TRINAMIC TMC239A-SA Datasheet

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 1

TMC239/A – DATA SHEET

High current microstep stepper motor driver
with protection, diagnostics and SPI Interface

TRINAMIC® Motion Control GmbH & Co KG
Hamburg, Germany

www.trinamic.com

Features

The TMC239 / TMC239A (1) is a dual full bridge driver IC for bipolar stepper motor control
applications. The TMC239 is realized in a HVCMOS technology and directly drives eight external Low­RDS-ON high efficiency MOSFETs. It supports more than 6000mA coil current. The low power
dissipation makes the TMC239 an optimum choice for drives, where a high reliability is desired. With
additional drivers, motor current and voltage can be increased. The driver transistors can be chosen
depending on output current or environment temperature. Internal DACs allow microstepping as well
as smart current control. The device can be controlled by a serial interface (SPI™i) or by analog /
digital input signals. Short circuit, temperature, undervoltage and overvoltage protection are integrated.

 More than 6000mA using 8 external MOS transistors (e.g. 4A RMS)
 Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals
 Short circuit and over temperature protection integrated
 Overvoltage protection integrated (A-type)
 Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage
 Integrated 4 bit DACs allow up to 16 times microstepping via SPI, any resolution via analog control

(for up to 64 microsteps via SPI see last manual page)

 Mixed decay feature for smooth motor operation
 Slope control user programmable to reduce electromagnetic emissions
 Chopper frequency programmable via a single capacitor or external clock
 Current control allows cool motor and driver operation
 7V to 34V motor supply voltage (A-type)
 up to 58V motor supply voltage using a few additional low cost components
 External drivers can be added for higher motor voltages and higher currents (e.g. 50V, 5A)
 Only 4 external PMOS transistors required for unipolar operation
 3.3V or 5V operation for digital part
 Low power dissipation via low RDS-ON power stage
 Standby and shutdown mode available
 Choice of SO28 or chip size MLF package

(1) The term TMC239 in this datasheet always refers to the TMC239A and the TMC239. The major

differences in the older TMC239 are explicitly marked with “non-A-type”. The TMC239A brings a
number of enhancements and is fully backward compatible to the TMC239.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 2

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

PINNING .................................................................................................................................................. 5

PACKAGE CODES ................................................................................................................................... 5

SO28 DIMENSIONS ................................................................................................................................ 6

QFN32 DIMENSIONS .............................................................................................................................. 6

APPLICATION CIRCUIT / BLOCK DIAGRAM ....................................................................................... 7

PIN FUNCTIONS ...................................................................................................................................... 7

SELECTING POWER TRANSISTORS ................................................................................................... 8

LIST OF RECOMMENDED TRANSISTORS .................................................................................................... 8

LAYOUT CONSIDERATIONS ................................................................................................................ 9

USING ADDITIONAL POWER DRIVERS ............................................................................................. 10

CONTROL VIA THE SPI INTERFACE ................................................................................................. 11

SERIAL DATA WORD TRANSMITTED TO TMC239 ..................................................................................... 11

SERIAL DATA WORD TRANSMITTED FROM TMC239 ................................................................................ 11

TYPICAL MOTOR COIL CURRENT VALUES ................................................................................................ 12

BASE CURRENT CONTROL VIA INA AND INB IN SPI MODE ....................................................................... 12

CONTROLLING THE POWER DOWN MODE VIA THE SPI INTERFACE ........................................................... 12

OPEN LOAD DETECTION ........................................................................................................................ 13

STANDBY AND SHUTDOWN MODE .......................................................................................................... 13

POWER SAVING .................................................................................................................................... 13

PROTECTION FUNCTIONS ................................................................................................................. 14

OVERCURRENT PROTECTION AND DIAGNOSIS ........................................................................................ 14

OVER TEMPERATURE PROTECTION AND DIAGNOSIS ................................................................................ 14

OVERVOLTAGE PROTECTION AND ENN PIN BEHAVIOR ............................................................................ 14

CHOPPER PRINCIPLE ......................................................................................................................... 15

CHOPPER CYCLE / USING THE MIXED DECAY FEATURE ........................................................................... 15

ADAPTING THE SINE WAVE FOR SMOOTH MOTOR OPERATION .................................................................. 16

BLANK TIME ......................................................................................................................................... 16

BLANK TIME SETTINGS .......................................................................................................................... 16

CLASSICAL NON-SPI CONTROL MODE (STAND ALONE MODE) .................................................. 17

PIN FUNCTIONS IN STAND ALONE MODE ................................................................................................. 17

INPUT SIGNALS FOR MICROSTEP CONTROL IN STAND ALONE MODE .......................................................... 17

UNIPOLAR OPERATION ...................................................................................................................... 18

DIFFERENCES OF SHORT CIRCUIT BEHAVIOR IN UNIPOLAR OPERATION MODE ........................................... 18

DIFFERENCES IN CHOPPER CYCLE IN UNIPOLAR OPERATION MODE .......................................................... 18

CALCULATION OF THE EXTERNAL COMPONENTS ....................................................................... 19

SENSE RESISTOR ................................................................................................................................. 19

EXAMPLES FOR SENSE RESISTOR SETTINGS .......................................................................................... 19

HIGH SIDE OVERCURRENT DETECTION RESISTOR RSH ............................................................................ 19

MAKING THE CIRCUIT SHORT CIRCUIT PROOF ......................................................................................... 20

OSCILLATOR CAPACITOR ...................................................................................................................... 21

TABLE OF OSCILLATOR FREQUENCIES ................................................................................................... 21

PULL-UP RESISTORS ON UNUSED INPUTS ............................................................................................... 21

POWER SUPPLY SEQUENCING CONSIDERATIONS .................................................................................... 21

SLOPE CONTROL RESISTOR ................................................................................................................. 22

ABSOLUTE MAXIMUM RATINGS ....................................................................................................... 23

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 3

ELECTRICAL CHARACTERISTICS ..................................................................................................... 23

OPERATIONAL RANGE .......................................................................................................................... 23

DC CHARACTERISTICS ......................................................................................................................... 24

AC CHARACTERISTICS ......................................................................................................................... 26

THERMAL PROTECTION (1) ................................................................................................................... 26

SPI INTERFACE TIMING ...................................................................................................................... 27

PROPAGATION TIMES ........................................................................................................................... 27

USING THE SPI INTERFACE ................................................................................................................... 27

SPI FILTER (ONLY A-TYPE) ................................................................................................................... 27

APPLICATION NOTE: EXTENDING THE MICROSTEP RESOLUTION ............................................. 28

DOCUMENTATION REVISION ............................................................................................................ 29

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 4

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.

