TRINAMIC TMC222 Technical data

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 1

TMC222 – DATASHEET

Micro Stepping Stepper Motor Controller / Driver with Two Wire Serial Interface

TRINAMIC® Motion Control GmbH & Co. KG

SDA

SCL

VDD

GND

TST

open

GND

HW

CPN

CPP

1

2

3

4

5

6

7

8

9

10

TRINAMIC

TMC222

20

SWI

19

VBAT

18

OA1

GND

OA2

OB1

GND

OB2

VBAT

VCP

OB2

OB2 VBAT VBAT

VBAT

VCP

CPP

CPN

17

16

15

14

13

12

11

GND

1718192021222324

NC

GND

HW

OB1

GND

OA2

OB1

TMC 222

QFN32

Top view

open

TST

OA2

GND

VDD

GND

3231302928272625

910111213141516

SCL

Sternstraße 67

D – 20357 Hamburg

GERMANY

12345678

OA1 OA1 VBAT VBAT VBAT SWI NC SDA

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

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

www.trinamic.com

info@trinamic.com

1 Features

The TMC222 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 TMC222 allows up to four bit of micro stepping 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 a two wire serial interface. Together with an inexpensive micro controller the TMC222 forms a complete motion control system. The main benefits of the TMC222 are:

• Motor driver

• Controls one stepper motor with four bit micro stepping

• Programmable Coil current up to 800 mA

• Supply voltage range 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

• Two wire serial interface

• Transfer rates up to 350 kbps

• Diagnostics and status information as well as motion parameters accessible

• Field-programmable node addresses (32)

2 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

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.

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.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 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 Two Wire Serial Interface ....................................................................................................5

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

5.1.13 Battery Voltage Management .....................................................................................16

5.1.14 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 TWO-WIRE SERIAL INTERFACE...........................................................................................25

6.1 Physical Layer................................................................................................................... 25

6.2 Communication on Two Wire Serial Bus Interface.............................................................25

6.3 Physical Address of the circuit........................................................................................... 26

6.4 Write data to TMC222....................................................................................................... 26

6.5 Read data from TMC222...................................................................................................27

6.6 Timing characteristics of the serial interface ......................................................................28

6.7 Application Commands Overview......................................................................................29

6.8 Command Description .......................................................................................................30

6.8.1 GetFullStatus1 ...........................................................................................................30

6.8.2 GetFullStatus2 ...........................................................................................................31

6.8.3 GetOTPParam ...........................................................................................................31

6.8.4 GotoSecurePosition ................................................................................................... 32

6.8.5 HardStop....................................................................................................................32

6.8.6 ResetPosition.............................................................................................................32

4 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.8.7 ResetToDefault.......................................................................................................... 33

6.8.8 RunInit.......................................................................................................................33

6.8.9 SetMotorParam..........................................................................................................34

6.8.10 SetOTPParam ........................................................................................................... 34

6.8.11 SetPosition.................................................................................................................35

6.8.12 SoftStop..................................................................................................................... 35

6.9 Positioning Task Example .................................................................................................36

7 FREQUENTLY ASKED QUESTIONS...................................................................................... 38

7.1 Using the bus interface...................................................................................................... 38

7.2 General problems when getting started.............................................................................38

7.3 Using the device ............................................................................................................... 39

7.4 Finding the reference position...........................................................................................40

8 PACKAGE OUTLINE ..............................................................................................................41

8.1 SOIC-20............................................................................................................................ 41

8.2 QFN32..............................................................................................................................42

9 PACKAGE THERMAL RESISTANCE .....................................................................................43

9.1 SOIC-20 Package............................................................................................................. 43

10 ELECTRICAL CHARACTERISTICS....................................................................................44

10.1 Absolute Maximum Ratings........................................................................................... 44

10.2 Operating Ranges.......................................................................................................... 44

10.3 DC Parameters..............................................................................................................44

10.4 AC Parameters..............................................................................................................46

REVISION HISTORY......................................................................................................................47

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 5

2 General Description

2.1 Block Diagramm

SWI SDA SCL

HW

TST

VBAT

VDD

Two Wire

Serial

Interface

Serial

Interface

Controller

Test

Voltage

Regulator

Position Controller

Main control

Registers

&

OTP + ROM

Oscillator

Decoder

Sinewave

table

DACs

Charge

Pump

VCP CP2 CP1

PWM

regulator

X

PWM

regulator

Y

Reference Voltage

&

Thermal Monitoring

2.2 Position Controller / Main Control

Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control block via the serial interface. These information are stored internally in RAM or OTP memory and are accessible 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 serial 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 PWM signals to drive the power transistors are derived from the output of the current comparator.

2.4 Two Wire Serial Interface

Communication between a host and the TMC222 takes places via the two wire bi-directional serial interface. Motion instructions and diagnostics information are provided to or from the Main Control block. It is possible to connect up to 32 devices on the same bus. Slave addresses are programmable via OTP memory or an external pin.

OA1

OA2

OB1

OB2

6 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

VBAT

20141

2.5 Miscellaneous

Besides the main blocks the TMC222 contains the following:

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

• an internal oscillator running at 4 MHz +/- 10% to clock the two wire serial interface, 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

SDA

SCL

VDD

GND

TST

open

GND

HW

CPN

CPP

2

3

4

5

6

7

8

9

10

TRINAMIC

TMC222

Name SOIC20 QFN32 Description

SDA 1 8 SDA Serial Data input/output

SCL 2 9 SCL Serial Clock input VDD 3 10 internal supply (needs external decoupling capacitor) GND 4,7,14,17 11,14,25,26,

31,32

TST 5 12 test pin (to be tied to ground in normal operation) open 6 13 must be left open

HW 8 15 hard-wired serial interface address bit input CPN 9 17 negative connection of external charge pump capacitor CPP 10 18 positive connection of external charge pump capacitor VCP 11 19 connection of external charge pump filter capacitor

VBAT 12, 19 3-5,20-22 battery voltage supply

OB2 13 23,24 negative end of phase B coil OB1 15 27,28 positive end of phase B coil OA2 16 29,30 negative end of phase A coil OA1 18 1,2 positive end of phase A coil SWI 20 6 reference switch input

NC 7,16 internally not connected (shields when connected to ground)

SWI

19

VBAT

18

OA1

17

GND

16

OA2

15

OB1

GND

13

OB2

12

VBAT

11

VCP

ground, heat sink

OA1

OA1 VBAT VBAT

VBAT

SWI

NC

SDA

OA2

GND

32 31 30 29 28 27 26 25

1 2 3 4 5 6 7 8

TMC 222

QFN32

9 10 11 12 13 14 15 16

VDD

TST

GND

Top view

SCL

OB1

open

OB1

GND

HW

GND

NC

OB2 OB2

VCP CPP CPN

17 18 19 20 21 22 23 24

Table 1: TMC222 Signal Description

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 7

3 Typical Application

Two wire serial Interface

100 nF

1 µF Tantalum

External

SWI

VBAT

OA1

GND

OA2

OB1

20

19

18

17

16

15

1k? /1/4W

100 nF

SDA1

SCL2

VDD3

GND4

TST5

open6

Switch

SWI

2.7 nF

Connect to GND or V

BAT

M

GND

OB2

VBAT

VCP

14

13

100 nF

12

11

220 nF 16 V

100 µF

Connect to

GND or V

BAT

2.7 nF

1k? /1/4W

220 nF 16 V

GND7

HW8

CPN9

CPP10

Figure 1: TMC222 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 VBB and VDD

• 220nF capacitors must be as close as possible to pins CPN, CPP, VCP and VBB to reduce EMC radiation.

