

5.1.6 Acceleration Parameter ..................................................................................................11

5.1.7 Position Ranges..............................................................................................................12

5.1.8 Secure Position...............................................................................................................12

5.1.9 External Switch ...............................................................................................................12

5.1.10 Motor Shutdown Management........................................................................................ 13

5.1.11 Reference Search / Position initialization........................................................................14

5.1.12 Sleep Mode.....................................................................................................................14

5.1.13 Temperature Management .............................................................................................15

5.1.14 Battery Voltage Management .........................................................................................16

5.1.15 Internal handling of commands and flags .......................................................................17

5.2 RAM AND OTP MEMORY .........................................................................................................19

5.2.1 RAM Registers................................................................................................................ 19

5.2.2 Status Flags ....................................................................................................................20

5.2.3 OTP Memory Structure...................................................................................................21

5.3 STEPPER MOTOR DRIVER.........................................................................................................21

5.3.1 Coil current shapes .........................................................................................................22

5.3.2 Transition Irun to Ihold ....................................................................................................23

5.3.3 Chopper Mechanism....................................................................................................... 24

6 LIN INTERFACE...........................................................................................................................25

6.1 GENERAL DESCRIPTION ...........................................................................................................25

6.2 PHYSICAL LAYER......................................................................................................................25

6.3 ANALOG PART..........................................................................................................................26

6.4 SLAVE OPERATIONAL RANGE FOR PROPER SELF SYNCHRONIZATION ...........................................26

6.5 PHYSICAL ADDRESS OF THE CIRCUIT .........................................................................................27

6.6 ELECTRO MAGNETIC COMPABILITY ...........................................................................................27

6.7 ERROR STATUS REGISTER .......................................................................................................27

6.8 DYNAMIC ASSIGNMENT OF LIN IDENTIFIERS ..............................................................................28

6.9 LIN MESSAGE FRAMES ............................................................................................................29

6.9.1 Writing Frames ...............................................................................................................29

6.9.2 Writing Frame Type#1 (2 or 4 bytes)..............................................................................30

6.9.3 Writing Frame Type#2 (2, 4 or 8 bytes)..........................................................................30

6.9.4 Writing Frame Type#3 (2 bytes) .....................................................................................30

6.9.5 Writing Frame Type#4 (8 bytes) .....................................................................................30

4 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

6.9.6 Reading Frames ............................................................................................................ 31

6.9.7 Reading Frame Type#5 (2, 4 or 8 bytes) ....................................................................... 31

6.9.8 Reading Frame Type#6 (8 bytes) .................................................................................. 31

6.9.9 Reading Frame Type#7 (Preparing frame) .................................................................... 32

6.9.10 Reading Frame Type#8 (Preparing frame) .................................................................... 32

6.10 APPLICATION COMMANDS OVERVIEW ................................................................................... 33

6.11 COMMAND DESCRIPTION...................................................................................................... 34

6.11.1 GetActualPos ................................................................................................................. 34

6.11.2 GetFullStatus ................................................................................................................. 36

6.11.3 GetOTPParam ............................................................................................................... 38

6.11.4 GetStatus .......................................................................................................................39

6.11.5 GotoSecurePosition ....................................................................................................... 39

6.11.6 HardStop ........................................................................................................................39

6.11.7 ResetPosition ................................................................................................................. 40

6.11.8 ResetToDefault .............................................................................................................. 40

6.11.9 RunInit............................................................................................................................ 41

6.11.10 SetMotorParam .......................................................................................................... 42

6.11.11 SetOTPParam ............................................................................................................ 42

6.11.12 SetPosition ................................................................................................................. 43

6.11.13 SetPositionShort......................................................................................................... 44

6.11.14 SoftStop...................................................................................................................... 45

6.11.15 Sleep Mode ................................................................................................................ 45

6.12 POSITIONING TASK EXAMPLE ............................................................................................... 46

7 FREQUENTLY ASKED QUESTIONS ......................................................................................... 48

7.1 USING THE BUS INTERFACE...................................................................................................... 48

7.2 GENERAL PROBLEMS WHEN GETTING STARTED......................................................................... 48

7.3 USING THE DEVICE .................................................................................................................. 49