© TRINAMIC Motion Control GmbH & Co KG 2005
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 from its use.

Specifications subject to change without notice.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 5

TMC239 /

239A SO28

1
2
3
4
5
6
7

28
27
26
25
24
23
22

17

SDO

SDI

LA2 HA1

INB

HA2

SRA

LA1

AGND

ANN

SLP
INA

16

BL2

SCK

15

LB1

8

9
10
11
12
13
14

SRB

CSN

HB1

BL1

OSC

LB2

20

GND

19

VS

18

VT

21

VCC

HB2

ENN

SPE

Type

Package

Temperature range

Lead free

Code/marking

TMC239A

SO28

automotive (1)

Yes

TMC239A-SA

TMC239

SO28

automotive (1)

From date code 05/05
(wwyy)

TMC239-SA

TMC239A

QFN32, 7*7mm

automotive (1)

Yes

TMC239A-LA /
239A-LA

AGND

ANN

HA1
HA2

-

SRA

INB

VS

ENN

CSN

SDI

SCK

SRB

LB2

LB1

-

HB2

HB1

BL2

VT

BL1

Top view

LA1
LA2

32 31 30 29 28 27 26 25

9 10 11 12 13 14 15 16

17 18 19 20 21 22 23 24

1 2 3 4 5 6 7 8

TMC 239-LA

SPE

SDO

OSC

GND

GND

VCC

INA

-

SLP

Pinning

Note: Cooling plane on -LA type should be connected to GND or left open.

Package codes

(1) ICs are not yet tested according to automotive standards, but are usable within the complete

temperature range.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 6

REF

MIN.

MAX.

A

10

10.65

B

17.7

18.1

C

7.4

7.6 D 1.4 E 2.65

F

0.25

G

0.1

0.3 H 0.36

0.49

I

0.4

1.1 K 1.27

REF

MIN

NOM

MAX

A

0.80

0.90

1.00

A1

0.00

0.02

0.05

A3 0.20

L1

0.03

0.15

D 7.0

E

7.0

D2

5.00

5.15

5.25

E2

5.00

5.15

5.25

L

0.45

0.55

0.65

b

0.25

0.30

0.35

e 0.65

I

E

F

C

A

K

H

B

D

G

-C-

A3

A1

SIDE VIEW

PLANE

A

ccc C

0.08 CNX

SEATING

D

D/2

INDEX AREA

E

aaa C

aaa C

TOP VIEW

2x

2x

(D/2 xE/2)

E/2

-B-

-A-

NXL

e

NXb

D2/2

D2

E2/2

2

1

E2

bbb C A B

ddd C

-B-

-A-

N N-1

BTM VIEW

6

5

(D/2 xE/2)

INDEX AREA

SEE

DETAIL B

SEE

DETAIL B

BOTTOM VIEW WITH TYPE C ID

N-1

1

2

N

RADIUS

Datum A or B

DETAIL B

Terminal Tip

e

e/2

L1

SO28 Dimensions

All dimensions are in mm.

QFN32 Dimensions

All dimensions are in mm.
Attention: Drawing not to scale.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 7

R

S

R

SH

Coil A

+V

M

R

S

Coil B

100µF220nF

NN

N N

PP

P P

TMC239A

HA1

HA2

LA2

LA1

LB1

LB2

HB2

HB1

SRB

SRA

VT

VS

4

DAC

4

DAC

INA

INB

VREF

REFSEL

PWM-CTRL

ANNSPE

1

0

0

1

Current Controlled

Gate Drivers

Current Controlled

Gate Drivers

SLP

R

SLP

PWM-CTRL

OSC

Control & Diagnosis

Parallel

Control

SPI-

Interface

REFSEL

GNDAGND

Under-

voltage

Tem-

perature

OSC

VCC

1nF

100nF

+V

CC

SCK

SDI

SDO

CSN

BL2BL1

[MDBN]

[PHA]

[ERR]

[PHB]

stand alone mode

[MDAN]

[...]: function in stand alone mode

ENN

VCC/2

Pin

Function

Pin

Function

VS

Motor supply voltage

VT

Short to GND detection comparator –
connect to VS if not used

VCC

3.0-5.5V supply voltage for analog
and logic circuits

GND

Digital / Power ground

AGND

Analog ground (Reference for SRA,
SRB, OSC, SLP, INA, INB)

OSC

Oscillator capacitor or external clock
input for chopper

INA

Analog current control phase A

INB

Analog current control input phase B

SCK

Clock input of serial interface

SDO

Data output of serial interface (tri-state)

SDI

Data input of serial interface

CSN

Chip select input of serial interface

ENN

Device enable (low active), and
overvoltage shutdown input

SPE

Enable SPI mode (high active). Tie to
GND for non-SPI applications

ANN

Enable analog current control via
INA and INB (low active)

SLP

Slope control resistor. Tie to GND for
fastest slope

BL1, BL2

Digital blank time select

SRA, SRB

Bridge A/B current sense resistor input

HA1, HA2,
HB1, HB2

Outputs for high side P-channel
transistors

LA1, LA2,
LB1, LB2

Outputs for low side N-channel
transistors

Application Circuit / Block Diagram

Pin Functions

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 8

Manufacturer
and type

Package
(#Trans)

max. appli­cation voltage

RDSON
[Ohm]

Total gate
charge [nC]

Typical maximum
application current

Remark

Fairchild Semi
FDD 8424 H

TO252-4
(1N,1P)

34V

0.023

0.045

10
10

6000mA

(1)
(2)

Siliconix
SI 7501 DN

PPack
(1N,1P)

28.5V

0.035

0.055

5.5

8.0

4200mA

(1)

TRINAMIC
TMC34NP

PPack
(1N,1P)

28.5V

0.035

0.055

5.5

8.0

4200mA

(1)

Fairchild Semi
FDS 8960

SO8
(1N,1P)

34V

0.023

0.050

7.0

7.0

4000mA

(1)
(2)

Fairchild Semi
FDS 8958 A

SO8
(1N,1P)

28.5V

0.023

0.050

7.0

7.0

4000mA

(2)

Siliconix
SI 4599 DY

SO8
(1N,1P)

34V

0.035

0.050

6.0

15.5

4000mA
(1)

Siliconix
SI 4532 ADY

SO8
(1N,1P)

28.5V

0.055

0.080

4.5

6.5

3000mA

5000mA (2 parallel)

(3)

Fairchild Semi
FDS 8333C

SO8
(1N,1P)

28.5V

0.075

0.130

2.9

3.0

2800mA

5000mA (2 parallel)

(3)

IRF 9952
(/ IRF 7509)

SO8
(1N,1P)

28.5V

0.075

0.280

4.5

4.0

2500mA

TRINAMIC
TMC32NP-MLP

MLP
(1N,1P)

28.5V

0.120

0.250

2.8

2.5

2300mA
4400mA (2 parallel)

very
small! (3)

Siliconix
SI 5504

1206-8
(1N,1P)

28.5V

0.090

0.170

3.0

3.2

2000mA

very
small!