V

BAT

8...29 V

4 Ordering Information

Part No. Package Peak Current Temperature Range

TMC222-PI20

(pre-series marking,

same IC as TMC222-SI)

TMC222-SI SOIC-20 800mA -40°C..125°C

TMC222-LI QFN32 800mA -40°C..125°C

SOIC-20 800 mA -40°C..125°C

Table 2: Ordering Information

8 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

5 Functional Description

5.1 Position Controller and Main Controller

5.1.1 Stepping Modes

The TMC222 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 Table 11):

• 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 a 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 serial interface. These parameters are

written via the SetMotorParam command (see 6.8.9) and read via the GetFullStatus1 command (see

6.8.1). Velocity V

[FS/s]

V

max

V

min

X

start

State of Motion

No

Movement

Acceleration

Phase Constant Velocity

Deceleration

Phase

X

target

Movement

time

[s]

No

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 9

5.1.3 Examples for different Velocity Ramps

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

Velocity V

V

max

V

min

X

start

X

target_1

X

target_2

time

Figure 2: Motion with change of target position

Velocity V

V

max

V

min

X

start

X

target_1

X

target_2

time

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

Velocity V

V

max

V

min

X

start

X

target

time

Figure 4: Short Motion Vmax is not reached

Velocity V

V

max

V

min

X

start

X

target_1

X

target_2

time

Figure 5: Linear Zero crossing (change of target position in opposite direction)

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

10 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

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

A

B

C

D

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. When changing Vmax during a motion take care that the new Vmax value is within the same group. Background: The TMC222 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.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 11

Vmin

Vmax

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 of Vmin given within unit [FS/s].

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

index

factor

A B C D

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

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

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

3 4 5 6 6 7 7 8 8 10 10 11 13 15 19 26 6 8 10 11 12 13 14 15 17 19 21 23 27 30 42 57

9 12 15 18 19 21 22 25 27 30 32 36 42 50 65 88 12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118 15 21 26 30 32 35 37 42 46 52 55 61 71 84 111 149 18 25 30 36 39 42 45 50 55 61 67 72 84 99 134 179 22 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210 24 33 41 49 52 56 60 67 74 82 90 97 112 134 179 240 28 38 47 55 59 64 68 76 84 94 101 111 128 153 202 271 30 42 52 61 66 71 75 84 94 103 112 122 141 168 225 301 34 47 57 68 72 78 83 94 103 114 124 135 156 187 248 332 37 50 62 73 79 85 91 101 112 124 135 147 170 202 271 362 40 55 68 80 86 92 98 111 122 135 147 160 185 221 294 393 43 59 72 86 92 99 106 118 132 145 158 172 198 236 317 423 46 64 78 92 99 107 114 128 141 156 170 185 214 256 340 454

Table 4: Vmin values [FS/s] 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 1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

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

49 106 473

14785

29570

Vmax [FS/s]

218 735

1004 3609 6228

8848 11409 13970 16531

19092 21886 24447 27008 29570

34925 40047

Table 5: Acc Parameter

12 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

Acc

2

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

Nstep

2

V

?

V

2

minmax

?

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

(-212…+212-1)

1/4 micro-stepping -8192…+8191

(-213…+213-1)

1/8 micro-stepping -16384…+16383

(-214…+214-1)

1/16 micro-stepping -32768…+32767

(-215…+215-1)

8192 half-steps

213

16384 micro-steps

214

32768 micro-steps

215

65536 micro-steps

216

Table 6: Position Ranges

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

6.8.11). The actual motor position can be read by the GetFullStatus2 command (see 6.8.2).

5.1.8 Secure Position

The GotoSecurePosition command drives the motor to a pre-programmed secure position (see 6.8.4). 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 (see Figure 1, on page 7) will attempt to source and sink current in/from the external switch pin. 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 GetFullStatus1 command. As long as the switch is open, the <ESW> flag is set to zero.

The ESW flag just represents the status of the input switch. The SWI input is intended as a physical interface for a mechanical switch that requires a cleaning current for proper operation. The SWI input detects if the switch is open or connected either to ground or to Vbat. The SWI input is not a digital logic level input. The status of the switch does not automatically perform actions as latching of the actual position. Those actions have to be realized by the application software.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 13

5.1.10 Motor Shutdown Management

The TMC222 is set into motor shutdown mode as soon as one of the following condition occurs:

• The chip temperature rises above the thermal shutdown threshold T

. See 5.1.12 Temperature

tsd

Management on Page 15

• The battery voltage drops below UV2 See 5.1.13 Battery Voltage Management on Page 16.

• An electrical problem occurred, e.g. short circuit, open circuit, etc. In case of such an 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 two-wire-serial-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 GetFullStatus1 command is performed via serial 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 TMC222 is ready to execute any positioning command.

IMPORTANT NOTE: First, a GetFullStatus1 command has to be executed after power-on to activate the TMC222.

14 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

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 Vmax parameter and also position information about the end of first and second motion (6.8.8 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 a 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. The positions of Pos1 and Pos2 can be chosen freely (Pos1 > Pos2 or Pos1 < Pos2). 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 GetFullStatus1 command will cause the circuit to leave the deadlock state.

Velocity V

[FS/s]

1st Motion

2nd Motion

V

max

V

min

Position X

Pos1 Pos2

[FS]

Figure 6: RunInit

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 15

5.1.12 Temperature Management

The TMC222 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 &

GetFullStatus1

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

T° < Ttw &

GetFullStatus1

Post

Thermal Warning

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

T° > Ttw

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 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

5.1.13 Battery Voltage Management

The TMC222 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 &

GetFullStatus1

Normal Voltage

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

Motion = enabled

Vbat < UV1Vbat > UV1

Low Voltage

Vbat > UV1 &

GetFullStatus1

Vbat < UV2

(no Motion)

Stop Mode 1

<UV2> = '1'

<StepLoss> = '0'

Motion = disabled

<UV2> = '0'

<StepLoss> = '0'

Motion = enabled

Vbat < UV2

(Motion)

Stop Mode 2

<UV2> = '1'

<StepLoss> = '1'

HardStop

Motion = disabled

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 17

5.1.14 Internal handling of commands and flags

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. SetPosition or GotoSecurePosition commands are ignored as long as the <StepLoss> flag is set. 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 6.8 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

ShutDown

HardStop Thermal Shutdown

GetFullStatus1 AND <TSD> + <HS> = 0

Figure 7: Internal handling of commands and flags

RunInit SoftStop

RunInitMotion finished

Stopped

Thermal Shutdown

HardStop HardStop

HardStop

Motion finished

GotoSecurePosition

SetPosition

Motion finished

HardStop

Thermal Shutdown SoftStop

GotoPos

Priorities

High

Low

18 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

State ?

Command

?

GetActualPos

GetOTPParam

Stopped GotoPos RunInit SoftStop HardStop ShutDown

motor stopped,

Ihold in coils

I²C in-frame

response

OTP refresh;

I²C in-frame

motor motion

ongoing

I²C in-frame

response

OTP refresh;

I²C in-frame

no influence on

RAM and

TagPos

I²C in-frame

response

OTP refresh;

I²C in-frame

GetFullStatus1

[attempt to clear

flags]

ResetToDefault

[ActPos and TagPos

are not altered]

I²C in-frame

response

OTP refresh;

OTP to RAM;

AccShape reset

I²C in-frame

response

OTP refresh; OTP to RAM;

AccShape reset

I²C in-frame

response

OTP refresh;

OTP to RAM;

AccShape reset

SetMotorParam

[Master takes care

about proper update]

ResetPosition

SetPosition

GotoSecurePosi

tion

RunInit

HardStop

SoftStop

RAM update RAM update RAM update RAM update RAM update RAM update

TagPos and

ActPos reset

TagPos updated;

? GotoPos If <SecEn> = ‘1’ then TagPos = SecPos;

? GotoPos

? RunInit

TagPos updated TagPos updated

If <SecEn> = ‘1’ then TagPos =

SecPos

? HardStop;

<StepLoss> =

‘1’

? SoftStop

If <SecEn> = ‘1’ then TagPos =

SecPos

? HardStop;

<StepLoss> =

HardStop

[ ? (<CPFail> or

<UV2> or <ElDef>) =

‘1’ ? <HS> = ‘1’ ]

Thermal shutdown

[ <TSD> = ‘1’ ]

Motion finished n.a. ? Stopped ? Stopped

? Shutdown ? HardStop ? HardStop ? HardStop

? Shutdown ? SoftStop ? SoftStop

(note 2)

‘1’

motor

decelerating

I²C in-frame

response

OTP refresh;

I²C in-frame

response

OTP refresh;

OTP to RAM;

AccShape reset

? HardStop;

<StepLoss> =

‘1’

? Stopped;

TagPos

=ActPos

motor forced to

stop

I²C in-frame

response

OTP refresh;

I²C in-frame

response

OTP refresh;

OTP to RAM;

AccShape reset

? Stopped;

TagPos

=ActPos

motor stopped,

H-bridges in Hi-Z

I²C in-frame

response

OTP refresh;

I²C in-frame I²C in-frame response; if (<TSD> or <HS>) = ‘1’ then ? Stopped

OTP refresh;

OTP to RAM;

AccShape reset

TagPos and

ActPos reset

n.a.