7.4 FINDING THE REFERENCE POSITION .......................................................................................... 50

8 PACKAGE OUTLINE ................................................................................................................... 51

8.1 SOIC-20 ................................................................................................................................ 51

9 PACKAGE THERMAL RESISTANCE AND LAYOUT CONSIDERATIONS ............................... 52

9.1 SOIC-20 PACKAGE ................................................................................................................. 52

10 ELECTRICAL CHARACTERISTICS ........................................................................................ 53

10.1 ABSOLUTE MAXIMUM RATINGS ............................................................................................. 53

10.2 OPERATING RANGES ........................................................................................................... 53

10.3 DC PARAMETERS ................................................................................................................ 53

10.4 AC PARAMETERS ................................................................................................................ 55

11 REVISION HISTORY................................................................................................................56

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 5

2 General Description

2.1 Block Diagramm

SWI

PWM

regulator

PWM

regulator

Reference voltage

Thermal monitoring

LIN

HW0

HW1

HW2

TST

VBAT

VDD

LIN

transceiver

LIN

slave

controller

Sy nchro nous I/O controller

(test)

Voltage

regulator

Position controller

Main control

Registers

OTP + ROM

Oscillator

Decoder

Sinewave

table

DACs

Charge pump

VCP CP2 CP1

2.2 Position Controller / Main Control

Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control block via the LIN interface. These information are stored internally in RAM or OTP memory and are accessable by the position controller. This block takes over all time critical tasks to drive a stepper motor to the desired position under abiding the desired motion parameters. The main controller gets feedback from the stepper motor driver block and is able to arrange internal actions in case of possible problems. Diagnostics information about problems and errors are transferred to the LIN interface block.

2.3 Stepper Motor Driver

Two H-bridges are employed to drive both windings of a bipolar stepper motor. The internal transistors can reach an output current of up to 800 mA. The PWM principle is used to force the given current through the coils. The regulation loop performs a comparison between the sensed output current and the internal reference. The PW M signals to drive the power transistors are derived from the output of the current comparator.

OA1

OA2

OB1

OB2

6 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

2.4 LIN Interface

Communication between a host and the TMC211 takes places via the bi-directional LIN interface. Motion Instructions and diagnostic information are provided to or from the Main Control block. It is possible to connect up to 128 devices on the same bus. Slave addresses are programmable via OTP memory or external pins. The LIN interface implements the MAC and LLC layers according to the OSI reference model.

2.5 Miscellaneous

Besides the main blocks the TMC211 contains the following:

• an internal charge pump is used to drive the high side transistors.

• an internal oscillator running at 4 MHz +/- 10% to clock the LIN protocol handler, the positioning

unit, and the main control block

• internal voltage reference for precise referencing

• a 5 Volts voltage regulator to supply the digital logic

• protection block featuring Thermal Shutdown, Power-On-Reset, etc.

2.6 Pin and Signal Descriptions

Pin SOIC20 Description

HW0 1 hard-wired LIN address bit #0 input HW1 2 hard-wired LIN address bit #1 input

VDD 3 Internal supply (needs external decoupling capacitor)

GND 4,7,14,17 ground, heat sink

TST 5 test pin (to be tied to ground in normal operation)

LIN 6 LIN-bus connection

HW2 8 hard-wired LIN address bit #2 input

CPN 9 negative connection of external charge pump capacitor CPP 10 positive connection of external charge pump capacitor VCP 11 connection of external charge pump filter capacitor

VBAT 12,19 battery voltage supply

OB2 13 negative end of phase B coil OB1 15 positive end of phase B coil OA2 16 negative end of phase A coil OA1 18 positive end of phase A coil

SWI 20 reference switch input

HW0

HW1

VDD

GND

TST

LIN

GND

HW2

CPN

CPP

TMC211

SWI

VBAT

OA1

GND

OA2

OB1

GND

OB2

TRINA M IC

VBAT

VCP

Table 1: TMC211 Signal Description

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 7

3 Typical Application

Connect to GND or

+5V (VDD, Pin 3)

Connect to GND or

+5V (VDD, Pin 3)