TRINAMIC
TMC32NP2-SM8

SM8
(2N,2P)

28.5V

0.120

0.250

2.8

2.5

2000mA

only 2
packages!

Siliconix
SI 4559 EY

SO8
(1N,1P)

34V or
58V (see A/N)

0.045

0.120

11
10

3000mA
2500mA (at 48V)

(4)

Selecting Power Transistors

Selection of power transistors for the TMC239 depends on required current, voltage and thermal
conditions. Driving large transistors directly with the TMC239 is limited by the gate capacity of these
transistors. If the total gate charge is too high, slope time increases and leads to a higher switching
power dissipation. A total gate charge of maximum 25nC per transistor pair (N gate charge + P gate
charge) is recommended (at 25nC, tie pin SLP to GND to get an acceptable slope). The table below
shows a choice of transistors which can be driven directly by the TMC239. The maximum application
current mainly is a function of cooling and environment temperature. RDSon and gate charge are read
at the nominal drive voltage of 6V and 25°C.

All of these transistor types are mainly cooled via their drain connections. In order to provide sufficient
cooling, the transistors should be directly connected to massive traces on the PCB which are widened
near the transistor package, providing a copper area of some square cm. The heat then is dissipated
vertically through the PCB to a massive power or ground plane, which shall cover most of the PCB
area in order to use the whole PCB for cooling. As an example, the minimum PCB size required to
reach the given current for the SI7501, is about 42mm * 42mm, yielding in a heat up of the transistor
packages of about 85°C above ambient temperature. With a 100mm * 100mm PCB, this reduced to
70°C above ambient temperature, so that safe operation is possible up to 60°C ambient temperature at
maximum current (transistor package at 130°C).

List of recommended transistors

(1) These P-channel transistors have a very high drain to gate capacity, which may introduce

(2) Compare (1), but for N-channel transistor. Protect LA/LB outputs with one schottky diode to GND.
(3) Higher current with two devices in parallel, i.e. using 8 double transistors instead of four.
(4) See application note document for simple extension to operate at up to 58V.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

destructive current impulses into the HA/HB outputs by forcing them above the power supply level,
depending on the low-side slope. To ensure reliability, connect one MSS1P3 or ZHCS1000 or an
SS14 1A schottky diode or similar to both HA and HB outputs against VS to protect them.

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 9

+VM

GND

GND­Plane

R

SB

R

SA

Bridge A Bridge B

R

SH

C

VM

100R

optional voltage

divider

VS

VT

TMC249/

TMC239A

100R

100R

3.3 ­10nF

SRA

SRB

optional filter

AGND

GND

100nF R

DIV

Layout Considerations

For optimal operation of the circuit a careful board layout is important, because of the combination of
high current chopper operation coupled with high accuracy threshold comparators. Please pay special
attention to massive grounding. Depending on the required motor current, either a single massive
ground plane or a ground plane plus star connection of the power traces may be used. The schematic
shows how the high current paths can be routed separately, so that the chopper current does not flow

through the system’s GND-plane. Tie the TMC239’s AGND and GND to the GND plane. Additionally,

use enough filtering capacitors located near to the board’s power supply input and small ceramic

capacitors near to the power supply connections of the TMC239. Use low inductance sense resistors,
or add a ceramic capacitor in parallel to each resistor to avoid high voltage spikes. In some
applications it may become necessary to introduce additional RC-filtering into the SRA / SRB line, as
shown in the schematic, to prevent spikes from
triggering the short circuit protection or the
chopper comparator. Alternatively, a 470nF
ceramic capacitor can be placed across the
sense resistors. If you want to take advantage
of the thermal protection and diagnosis, ensure,
that the power transistors are very close to the
package, and that there is a good thermal
contact between the TMC239 and the external
transistors. Please be aware, that long or thin
traces to the sense resistors may add
substantial resistance and thus reduce output
current. The same is valid for the high side
shunt resistor. Place the optional shunt resistor
voltage divider near the TMC239, in order to avoid voltage drop in the VCC plane to add up to the
measured voltage.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 10

High current, high
voltage MOS, e.g.
SI4450

R

S

Coil

NN

HA1

LA1

SRA

VT

TMC249/

TMC239

VS

small signal P­MOS, e.g. BSS84

+12V

LS­Driver

+VMe.g. 50V

HS-Driver

1µF

C

DHS

470p

C

DLS

470p

2n2

C-Pump
20kHz
ICM7555

to other
bridges

100R

4.7nF
opt.

22K

N N

IR2101

12V

390R

390R

1K

SLP

10K

Set HS and LS
current to 10mA

1K

High voltage logic
level MOS bridge

R

S

Coil

NN

PP

HA1

LA1

SRA

VT

TMC249/

TMC239

VS

+V

S

+VM20..60V

C

DHS

C

DLS

1K

1/2 74HC244

on low side

+5V

1K

1/2 74HC244

on high side

VM-5.2V

1K

SLP

15K

set to 7 mA high­side drive current

LM337

HV

120R

390RADJ

OUT

IN

55V low current

N-MOS

7..15V

100R

100R

GND

VCC

VCC

GND

/OE

/OE

Using additional Power Drivers

For higher voltage and higher output current it is possible to add external MOSFET gate drivers. Both,
dedicated transistor drivers are suitable, as well as a circuit based on standard HCMOS drivers. It is
important to understand the function of dedicated gate drivers for N-channel transistors: Since the
chopping also can be stopped in open load conditions, the gate drive circuit for the upper transistors
should allow for continuous ON conditions. In the schematic below this is satisfied by attaching a weak
additional charge pump oscillator and pumping the VS up to the high voltage supply. Do not enable the
TMC239, before the gate driver capacitors are charged to an appropriate voltage. A current sensing
comparator in the VM line pulling down the VT pin by some 100mV on overcurrent can be added, if
required. Since the TMC239 in this application can not sense switch-off of the transistor gates to
ensure break-before-make operation, the break before-make-delays have to be set by capacitive
loading of its transistor drive outputs. The capacitors CdHS and CdLS are charged / discharged with
the nominal gate current. The opposite output is not enabled, before the switching-off output has been
discharged to 0.5V. To calculate the timing, refer to the required logic levels of the attached power
driver, resp. the attached PMOS. For CdHS and CdLS 470pF give about 100ns. Both circuits do not
show decoupling capacitors and further details.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 11