Table 8: Priority Encoder

Color code:

Command ignored Transition to another state Master is responsible for proper update (see note 5)

Notes:

1 After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after a GetFullStatus1 command

(so that the Master could read the <VddReset> flag).

2 A RunInit sequence runs with a separate set of RAM registers. The parameters which are not specified in a RunInit

command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced to ‘1’ during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case AccShape at ‘0’ will be taken into account after the RunInit sequence. A GetFullStatus1 command will return the default parameters for

Vmax and Vmin stored in RAM.

3 Shutdown state can be left only when <TSD> and <HS> flags are reset. 4 Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided the physical

conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect). 5 A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and Vmin

values. This can be done during a RunInit sequence since this motion uses its own parameters, the new parameters will be

taken into account at the next SetPosition command. 6 <SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 =

“100 0000 0000”)

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 19

7 <Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’

when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.

8

While in state Stopped, if ActPos ? TagPos there is a transition to state GotoPos. This transition has the lowest priority, meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions.

9 If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos

register whatever the state) and motion to secure position is forbidden. Other commands like RunInit or ResetPosition will be executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command.

5.2 RAM and OTP Memory

Some RAM registers (e.g. Ihold, Irun) are initialized with the content of the OTP (One Time Programmable) memory. The content of RAM registers that are initialized via OTP can be changed afterwards. This allows user initialization default values, whereas the default values are one time programmable by the user. Some OTP bits are address bits of the TMC222.

5.2.1 RAM Registers

Register Mnemonic Length

Actual Position ActPos 16 GetFullStatus2 Target Position TagPos 16 SetPosition

Acceleration Shape AccShape 1 GetFullStatus1

Coil Peak Current Irun 4 GetFullStatus1

Coil Hold Current Ihold 4 GetFullStatus1

Minimum Velocity Vmin 4 GetFullStatus1

Maximum Velocity Vmax 4 GetFullStatus1

Shaft Shaft 1 GetFullStatus1

Acceleration /

Deceleration

Secure Position SecPos 11

Stepping Mode StepMode 2 GetFullStatus1

Acc 4 GetFullStatus1

(bit)

Related commands Comment Reset

ResetPosition

GetFullStatus2

ResetPosition

SetMotorParam ResetToDefault

GetFullStatus2

ResetToDefault

GetFullStatus2

ResetToDefault

Actual Position of the Stepper Motor. 16-bit signed Target Position of the Stepper Motor. 16-bit signed

0 = Acceleration with Acc Parameter. 1 = Velocity set to Vmin, without acceleration

Coil current when motion is ongoing (Table 12: Irun / Ihold Settings)

Coil current when motor stands still (Table 12: Irun / Ihold Settings)

Start Velocity of the stepper motor (Table 4: Vmin )

Target Velocity of the stepper motor (Table 3: Vmax Parameter)

Direction of motion

Parameter for acceleration (Table 5: Acc Parameter)

Target Position for GotoSecurePosition command (6.8.4 GotoSecurePosition); 11 MSBs of 16-bit position (LSBs fixed to ‘0’) Micro stepping mode (5.1.1 Stepping Modes)

State

0x0000

OTP

Memory

20 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

5.2.2 Status Flags

The table below shows the flags which are accessable by the serial interface in order to receive information about the internal status of the TMC222.

Flag Mnemonic Length

Digital supply Reset VddReset 1 GetFullStatus1 Set to ‘1’ after power-up or after a micro-cut in the supply

Over current in coil A OVC1 1 GetFullStatus1 Set to ‘1’ if an over current in coil #1 was detected. Is set to ‘0’ Over current in coil B OVC2 1 GetFullStatus1 Set to ‘1’ if an over current in coil #2 was detected. Is set to ‘0’

StepLoss StepLoss 1 GetFullStatus1 Set to ‘1’ when under voltage, over current or over temperature

Secure position

enabled

Electrical Defect ElDef 1 GetFullStatus1 Set to ‘1’ if open circuit or a short was detected, (<OVC1> or

Temperature Info Tinfo 2 GetFullStatus1 Indicates the chip temperature

Thermal Warning TW 1 GetFullStatus1 Set to one if temperature raises above 145 °C. Is set to ‘0’

Thermal Shutdown TSD 1 GetFullStatus1 Set to one if temperature raises above 155° C. Is set to ‘0’

Motion Status Motion 3 GetFullStatus1 Indicates the actual behavior of the position controller.

External Switch

Status

Charge Pump

failure

Electrical flag HS 1 Internal use <CPFail> or <UV2> or <ElDef> ‘0’

SecEn 1 Internal use

ESW 1 GetFullStatus1 Indicates the status of the external switch.

CPFail 1 GetFullStatus1 ‘0’ charge pump OK

(bit)

Comment Reset

voltage to warn that RAM contents may have been lost. Is set to ‘0’ after GetFullStatus1 command.

after GetFullStatus1 command. after GetFullStatus1 command. event was detected. Is set to ‘0’ after GetFullStatus1

command. SetPosition and GotoSecurePosition commands are ignored when <StepLoss> = 1 ‘0’ if SecPos = “100 0000 0000” ‘1’ otherwise

<OVC2>). Is. Is set to ‘0’ after GetFullStatus1 command. “00” = normal temperature

“01 = low temperature warning “10” = high temperature warning “11” = motor shutdown

after GetFullStatus1 command. after GetFullStatus1 command and Tinfo = “00”. “000”: Actual Position = Target Position; Velocity = 0

“001”: Positive Acceleration; Velocity > 0 “010”: Negative Acceleration; Velocity > 0 “011”: Acceleration = 0 Velocity = maximum pos Velocity “100”: Actual Position /= Target Position; Velocity = 0 “101”: Positive Acceleration; Velocity < 0 “110”: Positive Acceleration; Velocity < 0 “111”: Acceleration = 0 Velocity = maximum neg Velocity

‘0’ = open ‘1’ = close

‘1’ charge pump failure

state

“00”

“000”

‘1’

‘0’ ‘0’ ‘0’

n.a.

‘0’

‘0’ ‘0’

‘0’

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 21

OTP Bit Order

7 6 5 4 3 2 1 0

LOCKBG

0x02 to 0x07

5.2.3 OTP Memory Structure

The table below shows where the OTP parameters are stored in the OTP memory. Note: If the OTP memory has not been programmed, or if the RAM has not be programmed by a

SetMotorParam command, or if anyhow <VddReset> = ‘1’, any positioning command will be ignored, in order to avoid any consequence due to unwanted RAM content. Please check that the correct supply voltage is applied to the circuit before zapping the OTP (See: Table 21: DC Parameters Supply and Voltage regulator on page 45), otherwise the circuit will be destroyed.

OTP

Address

0x00 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 IREF0 0x01 TSD2 TSD1 TSD0 BG3 BG2 BG1 BG0 0x02 AD3 AD2 AD1 AD0 0x03 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 Ihold0 0x04 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 Vmin0 0x05 SecPos10. SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 Acc0 0x06 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos2 SecPos1 SecPos0 0x07 StepMode1 StepMode0 LOCKBT LOCKBG

Table 9: OTP Memory Structure

Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP memory at circuit delivery, they correspond to the calibration of the circuit and are just documented here as an indication. Each OPT bit is at ‘0’ when not zapped. Zapping a bit will set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped. Zapping of a bit already at ‘1’ is disabled, to avoid any damage of the Zener diode. It is important to note that only one single OTP byte can be programmed at the same time (see command SetOTPParam).

Once OTP programming is completed, bit LOCKBG can be zapped, to disable unwanted future zapping, otherwise any OTP bit at ‘0’ could still be zapped.

