BLOCK DIAGRAM
Step/Direction interface. The SPI interface
programmable 6 bit microstep
table (64 µsteps / fullstep) for best step
serial peripheral interfaces allow for
forms a complete motion control system.
TMC429
SPI to
Master
CLK
Position
Comparator
Interrupt
Controller
Ref. Switch
Processing
Step/Dir
Pulse
Generation
OUTPUT SELECT
- SPI
or
-
Step/Dir
Microstep
Table
Serial Driver
Interface
3x Ref. Switches
3x Linear
RAMP Generator
SPI to Stepper
Motor Driver 0/1/2
Step/Dir OUT 0/1/2
SPI to µC
SDO to µC
Muliplexed
Output
Position Compare OUT
MOTION CONTROLLER FOR STEPPER MOTORS INTEGRATED CIRCUITS
TMC429 DATASHEET
Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces and Step/Direction
Full Compatible Successor of the TMC428
APPLICATIONS
CCTV, Security
Antenna Positioning
Heliostat Controller
Battery powered applications
Office Automation
ATM, Cash recycler, POS
Lab Automation
Liquid Handling
Medical
Printer and Scanner
Pumps and Valves
FEATURES AND BENEFITS
Controls up to three stepper motors
3.3 V or 5 V operation with CMOS / TTL compatible IOs
Serial 4-wire interface for µC with easy-to-use protocol
Interface for SPI™ motor drivers with data rates up to 1 Mbit/s
Step/Direction interface
Clock frequency: up to 32 MHz (can use CPU clock)
Internal position counters 24 bit wide
Microstep frequency up to 1 MHz
Read-out option for all motion parameters
Programmable 6 bit microstep table, up to 64 entries for a
quarter sine wave period
DESCRIPTION
The TMC429 is a miniaturized stepper motor
controller with an industry leading feature
set. It controls up to three motors via SPI or
provides a
accuracy with 2-phase stepper motors. Based
on target positions and velocities - which can
be altered on the fly - it performs all real
time critical tasks autonomously. The TMC429
offers high level control functions for robust
and reliable operation. Two separate 4 wire
Ramp generators for autonomous positioning / speed control
On-the-fly change of target motion parameters
Power boost automatic acceleration dependent current control
Low power operation: 1.25 mA at 4 MHz (typ.)
communication with the microcontroller and
with up to three daisy chained stepper motor
drivers.
Together with a microcontroller the TMC429
Compact Size: ultra small 16 pin SSOP package, small 24 pin SOP
package, and 32 pin QFN 5x5 mm package
Directly controls TMC23x, TMC24x, TMC26x, and TMC389
High integration and small form factor allow
for miniaturized designs for cost-effective and
highly competitive solutions.
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 2
Layout for Evaluation of TMC429 with
Controller/Driver Chain
TMC429
TMC429-LI
3-axis controller QFN32-package (5x5mm2), full functionality
5 x 5 mm2
package (TMC428 replacement
TMC429+26x-EVAL
Evaluation board for S/D chipset (TMC429with TMC260,
TMC261, TMC262 and TMC424)
16 x 10 cm2
TMC429+TMC24x-EVAL
Evaluation board for SPI chipset (TMC429, TMC246, and
TMC249)
13.5 x 8,2 cm2
is a single axis
It features the
This evaluation board is a development
in combination with TMC260, TMC261, and
The board
and RS232 interfaces. The control software
parameters and visualizing the dynamic
APPLICATION EXAMPLES: RELIABLE CONTROL FOR UP TO 3 MOTORS
The TMC429 scores with its autonomous handling of all real time critical tasks. By offloading the
motion-control function to the TMC429, up to three motors can be operated reliably with very little
demand for service from the microcontroller. Software only needs to send target positions, and the
TMC429 generates precisely timed step pulses by hardware for up to three stepper motor driver chips.
Parameters for each motor can be changed on the fly while software retains full control using an SPI
bus. This way, high precision and reliable operation is achieved while costs are kept down.
STEPROCKER™
The TMCM-1110 stepRocker
motor controller and driver board for 2-phase
bipolar stepper motors.
TRINAMIC controller/driver chain consisting of
TMC429 and TMC262. The Module is intended to
be a fully functional development platform with
6A MOSFETs. Because of the TMC429s ability to
control up to three motors the stepRocker can
be extended to a full 3-axes system.
Development platform with TMC262
TMC262, TMC261, and TMC260
ORDER CODES
Order code Description Size
TMC429-PI24 3-axis controller SOP24-
possible)
TMC429-I 3-axis controller SSOP16-package (SPI only, for TMC428
replacement)
TMC429+TMC26X-EVAL
platform for applications based on the TMC429
TMC262. Common supply voltages are +12V DC /
+24V DC / +48V DC (TMC261 only).
features an embedded microcontroller with USB
provides a user-friendly GUI for setting control
responses of the motors.
Motor movements can be controlled via the
step and direction interface using inputs from
an external source or signals generated by the
microcontroller acting as a step generator.