Bit

Name

Function

Remark

11

MDA

mixed decay enable phase A

“1” = mixed decay

10

CA3

current bridge A.3

MSB

9

CA2

current bridge A.2

8 CA1

current bridge A.1

7 CA0

current bridge A.0

LSB

6

PHA

polarity bridge A

“0” = current flow from OA1 to OA2

5

MDB

mixed decay enable phase B

“1” = mixed decay

4

CB3

current bridge B.3

MSB

3

CB2

current bridge B.2

2 CB1

current bridge B.1

1 CB0

current bridge B.0

LSB

0

PHB

polarity bridge B

“0” = current flow from OB1 to OB2

Bit

Name

Function

Remark

11 0 always “0”

10 0 always “0”

9 0

always “0”

8 1

always “1”

7 OT

overtemperature

“1” = chip off due to overtemperature

6

OTPW

temperature prewarning

“1” = prewarning temperature exceeded

5

UV

driver undervoltage

“1” = undervoltage on VS

4

OCHS

overcurrent high side

3 PWM cycles with overcurrent within 63 PWM cycles

3

OLB

open load bridge B

no PWM switch off for 14 oscillator cycles

2

OLA

open load bridge A

no PWM switch off for 14 oscillator cycles

1

OCB

overcurrent bridge B low side

3 PWM cycles with overcurrent within 63 PWM cycles

0

OCA

overcurrent bridge A low side

3 PWM cycles with overcurrent within 63 PWM cycles

Control via the SPI Interface

The SPI data word sets the current and polarity for both coils. By applying consecutive values,
describing a sine and a cosine wave, the motor can be driven in microsteps. Every microstep is
initiated by its own telegram. Please refer to the description of the analog mode for details on the
waveforms required. The SPI interface timing is described in the timing section.

Serial data word transmitted to TMC239

(MSB transmitted first)

Serial data word transmitted from TMC239

(MSB transmitted first)

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 12

Current setting
CA3..0 / CB3..0

Percentage of
current

Typical trip voltage of the current sense comparator
(internal reference or analog input voltage of 2V is used)

0000

0%

0 V (bridge continuously in slow decay condition)

0001

6.7%

23 mV

0010

13.3%

45 mV

...

... 1110

93.3%

317 mV

1111

100%

340 mV

47K

100nF

AGND

INA

INB

ANN

µC­PWM

using PWM signal

100K

µC­Port .2

8 level via R2R-DAC

51K51K51K

100K

100K

µC­Port .1

µC­Port .0

R1

2 level control

R2

µC­Port

+V

CC

10nF

Standard

function

11

MxA10CA39CA2

6

PhA

- 0 -

Control

word

function

- -

Bit

Enable standby mode and
clear error flags

8

CA17CA0

5

MxB4CB33CB2

0

PhB

2

CB11CB0

000 0 00 0

Typical motor coil current values

The current values correspond to a standard 4 Bit DAC, where 100%=15/16. The contents of all
registers is cleared to “0” on power-on reset or disable via the ENN pin, bringing the IC to a low power
standby mode. All SPI inputs have Schmitt-Trigger function.

Base current control via INA and INB in SPI mode

In SPI mode, the IC can use an external reference voltage for each DAC. This allows the adaptation to
different motors. This mode is enabled by tying pin ANN to GND. A 2.0V input voltage gives full scale
current of 100%. In this case, the typical trip voltage of the current sense comparator is determined by
the input voltage and the DAC current setting (see table above) as follows:

V
V

TRIP,A
TRIP,B

= 0.17 V
= 0.17 V

 “percentage SPI current setting A”

INA

 “percentage SPI current setting B”

INB

A maximum of 3.0V VIN is possible. Multiply the percentage of base current setting and the DAC table
to get the overall coil current. It is advised to operate at a high base current setting, to reduce the
effects of noise voltages. This feature allows a high resolution setting of the required motor current
using an external DAC or PWM-DAC (see schematic for examples).

Controlling the power down mode via the SPI interface

Programming current value “0000” for both coils at a time clears the overcurrent flags and switches the

TMC239 into a low current standby mode with coils switched off.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 13

Open load detection

Open load is signaled, whenever there are more than 14 oscillator cycles without PWM switch off. Note

that open load detection is not possible while coil current is set to “0000”, because the chopper is off in

this condition. The open load flag will then always be read as inactive (“0”). During overcurrent and
undervoltage or overtemperature conditions, the open load flags also become active!

Due to their principle, the open load flags not only signal an open load condition, but also a torque loss
of the motor, especially at high motor velocities. To detect only an interruption of the connection to the
motor, it is advised to evaluate the flags during stand still or during low velocities only (e.g. for the first
or last steps of a movement).

Standby and shutdown mode

The circuit can be put into a low power standby mode by the user, or, automatically goes to standby on
Vcc undervoltage conditions. Before entering standby mode, the TMC239 switches off all power
transistors, and holds their gates in a disable condition using high ohmic resistors. In standby mode the
oscillator becomes disabled and the oscillator pin is held at a low state. The standby mode is available
via the interface in SPI-mode and via the ENN pin in non-SPI mode.

The shutdown mode even reduces supply current further. It can only be entered in SPI-mode by pulling
the ENN pin high. In shutdown additionally all internal reference voltages become switched off and the
SPI circuit is held in reset.

Power saving

The possibility to control the output current can dramatically save energy, reduce heat generation and
increase precision by reducing thermal stress on the motor and attached mechanical components. Just
reduce motor current during stand still: Even a slight reduction of the coil currents to 70% of the current
of the last step of the movement, halves power consumption! In typical applications a 50% current
reduction or even less during stand still is reasonable, bringing power consumption down to one
quarter or even less.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 14

ENN

R2

µC-Port (opt.)

low=Enable,

high=Disable

R1

+V

M

for switch off at 26 - 29V:
at VCC=5V: R1=100K; R2=10K
at VCC=3.3V: R1=160K; R2=10K

Protection Functions

Overcurrent protection and diagnosis

The TMC239 uses the current sense resistors on the low side to detect an overcurrent: Whenever a
voltage above 0.61V is detected, the PWM cycle is terminated at once and all transistors of the bridge
are switched off for the rest of the PWM cycle. The error counter is increased by one. If the error
counter reaches 3, the bridge remains switched off for 63 PWM cycles and the error flag is read as
“active”. The user can clear the error condition in advance by clearing the error flag. The error counter
is cleared, whenever there are more than 63 PWM cycles without overcurrent. There is one error
counter for each of the low side bridges, and one for the high side. The overcurrent detection is
inactive during the blank pulse time for each bridge (resp. the corresponding bridge in non-A-type), to
suppress spikes which can occur during switching.