Lock bit Protected byte

Table 10: OTP Lock bits

The command used to load the application parameters via the serial bus into the RAM prior to an OTP Memory programming is SetMotorParam. This allows for a functional verification before using a SetOTPParam command to program and zap separately one OTP memory byte. A GetOTPParam command issued after each SetOTPParam command allows to verify the correct byte zapping.

5.3 Stepper Motor Driver

The StepMode parameter in SetMotorParam command (6.8.9 SetMotorParam on page 34) is used to select between different stepping modes. Following modes are available:

StepMode parameter Mode

00 Half Stepping 01 1/4 µStepping 10 1/8 µStepping 11 1/16 µStepping

Table 11: StepMode

22 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

5.3.1 Coil current shapes

The next four figures show the current shapes fed to each coil of the motor in different stepping modes.

i

t

Figure 8: Coil Current for Half Stepping Mode

i

t

Figure 9: Coil Current for 1/4 Micro Stepping Mode

i

t

Figure 10: Coil Current for 1/8 Micro Stepping Mode

i

Figure 11: Coil Current for 1/16 Micro Stepping Mode

t

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 23

5.3.2 Transition Irun to Ihold

At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents are then set to their hold values Ihold. The figure below illustrates the mechanism:

i

t

I = I

run

I = I

hold

Figure 12: Transition Irun to Ihold

Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are available for Irun current and 16 values for Ihold current. The table below shows the corresponding current values.

Irun / Ihold setting

(hexadecimal)

Peak Current

[mA]

0x0 59 0x1 71 0x2 84 0x3 100 0x4 119 0x5 141 0x6 168 0x7 200 0x8 238

0x9 283 0xA 336 0xB 400 0xC 476 0xD 566 0xE 673 0xF 800

Table 12: Irun / Ihold Settings

24 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

5.3.3 Chopper Mechanism

The chopper frequency is fixed as specified in chapter 10.4 AC Parameters on page 46. The TMC222 uses an intelligent chopper algorithm to provide a smooth operation with low resonance. The TMC222 uses internal measurements to derive current flowing through coils. If the current is less than the desired current, the TMC222 switches a H-bridge in a way that the current will increase. Otherwise if the current is too high, the H-bridge will be switched to decrease the current. For decreasing two modes are available, slow decay and fast decay, whereas fast decay decreases the current faster than slow decay. The figure below shows the chopper behavior.

Figure 13: Different Chopper Cycles with Fast and Slow Decay

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 25

6 Two-Wire Serial Interface

6.1 Physical Layer

Both SDA and SCL lines are connected to positive supply voltage via a current source or pull-up resistor (see figure below). When there is no traffic on the bus both lines are high. Analog glitch filters are implemented to suppress spikes with a length of up to 50 ns.

+ 5V

SDA line

SCL line

SCL_IN

SCL_OUT

TMC222

SDA_IN

SDA_OUT

SCL_IN

SCL_OUT

Master

SDA_IN

SDA_OUT

Figure 14: Two Wire Serial Interface - Physical Layer

6.2 Communication on Two Wire Serial Bus Interface

Each datagram starts with a Start condition and ends with a Stop condition. Both conditions are unique and cannot be confused with data. A high to low transition on the SDA line while SCL is high indicates a Start condition. A low to high transition on the SDA line while SCL is high defines a Stop condition (see figure below).

SDA SCL

START

condition

Figure 15: Two Wire Serial Interface - Start / Stop Conditions

STOP

condition

The SCL clock is always generated by the master. On every rising transition of the SCL line the data on SDA is valid. Data on SDA line is only allowed to change as long as SCL is low (see figure below).

SDA SCL

data line

stable,

data valid

data change

allowed

Figure 16: Two Wire Serial Interface - Bit transfer

26 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

Every byte put on the SDA line must have a length of 8 bits, where the most significant bit (MSB) is transferred first. The number of bytes that can be transmitted to the TCM222 is restricted to 8 bytes. Each byte is followed by an acknowledge bit, which is issued by the receiving node (see figure below).

SDA

MSB ACK ACK

SCL

START

condition

1

2 7 8 9 91

STOP

condition

Figure 17: Two Wire Serial Interface - Data Transfer

6.3 Physical Address of the circuit

The circuit must be provided with a physical address in order to discriminate this circuit from other ones on the serial bus. This address is coded on seven bits (two bits are internally hardwired to ‘1’), yielding the theoretical possibility of 32 different circuits on the same bus. It is a combination of four OTP memory bits (see Table 9: OTP Memory Structure) and one hardwired address bit (pin HW). HW must either be connected to ground or Vbat. When HW is not connected and left floating correct functionality of the serial interface is not guaranteed. Pin HW uses the same principle to check whether it is connected to ground or Vbat like the SWI input (see 5.1.9 External Switch).

The TMC222 supports a “general call” address. Therefore the circuit is addressable using either the physical slave address or address “000 0000”.

AD5AD6 AD1AD2AD3AD4 AD0

OTP_AD3 OTP_AD1OTP_AD2 OTP_AD0'1' '1'

Figure 18: Two Wire Serial Interface - Physical Address resp. Address Field

HW2

Physical address OTP Memory

Hardwired Bit

(Connect to 0 or 1)

With un-programmed OTP address bits (OTP_AD3=o, OTP_AD2=o, OTP_AD1=o, OTP_AD0=o) and HW='0' (pin HW @ GND), the slave address resp. the address field of the TMC222 for reading is 11oooo01 (0xC1, 193) and for writing the slave address resp. the address field is 11oooo00 (0xC0,

192). The LSB of the address field selects read (='1') and write (='0'). With un-programmed OTP address bits and HW='1' (pin HW @ Vbat), the slave address resp. the address field of the TMC222 for reading is 11oooo11 (0xC3, 195) and for writing the salve address resp. the address field is 11oooo10 (0xC2, 194).

6.4 Write data to TMC222

A complete datagram consists of the following: a Start condition, the slave address (7 bit), a read/write bit (‘0’ = write, ‘1’ = read), an acknowledge bit, a number of data bytes (8 bit) each followed by an acknowledge bit, and a Stop condition. The acknowledge bit is used to signal to the transmitter the correct reception of the preceding byte, in this case the TMC222 pulls the SDA line low.

The TMC222 reads the incoming data at SDA with every rising edge of the SCL line. To finish the transmission the master has to transmit a Stop condition. Some commands for the TMC222 are supporting eight bytes of data, other commands are transmitting two bytes of data.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 27

S P

'0' (Write)

master to slave

slave to master

A

R/WSlave addr

S: Start Condition

P: Stop Condition

A: Acknowledge (SDA low)

A: not Acknowledge (SDA high)

DATA

(n Bytes + acknowledge)

A

DATA

A

Figure 19: Two Wire Serial Interface - Writing Data to Slave

6.5 Read data from TMC222

When reading data from a slave two datagrams are needed. The first datagram consists of two bytes of data. The first byte consists of the slave address and the write bit. The second byte consists of the address of an internal register of the TMC222. The internal register address is stored in the circuits RAM. The second datagram consists of the slave address and the read bit. Then the master can read the data bits on the SDA line with every rising edge of the SCL line. After each byte of data the master has to acknowledge correct data reception by pulling SDA low. The last byte must not be acknowledged by the master so that the slave knows the end of transmission (see figure below).

Dump Internal Address to Slave

S

Read Data from Slave

S PAR/WSlave addr DATA

master to slave

slave to master

R/WSlave addr

'0' (Write)

'1' (Read)

S: Start Condition P: Stop Condition A: Acknowledge (SDA low) A: not Acknowledge (SDA high)

A

internal addr

(n Bytes + acknowledge)

PA

ADATA

Figure 20: Two Wire Serial Interface - Read Data from Slave

28 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.6 Timing characteristics of the serial interface

START

STARTSTOPSTART

SDA

t

f

t

LOW

t

r

t

SU;DAT

t

f

t

HD;STA

t

r

BUF

SCL

t

HD;STA

t

HD;DAT

t

HIGH

t

SU;STA

t

SU;STO

Figure 21: Definition of Timing

Parameter Symbol

Low level input voltage: Fixed input levels High level input voltage: Fixed input levels Pulse width of spikes which must be suppressed by the input filter

VIL -0.5 VIH 3.0

tSP n/a n/a 50 50 ns

Capacitance for each I/O pin Ci - 10 - 10 pF

SCL Clk frequency <= 100KHz SCL Clk frequency <= 350KHz

Min. Max. Min. Max.