100 nF

1 µF Tantalum

HW0 SWI

1 20

HW1

VDD

GND

VBAT

OA1

GND

Ω

/1/4W

100 nF

SWI

2.7 nF

Connect to GND or V

BAT

OA2

OB1

GND

OB2

VBAT

VCP

Connect to

GND or V

BAT

2.7 nF

LIN Bus

VDR 27V

1kΩ /1/4W

220 nF 16 V

TST

LIN

GND

HW2

CPN

CPP

Figure 1: TMC211 Typical Application

Notes :

• Resistors tolerance +- 5%

• 2.7nF capacitors: 2.7nF is the minimum value, 10nF is the maximum value

• the 1µF and 100µF must have a low ESR value

• 100nF capacitors must be close to pins V

and VDD

• 220nF capacitors must be as close as possible to pins CPN, CPP, V

100 nF

220 nF 16 V

and VBB to reduce EMC radiation.

100 µF

BAT

8...29 V

4 Ordering Information

Part No. Package Peak Current Temperature Range

TMC211-PA20

(pre-series marking,

same IC as TMC211-SA)

TMC211-SA SOIC-20 800mA -40°C..125°C

SOIC-20 800 mA -40°C..125°C

Table 2: Ordering Information

8 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

5 Functional Description

5.1 Position Controller and Main Controller

5.1.1 Stepping Modes

The TMC211 supports up to 16 micro steps per full step, which leads to smooth and low torque ripple motion of the stepping motor. Four stepping modes (micro step resolutions) are selectable by the user: See also 5.3 Stepper Motor Driver on page 21.

• Half step Mode

• 1/4 Micro stepping

• 1/8 Micro stepping

• 1/16 Micro stepping

5.1.2 Velocity Ramp

A common velocity ramp where a motor drives to a desired position is shown in the figure below. The motion consists of an acceleration phase, a phase of constant speed and a final deceleration phase. Both the acceleration and the deceleration are symmetrical. The acceleration factor can be chosen from a table with 16 entries. (Table 5: Acc Parameter on page 11). A typical motion begins with a start velocity Vmin. During acceleration phase the velocity is increased until Vmax is reached. After acceleration phase the motion is continued with velocity Vmax until the velocity has to be decreased in order to stop at the desired target position. Both velocity parameters Vmin and Vmax are programmable, whereas Vmin is a programmable ratio of Vmax (see Table 3: Vmax Parameter on page 10 and Table 4: Vmin on page 11). The user has to take into account that Vmin is not allowed to change while a motion is ongoing. Vmax is only allowed to change under special circumstances. (See

5.1.4 Vmax Parameter on page 10).

The peak current value to be fed to each coil of the stepper-motor is selectable from a table with 16 possible values. It has to be distinguished between the run current Irun and the hold current Ihold. Irun is fed through the stepper motor coils while a motion is performed, whereas Ihold is the current to hold the stepper motor before or after a motion. More details about Irun and Ihold can be found in 5.3.1 and

5.3.2.

Velocity resp. acceleration parameters are accessable via the LIN interface. These parameters are written via the SetMotorParam command (See Page 42) and read via the GetFullStatus command (See Page 36).

Velocity V

[FS/s]

max

mi n

start

State of Motion

Move ment

Acceleration

Phase Constant Velocity

Deceler ation

Phase

target

Move ment

time

[s]

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 9

5.1.3 Examples for different Velocity Ramps

The following figures show some examples of typical motions under different conditions:

Velocity V

max

mi n

start

target_1

target_2

time

Figure 2: Motion with change of target position

Velocity V

max

mi n

start

target_1

target_2

time

Figure 3: Motion with change of target position while in deceleration phase

Velocity V

max

mi n

start

target

time

Figure 4: Short Motion Vmax is not reached

Velocity V

max

mi n

start

target_1

target_2

time

Figure 5: Motion with change of target position in opposite direction (linear zero crossing)

In Figure 5 the motor crosses zero velocity with a linear shape. The velocity can be less than the programmed Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to the stepper motor during crossing.