The high side comparator detects a short to GND or an overcurrent, whenever the voltage between VS
and VT becomes higher than 0.15 V at any time, except for the blank time period which is logically
ORed for both bridges. Here all transistors become switched off for the rest of the PWM cycle,
because the bridge with the failure is unknown.

The overcurrent flags can be cleared by disabling and re-enabling the chip either via the ENN pin or by

sending a telegram with both current control words set to “0000”. In high side overcurrent conditions

the user can determine which bridge sees the overcurrent, by selectively switching on only one of the
bridges with each polarity (therefore the other bridge should remain programmed to “0000”).

Over temperature protection and diagnosis

The circuit switches off all output power transistors during an over temperature condition. The over
temperature flag should be monitored to detect this condition. The circuit resumes operation after cool
down below the temperature threshold. However, operation near the over temperature threshold
should be avoided, if a high lifetime is desired.

Overvoltage protection and ENN pin behavior

During disable conditions the circuit switches off all output power transistors and goes into a low

current shutdown mode. All register contents is cleared to “0”, and all status flags are cleared. The

circuit in this condition can also stand a higher voltage, because the voltage then is not limited by the
maximum power MOSFET voltage. The enable pin ENN provides a fixed threshold of ½ VCC (TTL level
in non-A-type) to allow a simple overvoltage protection up to 40V using an external voltage divider (see
schematic for A-type).

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 15

R

SENSE

SWC

SWOSWC

SWO

I

On phase:
Current flows in target
direction

R

SENSE

I

Fast decay phase:
Current flows back into
power supply

SWC SWO

SWO

R

SENSE

I

Slow decay phase:
Current re-circulation

SWC SWO

SWOSWC

oscillator clock

resp. external clock

actual current phase A

target current phase A

mixed decay disabled mixed decay enabled

on slow decay on

fast decay

slow decay

Chopper Principle

Chopper cycle / Using the mixed decay feature

The TMC239 uses a quiet fixed frequency chopper. Both coils are chopped with a phase shift of 180
degrees. The mixed decay option is realized as a self stabilizing system (pat. fi.), by shortening the fast
decay phase, if the ON phase becomes longer. It is advised to enable the mixed decay for each phase
during the second half of each microstepping half-wave, when the current is meant to decrease. This
leads to less motor resonance, especially at medium velocities. With low velocities or during standstill
mixed decay should be switched off. In applications requiring high resolution, or using low inductivity
motors, the mixed decay mode can also be enabled continuously, to reduce the minimum motor
current which can be achieved. When mixed decay mode is continuously on or when using high
inductivity motors at low supply voltage, it is advised to raise the chopper frequency to minimum
36kHz, because the half chopper frequency could become audible under these conditions.

When polarity is changed on one bridge, the PWM cycle on that bridge becomes restarted at once.
Fast decay switches off both upper transistors, while enabling the lower transistor opposite to the

selected polarity. Slow decay always enables both lower side transistors.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 16

t

I

Target current
Coil current

t

I

Target current
Coil current

Coil current does not have optimum shape Target current corrected for optimum shape of coil current

BL2

BL1

Typical blank time

GND

GND

0.6 µs

GND

VCC

0.9 µs

VCC

GND

1.2 µs

VCC

VCC

1.5 µs

Adapting the sine wave for smooth motor operation

After reaching the target current in each chopper cycle, both, the slow decay and the fast decay cycle
reduce the current by some amount. Especially the fast decay cycle has a larger impact. Thus, the
medium coil current always is a bit lower than the target current. This leads to a flat line in the current
shape flowing through the motor. It can be corrected, by applying an offset to the sine shape. In mixed
decay operation via SPI, an offset of 1 does the job for most motors.

Blank Time

The TMC239 uses a digital blanking pulse for the current chopper comparators. This prevents current
spikes, which can occur during switching action due to capacitive loading, from terminating the
chopper cycle. The lowest possible blanking time gives the best results for microstepping: A long blank
time leads to a long minimum turn-on time, thus giving an increased lower limit for the current. Please
remark, that the blank time should cover both, switch-off time of the lower side transistors and turn-on
time of the upper side transistors plus some time for the current to settle. Thus the complete switching
duration should never exceed 1.5µs. With slow external power stages it will become necessary to add
additional RC-filtering for the sense resistor inputs.

The TMC239 allows adapting the blank time to the load conditions and to the selected slope in four
steps (the effective resulting blank times are about 200ns shorter in the non-A-type):

Blank time settings

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 17

Pin

Stand alone
mode name

Function in stand alone mode

SPE

(GND)

Tie to GND to enable stand alone mode

ANN

MDAN

Enable mixed decay for bridge A (low = enable)

SCK

MDBN

Enable mixed decay for bridge B (low = enable)

SDI

PHA

Polarity bridge A (low = current flow from output OA1 to OA2)

CSN

PHB

Polarity bridge B (low = current flow from output OB1 to OB2)

SDO

ERR

Error output (high = overcurrent on any bridge, or over temperature). In this
mode, the pin is never tri-stated.

ENN

ENN

Standby mode (high active), high causes a low power mode of the device.
Setting this pin high also resets all error conditions.

INA,
INB

INA,
INB

Current control for bridge A, resp. bridge B. Refer to AGND. The sense
resistor trip voltage is 0.34V when the input voltage is 2.0V. Maximum input
voltage is 3.0V.

90° 180° 270° 360°

INA

INB

PHA

(SDI)

PHB

(CSN)

MDAN

(ANN)

MDBN

(SCK)

Use dotted line to improve performance
at medium velocities

Classical non-SPI control mode (stand alone mode)

The driver can be controlled by analog current control signals and digital phase signals. To enable this
mode, tie pin SPE to GND. In this mode, the SPI interface is disabled and the SPI input pins have
alternate functions. The internal DACs are forced to “1111”.

Pin functions in stand alone mode

Input signals for microstep control in stand alone mode

Attention: When transferring these waves to SPI operation, please remark, that the mixed decay bits
are inverted when compared to stand alone mode.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 18

HA1

LA2

SRA

TMC249/
TMC239

HA2

PP

LA1

+V

M

One coil of

the motor

R

S

Unipolar Operation

The TMC239 can also be used in a unipolar motor application with microstepping. In this configuration,
only the four upper power transistors are required.