(1)

1.5 -0.5

(2)

(1)

0.3VDD V

0.7VDD

(2)

Unit

V

Table 13: Two Wire Serial Interface - Characteristics of the SDA and SCL I/O Stages

Notes

(1): If Input voltage = < -0.3 Volts, then 20…100 Ohms resistor must be added in series (2): Maximum VIH = V n/a: not applicable

Parameter Symbol

SCL clock frequency f Hold time (repeated) START condition. After this period, the first clock pulse is generated. LOW period of the SCL clock t HIGH period of the SCL clock t Set-up time for a repeated START condition Data set-up time t Rise time of both SDA and SCL signals Fall time of both SDA and SCL signals Set-up time for STOP condition t Bus free time between a STOP and START condition Capacitive load for each bus line Cb 0 400 - 400 pF Noise margin at the LOW level for each connected device (including hysteresis) Noise margin at the HIGH level for each connected device (including hysteresis)

DDmax

+ 0.5 Volt

SCL Clk frequency <= 100KHz SCL Clk frequency <= 350KHz

Min. Max. Min. Max.

0 100 0 350 KHz

SCL

t

4.0 - 0.6 - µs

HD;STA

4.7 - 1.3 - µs

LOW

4.0 - 0.6 - µs

HIGH

t

4.7 - 0.6 - µs

SU;STA

250 - 100 - ns

SU;DAT

tr - 1000 20+0.1C tf - 300 20+0.1C

4.0 - 0.6 - µs

SU;STO

t

4.7 - 1.3 - µs

BUF

(1)

300 ns

b

(1)

300 ns

b

VnL 0.1VDD - 0.1VDD - V

VnH 0.2VDD - 0.2VDD - V

Unit

Table 14: Two Wire Serial Interface - Characteristics of the SDA and SCL bus lines

Notes

(1): Cb = total capacitance of one bus line in pF.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 29

6.7 Application Commands Overview

Communications between the TMC222 and a Two Wire Serial Bus Master takes place via a set of commands.

Reading commands are used to:

• Get actual status information, e.g. error flags

• Get actual position of the Stepper Motor

• Verify the right programming and configuration of the TMC222

Writing commands are used to:

• Program the OTP Memory

• Configure the TMC222 with motion parameters (e.g. max/min speed, acceleration, stepping

mode, etc.)

• Provide target positions to the Stepper motor

Command

Mnemonic

GetFullStatus1 Returns complete status of the chip 0x81 GetFullStatus2 Returns actual, target and secure position 0xFC GetOTPParam Returns OTP parameter 0x82 GotoSecurePosition Drives motor to secure position 0x84 HardStop Immediate full stop 0x85 ResetPosition Sets actual position to zero 0x86 ResetToDefault Overwrites the chip RAM with OTP contents RunInit Reference Search 0x88 SetMotorParam Sets motor parameter 0x89 SetOTPParam Zaps the OTP memory 0x90 SetPosition Programmers a target and secure position 0x8B SoftStop Motor stopping with deceleration phase 0x8F

Function

Command Byte

(hexadecimal)

0x87

Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)

30 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.8 Command Description

There are data fields labeled as "N/A = not applicable". Within the command description tables, the contend is normally given as '1'. Data fields labeled by N/A might be reserved for later variants of the TMC222 and the content should be ignored for the TMC222. Concerning response datagrams, the byte 0 is the slave address that is applied for addressing, where the byte 1 is the slave address that is sent back within the response data frame.

6.8.1 GetFullStatus1

This command is provided to the circuit by the Master to get a complete status of the circuit and of the stepper-motor. The parameters sent via the two wire serial bus to the Master are:

• coil peak and hold current values (Irun and Ihold)

• maximum and minimum velocities for the stepper-motor (Vmax and Vmin)

• direction of motion clockwise / counterclockwise (Shaft)

• stepping mode (StepMode) (Table 11: StepMode on page 21)

• acceleration (deceleration) for the Stepper motor (Acc)

• acceleration shape (AccShape)

• status information:

• motion status <Motion [2:0]>

• over current flags for coil A <OVC1> and coil B <OVC2>

• digital supply reset <VddReset>

• charge pump status <CPFail>

• external switch status <ESW>

• step loss <StepLoss>

• electrical defect <ElDef>

• under voltage <UV2>

• temperature information <Tinfo>

• temperature warning <TW>

• temperature shutdown <TSD>

GetFullStatus1 command

Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 GetFullStatus1 1 0 0 0 0 0 0 1

GetFullStatus1 command (Response)

Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address

1 1 OTP3 OTP2 OTP1 OTP0 HW 1 1 Address 0 0 0 OTP3 OTP2 OTP1 OTP0 HW 2 Irun & Ihold Irun (3:0) Ihold (3:0) 3 Vmax & Vmin Vmax (3:0) Vmin (3:0) 4 Status 1 AccShape StepMode(1:0) Shaft ACC(3:0) 5 Status 2 VddReset StepLoss ElDef UV2 TSD TW Tinfo(1:0) 6 Status 3 Motion(2:0) ESW OVC1 OVC2

7 N/A 1 1 1 1 1 1 1 1 8 N/A 1 1 1 1 1 1 1 1

Note: N/A = not applicable

Structure Byte

1

CPFai

l

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 31

6.8.2 GetFullStatus2

This command is provided to the circuit by the Master to get the actual position of the stepper-motor. The position is provided by the circuit in 16-bit format, with the 3 LSBs at ‘0’ when in half stepping mode (StepMode = “00”). Furthermore programmed target position and secure position are also provided.

GetFullStatus2 command

Structure Byte Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 GetFullStatus2

Content

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1 1 Address 0 0 0 OTP3 OTP2 OTP1 OTP0 HW 2 Actual Position 1 ActPos(15:8) 3 Actual Position 2 ActPos(7:0) 4 Target Position 1 TagPos(15:8) 5 Target Position 2 TagPos(7:0) 6 Secure Position SecPos(7:0) 7 Secure Position 1 1 1 1 1 SecPos(10:8) 8 N/A 1 1 1 1 1 1 1 1

Note: N/A = not applicable

6.8.3 GetOTPParam

This command is provided to the circuit by the master to read the content of the OTP Memory. For more information refer to Table 9: OTP Memory Structure on page 21.

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 GetOTPParam

Content

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1 1 OTP byte 0 OTP@0x00 2 OTP byte 1 OTP@0x01 3 OTP byte 2 OTP@0x02 4 OTP byte 3 OTP@0x03 5 OTP byte 4 OTP@0x04 6 OTP byte 5 OTP@0x05 7 OTP byte 6 OTP@0x06 8 OTP byte 7 OTP@0x07

1 1 1 1 1 1 0 0

GetFullStatus2 command (Response)

Structure Byte

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

GetOTPParam command

Structure Byte Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 0 0 0 0 0 1 0

GetOTPParam command (Response)

Structure Byte

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

32 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.8.4 GotoSecurePosition

This command is provided by the Master to one or all the stepper-motors to move to the secure position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled and the GotoSecurePosition command is ignored.

GotoSecurePosition command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 GotoSecurePosition 1 0 0 0 0 1 0 0

6.8.5 HardStop

This command is internally triggered when an electrical problem is detected in one or both coils, leading to switch off the H-bridges. If this problem is detected while the motor is moving, the <StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety reasons.

HardStop command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 HardStop 1 0 0 0 0 1 0 1

6.8.6 ResetPosition

This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order to allow for an initialization of the stepper-motor position.

Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section 5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).

ResetPosition command

Structure Byte Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 ResetPosition 1 0 0 0 0 1 1 0

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 33

6.8.7 ResetToDefault

This command is provided to the circuit by the Master in order to reset the whole slave node into the initial state. ResetToDefault will for instance overload the RAM with the reset state of the register parameters. This is another way for the Master to initialize a slave node in case of emergency, or simply to refresh the RAM content.

Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos register in order to avoid an attempt to position the motor to ‘0’.