10 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

5.1.4 Vmax Parameter

The desired maximum velocity Vmax can be chosen from the table below:

Stepping Mode Vmax

1/8 micro

stepping

[micro-steps/s]

1/16 micro

stepping

[micro-steps/s]

index

0 1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Vmax [FS/s]

99 136 273 546 1091 2182 167 334 668 1335 2670 197 395 790 1579 3159 213 425 851 1701 3403 228 456 912 1823 3647 243 273 546 1091 2182 4364 303 607 1213 2426 4852 334 668 1335 2670 5341 364 729 1457 2914 5829 395 790 1579 3159 6317 456 546 1091 2182 4364 8728 729 1457 2914 5829 11658 973

Vmax

group

Half-Step

Mode

[half-steps/s]

197 395 790 1579

486 973 1945 3891

912 1823 3647 7294

1945 3891 7782 15564

1/4 micro

stepping

[micro-steps/s]

Table 3: Vmax Parameter

Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing. All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. W hen changing Vmax during a motion take care that the new Vmax value is within the same group. Background: The TMC211 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is equal. When changing Vmax between different groups during a motion, correct positioning is not ensured anymore.

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 11

5.1.5 Vmin Parameter

The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below shows the possible rounded values.

min

Vmax

index

factor

0 1 1 1/32 2 2/32 3 3/32 4 4/32 5 5/32 6 6/32 7 7/32 8 8/32

9 9/32 10 10/32 11 11/32 12 12/32 13 13/32 14 14/32 15 15/32

A B C D

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

136 167 197 213 228 243 273 303 334 364 395 456 546 729 973

4 5 6 6 7 7 8 8 10 10 11 13 15 19 26

3 6

8 10 11 12 13 14 15 17 19 21 23 27 30 42 57

12 15 18 19 21 22 25 27 30 32 36 42 50 65 88

16 20 24 26 28 30 32 36 40 44 48 55 65 88 118

21 26 30 32 35 37 42 46 52 55 61 71 84 111 149

25 30 36 39 42 45 50 55 61 67 72 84 99 134 179

30 36 43 46 50 52 59 65 72 78 86 99 118 156 210

33 41 49 52 56 60 67 74 82 90 97 112 134 179 240

24 28

38 47 55 59 64 68 76 84 94 101 111 128 153 202 271 42 52 61 66 71 75 84 94 103 112 122 141 168 225 301

47 57 68 72 78 83 94 103 114 124 135 156 187 248 332

50 62 73 79 85 91 101 112 124 135 147 170 202 271 362

55 68 80 86 92 98 111 122 135 147 160 185 221 294 393

59 72 86 92 99 106 118 132 145 158 172 198 236 317 423

64 78 92 99 107 114 128 141 156 170 185 214 256 340 454

Vmax group [A...D] and Vmax index [0…15]

Table 4: Vmin values for all Vmin index – Vmax index combinations

5.1.6 Acceleration Parameter

The acceleration parameter can be chosen from a wide range of available values as described in the table below. Please note that the acceleration parameter is not to change while a motion is ongoing.

Acceleration Values in [FS/s2] dependent on Vmax

Acc index

0 49 106 473 1 218 735 2 1004 3 3609 4 6228 5 8848 6 11409 7 13970 8 16531

9 19092 10 21886 11 24447 12 27008 13 29570 14 34925 15

99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973

14785

29570

Vmax [FS/s]

40047

Table 5: Acc Parameter

12 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

The amount of equivalent full steps during acceleration phase can be computed by the next equation:

Acc

minmax

8192 half-steps

213

16384 micro-steps

214

32768 micro-steps

215

65536 micro-steps

216

step

5.1.7 Position Ranges

Position information is coded by using two’s complement format. Depending on the stepping mode (see 5.1.1) the position ranges are as listed in the following table:

Stepping Mode Position Range Full range excursion

Half-stepping -4096…+4095

1/4 micro-stepping -8192…+8191

1/8 micro-stepping -16384…+16383

1/16 micro-stepping -32768…+32767

Table 6: Position Ranges

(-2

−

⋅

…+212-1)

…+213-1)

…+214-1)

…+215-1)

Target positions can be programmed via LIN interface by using the SetPosition command (see

6.11.11). The actual motor position can be read by the GetActualPos command (see 6.11.1).