Differences of short circuit behavior in unipolar operation mode

Since there is no possibility to disable a short to VS condition, the circuit is not completely short circuit
proof. In a low cost application a motor short would be covered, just using the bottom sense resistors
(see schematic).

Differences in chopper cycle in unipolar operation mode

In unipolar mode, one of the upper side transistors is chopped, depending on the phase polarity. Slow
decay mode always means, that both transistors are disabled. There is no difference between slow

and fast decay mode, and the mixed decay control bits are “don’t care”. The transistors have to stand

an off voltage, which is slightly higher than the double of the supply voltage. Voltage decay in the coil
can be adapted to the application by adding additional diodes and a zener diode to feed back coil
current in flyback conditions to the supply.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 19

RS

I

max

0.47

723mA

0.33

1030mA

0.22

1545mA

0.15

2267mA

0.10

3400mA

Calculation of the external components

Sense Resistor

Choose an appropriate sense resistor (RS) to set the desired motor current. The maximum motor

current is reached, when the coil current setting is programmed to “1111”. This results in a current

sense trip voltage of 0.34V when the internal reference or a reference voltage of 2V is used.
When operating your motor in fullstep mode, the maximum motor current is as specified by the
manufacturer. When operating in sinestep mode, multiply this value by 1.41 for the maximum current
(I

).

max

RS = V

In a typical application:

RS = 0.34V / I
RS: Current sense resistor of bridge A, B

V

TRIP

I

max

/ I

TRIP

max

max

: Programmed trip voltage of the current sense comparators

: Desired maximum coil current

Examples for sense resistor settings

High side overcurrent detection resistor RSH

The TMC239 detects an overcurrent to ground, when the voltage between VS and VT exceeds
150mV. The high side overcurrent detection resistor should be chosen in a way that 100mV voltage
drop are not exceeded between VS and VT, when both coils draw the maximum current. In a sinestep
application, this is when sine and cosine wave have their highest sum, i.e. at 45 degrees,
corresponding to 1.41 times the maximum current setting for one coil. In a fullstep application this is
the double coil current.

In a microstep application:

RSH = 0.1V / (1.41  I

max

)

In a fullstep application:

RSH = 0.1V / (2  I

max

)

RSH: High side overcurrent detection resistor
I

: Maximum coil current

max

However, if the user desires to use higher resistance values, a voltage divider in the range of 10 to
100 can be used for VT. This might also be desired to limit the peak short to GND current, as
described in the following chapter.

Attention: A careful PCB layout is required for the sense resistor traces and for the RSH traces.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 20

+VM

GND

R

SB

R

SA

R

SH

C

VM

100R

VS

VT

100R

100R

SRA

SRB

GND

100nF R

DIV

internal

R

DIV

values for reference
Microstep: 27R
Fullstep: 18R

INA/INB
up to3V
18R
12R

RSH=RSA=R

SB

Making the circuit short circuit proof

In practical applications, a short circuit does not describe a static condition, but can be of very different
nature. It typically involves inductive, resistive and capacitive components. Worst events are
unclamped switching events, because huge voltages can build up in inductive components and result
in a high energy spark going into the driver, which can destroy the power transistors. The same is true
when disconnecting a motor during operation: Never disconnect the motor during operation!

There is no absolute protection against random short circuit conditions, but pre-cautions can be taken
to improve robustness of the circuit:
In a short condition, the current can become very high before it is interrupted by the short detection,
due to the blanking during switching and internal delays. The high-side transistors allow a high current
flowing for the selected blank time. The lower the external inductivity, the faster the current climbs. If
inductive components are involved in the short, the same current will shoot through the low-side
resistor and cause a high negative voltage spike at the sense resistor. Both, the high current and the
voltage spikes are a danger for the driver.

Thus there are a three things to be done, if short circuits are expected:

1. Protect SRA/SRB inputs using a series resistance

2. Increase RSH to limit maximum transistor current: Use same value as for sense resistors

3. Use as short as possible blank time
The second measure effectively limits short circuit current, because the upper driver transistor with its

fixed ON gate voltage of 6V forms a constant current source together with its internal resistance and
RSH. A positive side effect is, that only one type of low ohmic resistor is required. The drawback is, that
power dissipation increases. A high side short detection resistor of 0.33 Ohms limits maximum high
side transistor current to typically 4A. The schematic shows the modifications to be done.

However, the effectiveness of these measures should be tested in the given application.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 21

[nF] C s40

1

f

OSC

OSC







f

OSC

typ.

C

OSC

16.7kHz

1.5nF

20.8kHz

1.2nF

25.0kHz

1.0nF

30.5kHz

820pF

36.8kHz

680pF

44.6kHz

560pF

Oscillator Capacitor

The PWM oscillator frequency can be set by an external capacitor. The internal oscillator uses a 28k
resistor to charge / discharge the external capacitor to a trip voltage of 2/3 Vcc respectively 1/3 Vcc. It
can be overdriven using an external CMOS level square wave signal. Do not set the frequency higher
than 100kHz and do not leave the OSC terminal open! The two bridges are chopped with a phase shift
of 180 degrees at the positive and at the negative edge of the clock signal.

fOSC: PWM oscillator frequency
COSC: Oscillator capacitor in nF

Table of oscillator frequencies

Please remark that an unnecessary high frequency leads to high switching losses in the power
transistors and in the motor. For most applications a chopper frequency slightly above audible range is
sufficient. When audible noise occurs in an application, especially with mixed decay continuously
enabled, the chopper frequency should be two times the audible range.

Pull-up resistors on unused inputs

The digital inputs all have integrated pull-up resistors, except for the ENN input, which is in fact an
analog input. Thus, there are no external pull-up resistors required for unused digital inputs which are
meant to be positive.

Power supply sequencing considerations

Upon power up, the driver initializes and switches off the bridge power transistors. However, in order
for the internal startup logic to work properly, the Vcc supply voltage has to be at least 1.0V,
respectively, the Vs supply voltage has to be at least 5.0V. When Vs goes up with Vcc at 0V, a medium
current temporary cross conduction of the power stage can result at supply voltages between 2.4V and

4.8V. In this voltage range, the upper transistors conduct, while the gates of the lower transistors are
floating. While this typically does no harm to the driver, it may hinder the power supply from coming up
properly, depending on the power supply start up behavior.

There are two possibilities to prevent this from occurring:
 Add resistors from the LA and LB outputs to GND in the range of 1M keeping the low side N-

channel MOSFETs gates at GND.