ResetToDefault command

Structure Byte Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 ResetToDefault

6.8.8 RunInit

This command is provided to the circuit by the Master in order to initialize positioning of the motor by seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on page 14. It leads to a sequence of the following commands:

• SetMotorParam(Vmax, Vmin);

• SetPosition(Pos1);

• SetMotorParam(Vmin, Vmin);

• SetPosition(Pos2);

• ResetPosition

• GotoSecurePosition Once the RunInit command is started it can not be interrupted by any other command except when a

condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management ) or a HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of

-1024) the final travel to the secure position is omitted. 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 second motion are different, too. This is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave the deadlock state.

Content

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 RunInit 1 0 0 0 1 0 0 0 2 N/A 1 1 1 1 1 1 1 1 3 N/A 1 1 1 1 1 1 1 1 4 Vmax Vmin Vmax(3:0) Vmin(3:0) 5 Position1 byte 1 TagPos1(15:8) 6 Position1 byte 2 TagPos1(7:0) 7 Position2 byte 1 TagPos2(15:8) 8 Position2 byte 2 TagPos2(7:0)

Note: N/A = not applicable

1 0 0 0 0 1 1 1

RunInit command

Structure Byte

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

34 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.8.9 SetMotorParam

This command is provided to the circuit by the Master to set the values for the following stepper motor parameters in RAM:

• coil peak current value (Irun)

• coil hold current value (Ihold)

• maximum velocity for the Stepper-motor (Vmax)

• minimum velocity for the Stepper-motor (Vmin)

• acceleration shape (AccShape)

• stepping mode (StepMode)

• direction of the Stepper-motor motion (Shaft)

• acceleration (deceleration) for the Stepper-motor (Acc)

• secure position for the Stepper-motor (SecPos)

If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position is disabled and the GotoSecurePosition command is ignored.

SetMotorParam command

Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 SetMotorParam 1 0 0 0 1 0 0 1 2 N/A 1 1 1 1 1 1 1 1 3 N/A 1 1 1 1 1 1 1 1 4 Irun & I hold Irun(3:0) Ihold(3:0) 5 Vmax & Vmin Vmax(3:0) Vmin(3:0) 6 Status SecPos(10:8) Shaft Acc(3:0) 7 SecurePos SecPos(7:0) 8 StepMode AccShape StepMode[1:0]

Note: N/A = not applicable

6.8.10 SetOTPParam

This command is provided to the circuit by the Master in order to zap the OTP memory. The OTPA address (OTPA) addresses the OTP word (please refer section 5.2.3, page 21) within the OTP Memory structure. The Pbit byte represents the bit pattern to be programmed, where a one programs an un-programmed OTP bit. For example, if one wants to OTP the defaults to Irun := 0xD and Ihold = 0x5, one has to execute the SetOTPParam with OTPA = 0x03 and Pbit := 0xD5. Those OTP bits that are un-programmed can be programmed to '1' by corresponding Pbit chosen as '1' . For OTP the supply voltage Vbat has to be within the valid range specified as VbbOTP within Table 21, page 45.

SetOTPParam command

Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 SetOTPParam 2 N/A 1 1 1 1 1 1 1 1 3 N/A 1 1 1 1 1 1 1 1 4 OTP Address 1 1 1 1 1 OTPA(2:0) 5 Pbit Pbit(7:0)

Note: N/A = not applicable

1 0 0 1 0 0 0 0

Structure Byte

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 35

6.8.11 SetPosition

This command is provided to the circuit by the Master to drive the motor to a given position relative to the zero position, defined in number of half or micro steps, according to StepMode[1:0] value. SetPosition will not be performed if one of the following flags is set to one:

• temperature shutdown <TSD>

• under voltage <UV2>

• step loss <StepLoss>

• electrical defect <ElDef>

SetPosition command

Content

Structure Byte

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 SetPosition 1 0 0 0 1 0 1 1 2 N/A 1 1 1 1 1 1 1 1 3 N/A 1 1 1 1 1 1 1 1 4 Position byte1 TagPos(15:8) 5 Position byte2 TagPos(7:0)

Note: N/A = not applicable

6.8.12 SoftStop

If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in the following cases:

• The chip temperature rises above the Thermal shutdown threshold.

• The Master requests a SoftStop.

SoftStop command

Structure Byte Content

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0 1 SoftStop 1 0 0 0 1 1 1 1

36 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

6.9 Positioning Task Example

The TMC222 has to perform a positioning task, where the actual position of the stepper motor is unknown. The desired target position is 3000 µsteps away from position 0. See figure below.

Stop

?

Actual

Position

=

unknown

?

Target

Position

?

= 3000

X [µsteps]

Position 0

Figure 22: Positioning Example: Initial situation

The following sequence of commands has to be sent to the slave in order to complete the scenario described above (assumed after power on):

GetFullStatus1

The command is used to read the current status of the TMC222. Electrical or environmental problems will be reported, furthermore the circuit leaves the shutdown state and is ready for action. See 6.8.1 GetFullStatus1 on page 30.

GetFullStatus2

The circuit will enter a deadlock state if the actual position corresponds to the first target position of the RunInit command. This command is used to read the actual position. The master must take care that both positions are containing different values. For deadlock conditions see 5.1.11 Reference Search / Position initialization on page 14.

SetMotorParam

In order to drive the stepper motor with a desired motion parameters like torque, velocity, aso. the SetMotorParam command must issued. See 6.8.9 SetMotorParam on page 34.

RunInit

Hence the actual position is unknown, a position initialization has to be performed. The first motion must drive the stepper motor into the stop for sure. The second motion is a very short motion to bring the motor out of the stop. The actual position is then set to zero automatically after the second motion is finished. See 6.8.8 RunInit on page 33.

After reference search the situation is as depicted in the figure below. Actual position of the stepper motor corresponds to zero, the target position is 3000 µsteps away from the actual position.

Stop

Actual

Position

= 0

Figure 23: Positioning Example: Situation after reference search

Target

Position

= 3000

X [µsteps]

Now the positioning command SetPosition can be issued in order to drive the stepper motor to the desired position.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 37

SetPosition

This command will cause the stepper motor to move to the desired target position. See 6.8.11 SetPosition on page 35. After the motion has been finished, the situation is as depicted in the figure below.

Stop

Actual Position

= Target Position

= 3000

X [µsteps]

Figure 24: Positioning Example: Motion finished

Afterwards the actual status and position can be verified by GetFullStatus1 and GetFullStatus2 commands. The master can check if a problem, caused by electrical or temperature problems, occurred. Furthermore the actual position is read.

38 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

7 Frequently Asked Questions

7.1 Using the bus interface

Q: How many devices can be operated on the same bus?

A: 32 devices can be discriminated by means of the physical address. However, it depends on some factors if this high number really makes sense. First of all it has to be checked if each device can be serviced under any circumstances in the maximum allowed time taking the bus speed and the individual real-time requirements of each device into account. Second, the idea of reserving address 0 for OTP physical address programming during system installation and defective parts replacement reduces the number to 30.

Q: How to program the OTP physical address bits of a device if there are more devices connected to the same bus?

A: The problem here is that all new devices are shipped with the OTP physical address bits set to zero making it difficult to address just one device with the SetOTPParam command. Use HW input as chip select line to address just one device by SetOTPParam. If this is impractible since the HW input is hardwired or not controllable for any other reason the only alternative is to assemble and program one device after the other. I.e., assemble only first device and program the desired non-zero address, then assemble the second device and program the desired non-zero address, and so on until all devices are assembled and programmed. This is also a good service concept when replacing defective devices in the field: The idea is that all devices are programmed to different non-zero physical addresses at production/installation time. Once a defective device is being replaced the replacement part can easily be addressed by SetOTPParam since it is the only part with physical address zero.

7.2 General problems when getting started

Q: What is the meaning of ElDef?

A: The ElDef flag (‘Electrical Defect’) is the logical ORing of the OVC1 and OVC2 flags. OVC1 is set to one in case of an overcurrent (coil short) or open load condition (selected coil current is not reached) for coil A. OVC2 is the equivalent for coil B.

Q: What could be the reason for ElDef / OVC1 / OVC2 being set to one?