5.1.8 Secure Position

In case of emergency (communication loss) or GotoSecurePosition command (6.11.5) the motor drives to the secure position. The secure position is programmable by the user. Secure position is coded with 11 bits, therefore the resolution is lower than for normal positioning commands, as shown in the following table.

Stepping Mode Secure Position Resolution

Half-stepping 4 half steps 1/4 micro stepping 8 micro steps (1/4th) 1/8 micro stepping 16 micro steps (1/8th)

1/16 micro stepping 32 micro steps (1/16th)

Table 7: Secure Position Resolution

5.1.9 External Switch

Pin SWI will alternately attempt to source and sink current in/from the external switch (Figure 1: TMC211 Typical Application on page 7). This is to check whether the external switch is open or closed, resp. if the pin is connected to ground or Vbat. The status of the switch can be read by using the GetFullStatus or the GetActualPos command. As long as the switch is open, the <ESW> flag is set to zero.

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 13

5.1.10 Motor Shutdown Management

The TMC211 is set into motor shutdown mode as soon as one of the following conditions occur:

• The chip temperature rises above the thermal shutdown threshold T

. See 5.1.13 Temperature

tsd

Management on Page 15

• The battery voltage drops below UV2 See 5.1.14 Battery Voltage Management on Page 16.

• An electrical problem occurred, e.g. short circuit, open circuit, etc. In case of such a problem flag

<ElDef> is set to one.

• Chargepump failure, indicated by <CPFail> flag set to one.

During motor shutdown the following actions are performed by the main controller:

• H-bridges are set into high impedance mode

• The target position register TagPos is loaded with the contents of the actual position register

ActPos.

The LIN interface remains active during motor shutdown. To leave the motor shutdown state the following conditions must be true:

• Conditions which led to a motor shutdown are not active anymore

• A GetFullStatus command is performed via LIN interface.

Leaving the motor shutdown state initiates the following

• H-bridges in Ihold mode

• Clock for the motor control digital circuitry is enabled

• The charge pump is active again

Now the TMC211 is ready to execute any positioning command.

IMPORTANT NOTE: First, a GetFullStatus command has to be executed after power-on to activate the TMC211.

14 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

5.1.11 Reference Search / Position initialization

A stepper motor does not provide information about the actual position of the motor. Therefore it is recommended to perform a reference drive after power-up or if a motor shutdown happened in case of a problem. The RunInit command initiates the reference search. The RunInit command consists of a Vmin and a Vmax parameter and also position information about the end of first and second motion. (6.11.9 RunInit).

A reference drive consists of two motions (Figure 6: RunInit): The first motion is to drive the motor into a stall position or a reference switch. The first motion is performed under compliance of the selected Vmax and Vmin parameter and the acceleration parameter specified in the RAM. The second motion has got a rectangular shape without an acceleration phase and is to drive the motor out of the stall position or slowly towards the stall position again to compensate for the bouncing of the faster first motion to stop as close to the stall position as possible. The maximum velocity of the second motion equals to Vmin. After the second motion the actual position register is set to zero. Finally, the secure position will be traveled to if it is enabled (different from the most negative decimal value of –1024).

Once the RunInit command is started it can not be interrupted by any other command except a condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a HardStop command is received. Furthermore the master has to ensure that the target position of the first motion is not equal to the actual position of the stepper motor and that the target positions of the first and the second motion are not equal. This is very important otherwise the circuit goes into a deadlock state. Once the circuit finds itself in a deadlock state only a HardStop command followed by a GetFullStatus command will cause the circuit to leave the deadlock state.

Velocity V

[FS/s]

1st Motion

2nd Motion

max

min

Position X

Pos1 Pos2

[FS]

Figure 6: RunInit

5.1.12 Sleep Mode

When entering Sleep mode, the stepper-motor is driven to the secure position if the secure position is enabled (SecPos[10:0] different from the most negative decimal value of –1024). Then the circuit is completely powered down, apart from the LIN receiver which remains active to detect a dominant state on the bus. In case sleep mode is entered while a motion is ongoing, a transition will occur towards secure position as described above.

The Sleep mode can be entered in the following cases:

• The circuit receives a LIN frame with identifier 0x3C and first data byte containing 0x00, as

required by LIN specification rev. 1.3.