 Alternatively, either use a dual voltage power supply, or use a local regulator, generating the 5V or

3.3V Vcc voltage.
Please pay attention to the local regulator start up voltage: Some newer switching regulators do not
start, before the input voltage has reached 5V. Therefore it is recommended to use a standard
linear regulator like 7805 or LM317 series or a low drop regulator or a switching regulator like the
LM2595, starting at relatively low input voltages.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 22

7.4

[mA] I

123

R

OUT

SLP ][k

0

5

10

15

20

25

-I

HDOFF

/

+/-I

LD

R

SLP

[KOhm]

10520 20 50 100

I

HDON

Slope Control Resistor

The output-voltage slope of the full bridge is controlled by a constant current gate charge / discharge of
the MOSFETs. The charge / discharge current for the MOSFETs can be controlled by an external
resistor: A reference current is generated by internally pulling the SLP-Pin to 1.25V via an integrated

4.7K resistor. This current is used to generate the current for switching ON and OFF the power
transistors. (In non-A-type the low side slopes are fixed to typ. +/-15mA corresponding to a 5K to
10K slope control resistor!)

The gate-driver output current can be set in range of 2mA to 25mA by an external resistor:

RSLP: Slope control resistor
IOUT: Controlled output current of the low-side MOSFET driver

The SLP-pin can directly be connected to AGND for the fastest output-voltage slope (respectively
maximum output current).

Please remark, that there is a trade off between reduced electromagnetic emissions (slow slope) and
high efficiency because of low dynamic losses (fast slope). Typical slope times range between 100ns
and 500ns. Slope times below 100ns are not recommended, because they superimpose additional
stress on the power transistors while bringing only very slight improvement in power dissipation.

For applications where electromagnetic emission is very critical, it might be necessary to add additional
LC (or capacitor only) filtering on the motor connections.
For these applications emission is lower, if only slow decay operation is used.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 23

Symbol

Parameter

Min

Max

Unit

V

S

Supply voltage

-0.5

36

V

VSM

Supply and bridge voltage max. 20000s

40

V

VCC

Logic supply voltage

-0.5

6.0 V IOP

Gate driver peak current (1)

50

mA

IOC

Gate driver continuous current

5 mA

VI

Logic input voltage

-0.3

VCC+0.3V

V

VIA

Analog input voltage

-0.3

VCC+0.3V

V

IIO

Maximum current to / from digital pins
and analog inputs

+/-10

mA

VVT

Short-to-ground detector input voltage

VS-1V

VS+0.3V

V

TJ

Junction temperature

-40

150 (1)

°C

T

STG

Storage temperature

-55

150

°C

Symbol

Parameter

Min

Max

Unit

TAI

Ambient temperature industrial (1)

-25

125

°C

TAA

Ambient temperature automotive

-40

125

°C

TJ

Junction temperature

-40

140

°C

VS

Bridge supply voltage (A-type)

7

34 V VS

Bridge supply voltage (non-A-type)

7

30 V VCC

Logic supply voltage

3.0

5.5

V

f

CLK

Chopper clock frequency

100

kHz

R

SLP

Slope control resistor

0

470

K

Absolute Maximum Ratings

The maximum ratings may not be exceeded under any circumstances.

(1) Internally limited

Electrical Characteristics

Operational Range

(1) The circuit can be operated up to 140°C, but output power derates.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 24

Symbol

Parameter

Conditions

Min

Typ

Max

Unit

I

LDON

Gate drive current
low side switch ON (non-A-type)

VLD < 4V

10 15 25

mA

I

LDOFF5

Gate drive current
low side switch OFF (non-A-type)

VLD > 3V
VCC = 5V

-15

-25

-35

mA

I

LDOFF3

Gate drive current
low side switch OFF (non-A-type)

VLD > 3V
VCC = 3.3V

-10

-15

-20

mA

I

LDON

Gate drive current
low side switch ON (A-type)

VS > 8V, R

SLP

= 0K

VLD < 4V

15

25

40

mA

I

LDOFF

Gate drive current
low side switch OFF (A-type)

VS > 8V, R

SLP

= 0K

VLD > 4V

-15

-25

-40

mA

I

HDON

Gate drive current
high side switch ON

VS > 8V, R

SLP

= 0K

VS - VHD < 4V

-15

-25

-40

mA

I

HDOFF

Gate drive current
high side switch OFF

VS > 8V, R

SLP

= 0K

VS - VHD > 4V

15

30

40

mA

I

SET

Deviation of Current Setting with
Respect to Characterization
Curve

Deviation from
standard value,
10k<R

SLP

<75k

70

100

130

%

V

GH1

Gate drive voltage high side ON

VS > 8V
relative to VS

-5.1

-6.0

-8.0

V

V

GL1

Gate drive voltage low side ON

VS > 8V

5.1

6.0

8.0 V V

GH0

Gate drive voltage high side OFF

relative to VS

0 -0.5 V V

GL0

Gate drive voltage low side OFF

0

0.5 V V

GCL

Gate driver clamping voltage

-IH / IL = 20mA

12

16

20

V

V

GCLI

Gate driver inverse clamping
voltage

-IH / IL = -20mA

-0.8

V

DC Characteristics

DC characteristics contain the spread of values guaranteed within the specified supply voltage and
temperature range unless otherwise specified. Typical characteristics represent the average value of
all parts.
Logic supply voltage: VCC = 3.0 V ... 5.5 V, Junction temperature: TJ = -40°C … 140°C,
Bridge supply voltage : VS = 7 V…34 V (unless otherwise specified)

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 25

Symbol

Parameter

Conditions

Min

Typ

Max

Unit

V

CCUV

VCC undervoltage

2.5

2.7

2.9

V

V

CCOK

VCC voltage o.k.

2.7

2.9

3.0 V ICC

VCC supply current

f

osc

= 25 kHz

0.85

1.35

mA

I

CCSTB

VCC supply current standby

0.45

0.75

mA

I

CCSD

VCC supply current shutdown

ENN = 1

37

70

µA

V

SUV

VS undervoltage

5.5

5.9

6.2

V

V

CCOK

VS voltage o.k.