A: There are a number of possible causes:

• Motor not connected (? open load)

• Connected motor has shorted coils (? overcurrent) or broken coils (? open load)

• Motor coils connected to the wrong device pins

• Selected coil current can not be reached (? open load) due to high coil impedance or low supply voltage. Solution: Select a lower coil run/hold current or rise the supply voltage. Generally: the calculated voltage required to reach a desired coil current at a given coil resistance (V = I • R) must be significantly lower than actual supply voltage due to the coil inductivity.

Q: Should the external switch be normally closed or open when the reference position is hit?

A: The SWI input resp. the ESW flag have neither effect on any internal state machine nor on command processing, even not on the RunInit command. ESW must be polled by software using GetFullStatus1 command. The software can simply be adapted to whatever state the switch is in when the reference position is hit, i.e. closed or open.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 39

7.3 Using the device

Q: What is the meaning of the ‘Shaft’ bit?

A: The Shaft bit determines the rotating direction of the motor, i.e. clockwise or counter-clockwise rotation.

Q: How to generate an interrupt when the target position is reached?

A: This is not possible. The device hasn’t any interrupt output at all. Just poll ActPos or Motion[2:0] using an appropriate command.

Q: How can I ensure that I always get consistent data for ActPos and ESW?

A: There isn’t a single command to read both ActPos and ESW simultaneously. GetFullStatus1 will read ESW whereas GetFullStatus2 will read ActPos. Thus it is not possible to read consistent values as long as a motion is in progress.

Q: How to specify a second target position to go to immediately after a first target position has been reached?

A: This is possible using the RunInit command. Note, that after the second target position has been reached the internal position counter ActPos is reset to zero.

Q: Is it possible to change Vmax on-the-fly?

A: Yes, it is, if the new velocity is in the same group as the old one (see Vmax Parameters). Otherwise correct positioning is not ensured anymore. Vmax values are divided into four groups:

• group A: Vmax index = 0

• group B: Vmax index = 1, 2, 3, 4 ,5 or 6

• group C: Vmax index = 7, 8, 9, 10 ,11 or 12

• group D: Vmax index = 13, 14 or 15

Q: Is it possible to change the stepping mode on-the-fly?

A: Yes, it is possible and it has immediate effect on the current motion.

Q: How to operate in continuous velocity mode rather than positioning (ramp) mode?

A: There is no velocity mode. The device was designed primarily for positioning tasks so for each motion there has to be specified a target position by the respective command. However, velocity mode can be emulated by repeating the following two commands again and again:

• Read ActPos using GetFullStatus2 command

• Set lower 16 bits of [ActPos+32767] as the next target position using SetPosition command

For real continuous motion this sequence has to be repeated before the current target position has been reached.

Q: Which units, formats and ranges does position information have?

A: All 16-bit position data fields in commands and responses are coded in two’s complement format with bit 0 representing 1/16 micro-steps. Hence a position range of –32768…+32767 in units of 1/16 micro-steps is covered regardless of the selected stepping mode (1/2, 1/4, 1/8 or 1/16 microstepping). The difference between the stepping modes is the resolution resp. the position of the LSB in the 16-bit position data field: it’s bit 0 for 1/16, bit 1 for 1/8, bit 2 for 1/4 and bit 3 for 1/2 microstepping. The position range can be regarded as a circle since position –32768 is just 1/16 micro-step away from position +32767. The device will always take the shortest way from the current to the target position, i.e., if the current position is +32767 and the target position is –32768 just 1/16 microstep will be executed. 65535 1/16 micro-steps in the opposite direction can be achieved for example by two consecutive SetPosition commands with target positions 0 and –32768.

The 11-bit secure position data field can be treated as the upper 11 MSBs of the 16-bit position data fields described above with the 5 LSBs hardwired to zero. Hence it covers the same position range with a reduced resolution: The position range is –1024…+1023 in units of two full-steps.

40 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

7.4 Finding the reference position

Q: How do I find a reference position?

A: The recommended way is to use the RunInit command. Two motions are specified through RunInit. The first motion is to reach the mechanical stop. Its target position should be specified far away enough so that the mechanical stop will be reached from any possible starting position. There is no internal stall detection so that at the end of the first motion the step motor will bounce against the mechanical stop loosing steps until the internal target position is reached. The second motion then can be used either to drive in the opposite direction out of the mechanical stop right into the reference position which is a known number of steps away from the mechanical stop. Or the second motion can slowly drive a few steps in the same direction against the mechanical stop to compensate for the bouncing of the faster first motion and stop as close to the mechanical stop as possible.

Q: Can the SWI input help in finding a reference position?

Not directly. The current state of the SWI input is reflected by the ESW flag which can only be polled using the command GetFullStatus1. The SWI input resp. the ESW flag have neither influence on any internal state machine nor on command processing. The recommended way to find a reference position is to use the RunInit command. Alternatively one could initiate a long distance motion at very low speed using SetPosition and then poll ESW as frequently as possible to be able to stop the motion using HardStop right in the moment the switch position is reached. Then one would reset the internal position counters ActPos and TagPos using the ResetPosition command.

Q: What is the logic of the ESW flag?

A: The ESW flag reflects the state of the SWI input. ESW is set to one if SWI is high or low, i.e. pulled to VBAT or to GND. ESW is set to zero if SWI is left open, i.e. floating. ESW is updated synchronously with ActPos every 1024 µs.

Q: Is it possible to swap the logic of the ESW flag?

A: No, it’s not. Actually this is not necessary since the ESW flag must be polled and evaluated by software anyway. The state of ESW has neither effect on any internal state machine nor on command processing.

Q: What else is important for the RunInit command?

A: The first target position of RunInit must be different from the current position before sending RunInit and the second target position must be different from the first one. Otherwise a deadlock situation can occur. During execution of RunInit only Get… commands should be sent to the device.

Q: Does the second motion of RunInit stop when the ESW flag changes, or does it continue into the mechanical stop?

A: Neither nor. The SWI input resp. the ESW flag have neither effect on any internal state machine nor on command processing, i.e. the RunInit command is not influenced by SWI / ESW. The same is true for the mechanical stop: as there isn’t any internal stall detection the RunInit command can not detect a mechanical stop. When the mechanical stop is hit the first or second motion of RunInit (or the motion of any other motion command) will be continued until the internal position counter ActPos has reached the target position of this motion. This results in the motor bouncing against the mechanical stop and loosing steps. The intention of the second motion of RunInit is to drive out of the mechanical stop (reached by the first motion) to the desired reference position at a known distance from the mechanical stop or to drive slowly against the mechanical stop again to compensate for the bouncing of the first motion and to come to a standstill as close to the mechanical stop as possible.

Q: Does RunInit reset the position?

A: Yes, it does. After the second motion of RunInit has been finished the internal position counter ActPos is reset to zero.

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 41

8 Package Outline

8.1 SOIC-20

Figure 25: Package Outline SOIC-20

(1)

UNIT A max. A1 A2 A3 bp c D

mm 2.65 0.30 inches 0.10 0.012

0.10

0.004

2.45

2.25

0.096

0.089

0.25 0.49

0.36

0.01 0.019

0.014

0.32

0.23

0.013

0.009

13.0

12.6

0.51

0.49

(1)

E

e HE L Lp Q v w y Z

7.6

7.4

0.30

0.29

1.27 10.65

0.050 0.419

1.4 1.1

10.00

0.055 0.043

0.394

Table 16: SOIC-20 Mechanical Data

Note: inch dimensions are derived from the original mm dimensions

0.4

0.016

1.1

0.25 0.25 0.1 0.9

1.0

0.043

0.01 0.01 0.004 0.035

0.039

(1)

0.4

0.016

theta

8° 0°

42 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

D

K

7

8.2 QFN32

D1

E

E1

32

1

C

17 24

C

16

9

L b

EXPOSED DIE ATTACH PAD

8

Top view

P

J

R 0.2

PIN1 I.D.