• The LIN bus remains inactive or is lost during more than 25000 LIN bit times (1.30s at 19.2 kbit/s).

The circuit will return to normal mode once a valid LIN frame is received while in the Sleep mode (this valid frame can be addressed to another slave). For more information refer to 6.11.15 Sleep Mode on page 45.

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 15

5.1.13 Temperature Management

The TMC211 provides an internal temperature monitoring. The circuit goes into shutdown mode if the temperature exceeds threshold T

, furthermore two thresholds are implemented to generate a

tsd

temperature pre-warning.

Low Temperatur

<Tinfo> = "01" <TW> = '0'

<TSD> = '0'

T° > TlowT° < Tlow

Normal Temp.

T° < Ttw &

GetFullStatus

<Tinfo> = "00" <TW> = '0' <TSD> = '0'

T° > Ttw

T° < Ttw &

GetFullStatus

Post

Thermal Warning

<Tinfo> = "00" <TW> = ' 1' <TSD> = '0'

Thermal Warning

<Tinfo> = "10" <TW> = '1' <TSD> = '0'

T° > TtsdT° < TtwT° > Ttw

Thermal Shutdown

<Tinfo> = "11"

<TW> = '1'

<TSD> = '1'

SoftStop, if motion

Motion = disabled

T° < TtsdT° > Ttsd

Post Thermal

Shutdown 1

<Tinfo> = "10"

<TW> = '1'

<TSD> = '1'

Motion = disabled

T° < TtwT° > Ttw

Post Thermal

Shutdown 2

<Tinfo> = "00"

<TW> = '1'

<TSD> = '1'

Motion = disabled

16 TMC211 DATASHEET (V. 1.04 / January 7, 2005)

5.1.14 Battery Voltage Management

The TMC211 provides an internal battery voltage monitoring. The circuit goes into shutdown mode if the battery voltage falls below threshold UV2, furthermore one threshold UV1 is implemented to generate a low voltage warning.

Vbat > UV1 & GetFullStatus

Normal Voltage

<UV2> = '0' <StepLoss> = '0'

Motion = enabled

Vbat < UV1Vbat > UV1

Low Voltage

<UV2> = '0'

<StepLoss> = '0'

Motion = enabled

Vbat > UV1 & GetFullStatus

Vbat < UV2 (no Motion)

Stop Mode 1

<UV2> = '1'

<StepLoss> = '0'

Motion = disabled

Vbat < UV2

(Motion)

Stop Mode 2

<UV2> = '1'

<StepLoss> = '1'

HardStop

Motion = disabled

TMC211 DATASHEET (V. 1.04 / January 7, 2005) 17

5.1.15 Internal handling of commands and flags

Due to the sleep mode, the internal handling of commands and flags differs. Commands are handled with different priorities depending on the current state and the current status of internal flags, see figure below. Details can be found in Table 8: Priority Encoder.

Note: A HardStop command is sent by the master or triggered internally in case of an electrical defect or over temperature.

A description of the available commands can be found in 6.11 Command Description. A list of the internal flags can be found in 5.2.2 Status Flags.

As an example: When the circuit drives the motor to its programmed target position, state “GotoPos” is entered. There are three events which can cause to leave this state: HardStop command received, SoftStop command received or target position reached. If all three events occur at the same time the HardStop command is executed since it has the highest priority. The Motion finished event (target position reached) has the lowest priority and thus will only cause transition to “Stopped” state when both other events do not occur.

Power On Reset

<Sleep> or LIN timeout

ShutDown

Sleep

HardStop Thermal Shutdown

GetFullStatus AND <TSD> + <HS> = 0

Any LIN command

<Sleep> AND (not <SecEn>)

OR <SecEn> AND ActPos== SecPos

OR <Stop>

Figure 7: Internal handling of commands and flags

RunInit SoftStop

RunInitMotion finished

Stopped

Thermal Shutdown

HardStop HardStop

HardStop

Motion finished

GotoSecurePosi tion

SetPosition

Motion finished

HardStop

Thermal Shutdown SoftStop

GotoPos

Priorities

High

Low

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TRINAMIC TMC211 Technical data

Specifications and Main Features

Frequently Asked Questions

User Manual

5.1.3 Examples for different Velocity Ramps