6.1

6.4

6.7

V

I

SSM

VS supply current with maximum
current setting (static state)

VS = 14V,

R

SLP

= 0K

6

mA

I

SSD

VS supply current shutdown or
standby

VS = 14V

28

50

µA

VIH

High input voltage
(SDI, SCK, CSN, BL1, BL2, SPE, ANN)

2.2

VCC +

0.3 V

V

VIL

Low input voltage
(SDI, SCK, CSN, BL1, BL2, SPE, ANN)

-0.3 0.7

V

V

IHYS

Input voltage hysteresis
(SDI, SCK, CSN, BL1, BL2, SPE, ANN)

100

300

500

mV

VOH

High output voltage
(output SDO)

-IOH = 1mA

VCC –

0.6

VCC –

0.2

VCC

V

VOL

Low output voltage
(output SDO)

IOL = 1mA

0

0.1

0.4

V

-I

ISL

Low input current
(SDI, SCK, CSN, BL1, BL2, SPE, ANN)

VI = 0
VCC = 3.3V
VCC = 5.0V

2
10
25

70

µA
µA
µA

V

ENNH

High input voltage threshold
(input ENN)

1/2 VCC

V

EHYS

Input voltage hysteresis
(input ENN)

0.1
V

ENNH

V

OSCH

High input voltage threshold
(input OSC)

tbd

2/3 VCC

tbd

V

V

OSCL

Low input voltage threshold
(input OSC)

tbd

1/3 VCC

tbd V V

VTD

VT threshold voltage
(referenced to VS)

-130

-155

-180

mV

V

TRIP

SRA / SRB voltage at
DAC=”1111”

internal ref. or
2V at INA / INB

315

350

385

mV

V

SRS

SRA / SRB overcurrent detection
threshold

570

615

660

mV

V

SROFFS1

SRA / SRB comparator offset
voltage (Standard device)

-10 0 10

mV

V

SROFFS2

SRA / SRB comparator offset
voltage (Selected device)

-6 0 6

mV

R

INAB

INA / INB input resistance

Vin  3 V

175

264

360

k

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 26

Symbol

Parameter

Conditions

Min

Typ

Max

Unit

f

OSC

Oscillator frequency
using internal oscillator

C

OSC

= 1nF

1%

20

25 31

kHz

TBL

Effective Blank time

BL1, BL2 = VCC

1.35

1.5

1.65

µs

T

ONMIN

Minimum PWM on-time

BL1, BL2 =
GND

0.7 µs

Symbol

Parameter

Conditions

Min

Typ

Max

Unit

T

JOT

Thermal shutdown

145

155

165

°C

T

JOTHYS

T

JOT

hysteresis

15

°C

T

JWT

Prewarning temperature

135

145

155

°C

T

JWTHYS

T

JWT

hysteresis

15

°C

AC Characteristics

AC characteristics contain the spread of values guaranteed within the specified supply voltage and
temperature range unless otherwise specified. Typical characteristics represent the average value of
all parts.
Logic supply voltage: VCC = 3.3V, Bridge supply voltage: VS = 14.0V,
Ambient temperature: TA = 27°C, External MOSFET gate charge = 3.2nC

Thermal Protection (1)

(1) All temperatures are for A-type. The non-A-types have 5°C lower values in all fields.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 27

Symbol

Parameter

Conditions

Min

Typ

Max

Unit

f

SCK

SCK frequency

ENN = 0

DC 4

MHz

t1

SCK stable before and after CSN
change

50

ns

tCH

Width of SCK high pulse

100

ns

tCL

Width of SCK low pulse

100

ns

t

DSU

SDI setup time

40

ns

tDH

SDI hold time

50

ns

tD

SDO delay time

CL = 50pF

40

100

ns

tZC

CSN high to SDO high impedance

*)

50

ns

tES

ENN to SCK setup time

30

µs

tPD

CSN high to LA / HA / LB / HB
output polarity change delay

**) 3

t

OSC

+ 4

µs

t

1

SDO

SDI

SCK

CSN

t

ES

t1t

1

t

CL

t

CH

bit11 bit10 bit0

bit11 bit10 bit0

t

D

t

ZC

t

DUtDH

ENN

SPI Interface Timing

Propagation Times

(3.0 V  VCC  5.5 V, -40°C  Tj  150°C; VIH = 2.8V, VIL = 0.5V; tr, tf = 10ns; CL = 50pF,
unless otherwise specified)

*) SDO is tristated whenever ENN is inactive (high) or CSN is inactive (high).
**) Whenever the PHA / PHB polarity is changed, the chopper is restarted for that phase. However, the chopper does not
switch on, when the SRA resp. SRB comparator threshold is exceeded upon the start of a chopper period.

Using the SPI interface

The SPI interface allows either cascading of multiple devices, giving a longer shift register, or working
with a separate chip select signal for each device, paralleling all other lines. Even when there is only
one device attached to a CPU, the CPU can communicate with it using a 16 bit transmission. In this
case, the upper 4 bits are dummy bits.

SPI Filter (only A-type)
To prevent spikes from changing the SPI settings, SPI data words are only accepted, if their length is

at least 12 bit.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 28

Current setting
(MSB first)

Trip voltage

0000xx

0 V

000111

5.8 mV

000110

11.5 mV

000101

17.3 mV

000100

23 mV

...

111101

334.2 mV

111100

340 mV

SPI bit

15

14

13

12

11

10 9 8

DAC bit

/B1

/B0

/A1

/A0

MDA

A5

A4

A3

SPI bit

7 6 5 4 3 2 1 0 DAC bit

A2

PHA

MDB

B5

B4

B3

B2

PHB

R

S

SRA

TMC236 /

TMC239

110R

4.7nF
opt.

74HC595

C1

Q0
Q1
Q2
Q3
Q4
Q5
Q6
Q7

Q7'

/MR

C2

/OE

SCK

SDI

SDO

CSN

+V

CC

DS1D

100K

/CS

SDI

SCK

SDO

Free for
second
TMC239

47K 47K

47K

/DACA.0
/DACA.1
/DACB.0
/DACB.1

Vcc = 5V

1/2 74HC74

C

DQ

Note: Use a 74HC4094
instead of the HC595 to get
rid of the HC74 and inverter

Application Note: Extending the Microstep Resolution

For some applications it might be desired to have a higher microstep resolution, while keeping the
advantages of control via the serial interface. The following schematic shows a solution, which adds
two LSBs by selectively pulling up the SRA / SRB pin by a small voltage difference. Please remark, that
the lower two bits are inverted in the depicted circuit. A full scale sense voltage of 340mV is assumed.
The circuit still takes advantage of completely switching off of the coils when the internal DAC bits are
set to “0000”. This results in the following comparator trip voltages:

Please see the FAQ document for more application information.

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG

TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 29

Version

Author

BD= Bernhard Dwersteg

Description

V2.08

BD

Added power supply sequencing considerations

V2.09

BD

updated logo, minor additions

V2.11

BD

Adapted style, added info on chopper cycle

V2.12

BD

Corrected ENN timing in SPI section, updated MOSFET list

Documentation Revision

i

SPI is a trademark of Motorola

Copyright © 2005, TRINAMIC Motion Control GmbH & Co KG