Side view

25

0°~12°

e/2

e

R

32

(1.1016)

1

(0.2)

A2

A

A1

(A3)

Bottom view

Figure 26: Package Outline QFN32

REF A A1 A2 A3 b C D D1 E E1 e J K L P R

MIN 0.80 0.00 0.576 NOM MAX 0.90 0.05 0.654 Unit mm mm mm mm mm mm mm mm mm mm mm mm mm mm deg. mm

0.02 0.615 0.203 0.3 0.42

0.25 0.24

0.35 0.6

6.75

6.75 0.65 5.47 5.47 0.4 45

5.37 5.37 0.35

5.57 5.57 0.45

2.185

2.385

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 43

9 Package Thermal Resistance

9.1 SOIC-20 Package

The junction case thermal resistance is 28°C/W, leading to a junction ambient thermal resistance of 63°C/W, with the PCB ground plane layout condition given in the figure below and with

• PCB thickness = 1.6mm

• 1 layer

• Copper thickness = 35µm

2? (10mm? 23mm)

Figure 27: Layout consideration

44 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

10 Electrical Characteristics

10.1 Absolute Maximum Ratings

Parameter Min Max Unit

Vbat Supply Voltage -0.3 +35 V Tamb Ambient temperature under bias Tst Storage temperature -55 +160 °C

(**)

Vesd

Electrostatic discharge voltage on pins -2 +2 kV

Table 17: Absolute Maximum Ratings

(*) The circuit functionality is not guaranteed (**) Human body model (100pF via 1.5 K? )

10.2 Operating Ranges

Parameter Min Max Unit

Vbat Supply Voltage +8 +29 V Top

Operating temperature range

(*)

-50 +150 °C

Vbat <= 18V -40 +125 °C Vbat <= 29V -40 +85 °C

Table 18: Operating Ranges

10.3 DC Parameters

Motor Driver Symbol Pin(s) Parameter Test condition Min Typ Max Unit

IMSmax Peak IMSmax RMS RDSon On resistance for each pin

IMSL

OA1 OA2 OB1 OB2

Thermal Warning and shutdown Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Ttw Thermal Warning 138 145 152 °C Ttsd Tlow

(*) NO more than 100 cumulated hours in life time above Ttsd

(*)

Thermal Shutdown Ttw + 10 °C

Max current through motor coil in normal operation Max RMS current through coil in normal operation

(including bond wire) Leakage current HZ Mode, 0V < V(pin) < Vbb -50 +50 µA

800 mA 570 mA To be confirmed by

characterization

1

? ?

Table 19: DC Parameters Motor Driver

Low Temperature Warning Ttw - 155 °C

Table 20: DC Parameters Thermal Warning and shutdown

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 45

Supply and Voltage regulator Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Vbb Nominal operating supply range (*) 6.5 18 V VbbOTP Supply Voltage for OTP zapping 8.5 9.5 V UV1 Low voltage high threshold 8.8 9.4 9.8 V UV2 Stop voltage low threshold 8.1 8.5 8.9 V Ibat

Vdd Internal regulated output IddStop Digital current consumption Vbb < UV2 2 mA

VddReset Digital supply reset level IddLim

VBB

VDD

Total current consumption Unloaded Outputs 10 mA

(**)

(***)

4.4 V

Current limitation Pin shorted to ground 40 mA

8V < Vbb < 18V Cload = 1µF (+100nF cer.)

4.75 5 5.25 V

Table 21: DC Parameters Supply and Voltage regulator

(*) Communication over serial bus is operating. Motordriver is disabled when Vbb < UV2. (**) Pin VDD must not be used for any external supply. (***) The RAM content will not be altered above this voltage

Switch Input and hardwired address input HW Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Rt_OFF Switch OFF resistance Rt_ON Switch ON resistance Vbb_sw Vbb range for guaranteed

Vmax_sw Maximum Voltage T < 1s 40 V Ilim_sw

SWI

HW

operation of SWI and HW

Current limitation Short to GND or Vbat 30 mA

(*)

10

(*)

Switch to GND or Vbat

2

6 18 V

k? k?

Table 22: DC Parameters Switch Input and hardwired address input

(*) External resistance value seen from pin SWI or HW, including 1k? series resistor

Test pin Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Vhigh Vlow HWhyst

TST

Input level high Input level low

Hysteresis 0.075 Vdd

0.7

0.3

Vdd Vdd

Table 23: DC Parameters Test pin

Charge Pump Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Cbuffer Cpump CPP

VCP

CPN

Output Voltage External Buffer Capacitor

External pump Capacitor 220 470 nF

Vbb > 15V Vbb+10 Vbb+12.5 Vbb+15 V Vcp Vbb > 8V Vbb+5.8

220

470

V

nF

Table 24: DC Parameters Charge Pump

46 TMC222 DATASHEET (V. 1.06 / March 15, 2007)

10.4 AC Parameters

Power-Up Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Tpu Power-Up time 10 ms

Table 25: AC Parameters Power-Up

Switch Input and hardwired address input HW Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Tsw Scan Pulse Period 921 1024 1127 µs Tsw_on

Motor Driver Symbol Pin(s) Parameter Test condition Min Typ Max Unit

Fpwm PWM frequency 18 20 22 kHz Tbrise Turn-On transient time 350 ns Tbfall

SWI HW

Scan Pulse Duration 1/16 Tsw

Table 26: AC Parameters Switch Input and hardwired address input

OA1 OA2 OB1 OB2

Turn-Off transient time

Between 10% and 90%

Table 27: AC Parameters Motor Driver

250 ns

TMC222 DATASHEET (V. 1.06 / March 15, 2007) 47

);

Revision History

Version

up to 0.90p

0.91p September 18, 2003 pins renamed according to TRINAMIC conventions; corrections

0.92p

0.93p

1.01

1.02 September 15, 2004 Updated Ordering Information; improved description of 2nd motion

1.03

1.04

1.05

1.06

Please refer to www.trinamic.com for updated data sheets and application notes on this product and on other products.

The TMCtechLIB CD-ROM including data sheets, application notes, schematics of evaluation boards, software of evaluation boards, source code examples, parameter calculation spreadsheets, tools, and more is available from TRINAMIC Motion Control GmbH & Co. KG by request to info@trinamic.com

Date Comments

July 9, 2003 before v. 0.90 changes on unpublished internal versions only

concerning cross references, drawings in PDF

January 28, 2004 Order Code Update (Table 2: Ordering Information, page 7)

April 23, 2004 New TRINAMIC logo; Table 5: Acc Parameter, page 11:

combined cells with same value; ESW is zero when switch is open (section 5.1.9, page 12); Table 9: OTP Memory Structure on page 21: corrections concerning bit mappings (exchanged locations of SecPos10… SecPos8 and StepMode1… StepMode

0); corrected command descriptions

August 24, 2004 velocity groups integrated into Vmax table; corrected and

enhanced Vmin table; corrected meaning of Shaft bit; FAQ included

of RunInit in Reference Search / Position initialization; combined tables for Irun and Ihold; some corrections to DC Parameters; added final travel to secure position during RunInit; reworked Internal handling of commands and flags

October 1, 2004 New company address

January 7, 2005 Order code updated (Table 2: Ordering Information, page 7

GetFullStatus1 (section 6.8.1, page 30) byte 1 (address) corrected; hint concerning ResetPosition added (section 6.8.6, page 32)

October 21, 2005 Unit [FS/s] for Vmin added for Table 4 page 11, hint concerning

OTP memory (section 5.2, page 19); notes concerning "N/A = not applicable" added due to customer requests, general hint concerning N/A added and hint concerning slave address (byte 0) vs. slave address (byte) of response datagrams added (section

6.8, page 30); hints added concerning the SWI switch input and its ESW flag (section 5.1.9, page 12); hints concerning physical address (section 6.3, page 26); GetFullStatus1 command (Response) Byte 1 Structure corrected (section 6.8.1, page 30); GetFullStatus2 command (Response) Byte 1 Structure corrected (section 6.8.2, page 31); explanations and cross reference for OTP from section 6.8.10, page 34 to section 5.2.3 page 21; labeling indices of contend for TagPos 1 & 2 corrected for the RunInit Command (section 6.8.8, page 33)

Mach 15, 2007 QFN32 package information added: Pin and Signal description to

section 2.6 page 6, Ordering information to 4 page 7, Package Outline information to 8 page 41; Comment to 5.1.11, page 14: positions of Pos1 and Pos2; orientation of marking outline for TMC222 symbols referring to the SOIC package adapted to real marking (p. 1, p. 6)

TRINAMIC TMC222 Technical data

Specifications and Main Features

Frequently Asked Questions

User Manual