15.5 x 10.5 mm
6 x 5 mm2
2
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 3
TABLE OF CONTENTS
1 PRINCIPLES OF OPERATION 4
1.1 KEY CONCEPTS 4
1.2 CONTROL INTERFACES 5
1.3 SOFTWARE VISIBILITY 6
1.4 STEP FREQUENCIES 6
1.5 MOVING THE MOTOR 7
2 GENERAL DEFINITIONS, UNITS, AND
NOTATIONS 9
2.1 NOTATIONS 9
2.2 SIGNAL POLARITIES 9
2.3 UNITS OF MOTION PARAMETERS 9
2.4 REPRESENTATION OF SIGNED VALUES BY TWO’S
COMPLEMENT 9
3 PACKAGE VARIANTS 10
4 PIN ASSIGNMENTS 10
4.1 PACKAGE OUTLINES 11
4.2 SIGNAL DESCRIPTIONS 12
10 STEP/DIR DRIVERS 53
10.1 TIMING 53
11 SPI MODE DRIVER INTERFACE 54
11.1 BUS SIGNALS 54
11.2 TIMING 54
11.3 RAM ADDRESS PARTITIONING AND DATA
11.4 STEPPER DRIVER SPI DATAGRAM CONFIGURATION
11.5 INITIALIZATION OF MICROSTEP LOOK-UP TABLE62
12 RUNNING A MOTOR 67
12.1 GETTING STARTED 67
12.2 RUNNING A MOTOR WITH START-STOP-SPEED IN
13 ON-CHIP VOLTAGE REGULATOR 68
14 POWER-ON RESET 69
ORGANIZATION 55
57
RAMP
_MODE 67
5 SAMPLE CIRCUITS 13
5.1 APPLICATION EXAMPLE: TMC429 IN QFN32
PACKAGE 13
5.2 APPLICATION EXAMPLE: TMC429 IN SSOP16
PACKAGE 14
5.3 APPLICATION EXAMPLE: TMC429 WITH DRIVERS
WITHOUT
6 CONTROL INTERFACE 15
6.1 BUS SIGNALS 15
6.2 SERIAL PERIPHERAL INTERFACE FOR µC 15
7 ADDRESS SPACE PARTITIONS 20
7.1 READ AND WRITE 20
7.2 REGISTER SET 20
7.3 REGISTER MAPPING 21
8 REGISTER DESCRIPTION 22
8.1 AXIS PARAMETER REGISTERS 22
8.2 GLOBAL PARAMETER REGISTERS 39
9 REFERENCE SWITCH INPUTS 49
9.1 REFERENCE SWITCH CONFIGURATION, MOT1R,
AND REFMUX
9.2 TRIPLE SWITCH CONFIGURATION 51
9.3 HOMING PROCEDURE 52
9.4 SIMULTANEOUS START OF UP TO THREE STEPPER
MOTORS 52
SERIAL DATA OUTPUT (SDO) 14
49
15 ABSOLUTE MAXIMUM RATINGS 70
16 ELECTRICAL CHARACTERISTICS 70
16.1 POWER DISSIPATION 70
16.2 DC CHARACTERISTICS 71
16.3 TIMING CHARACTERISTICS 72
18 PACKAGE MACHANICAL DATA 73
18.1 TMC429-LI / QFN32 73
18.2 TMC429-PI24 / SOP24 74
18.4 TMC429-I / SSOP16 75
19 MARKING 76
20 COMPATIBILITY INFORMATION: TMC429
AND TMC428 77
20.1 SIGNAL DESCRIPTIONS: TMC428 VS. TMC42977
20.2 TMC428 SDO_C OUTPUT 78
20.3 UNUSED ADDRESSES 78
20.4 GENERAL TIMING PARAMETERS 79
21 DISCLAIMER 80
22 ESD SENSITIVE DEVICE 80
23 TABLE OF FIGURES 81
24 REVISION HISTORY 82
25 REFERENCES 83
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 4
Serial
µC
Inte
rface
3 x RAMP
Generator
3 x STEPPULS
Generator
3x Step/Dir
Microstep
Unit
(incl. Sequencer)
Serial Driver
Interface
Multiple Ported RAM
M
U
X
SPI Mode
6
Voltage
Regulator
GND
Power-on
Reset
POSCOMP
Interrupt Controller
REF1
REF2
REF
3
REF1R*
REF2R*
REF3R*
nSCS_C
SCK_C
SDI_C
nINT_SDO_C
TEST
SDOZ_C*
nSCS_S / Step 2
SCK_S / Dir 1
SDO_S / Step 1
SDI_S / Dir 2
nSCS3 / Dir 3*
nSCS2 / Step 3*
470nF
POSCMP*
CLK
4-32MHz
GND
DIE PAD
GND
GND
100nF
TMC429
GND
V5 /+5V supply or
+3V supply
* Not available with all IC packages. Please refer to the package outlines.
SPI
SPI / Step/Dir
to driver
SPI to
µC
Connect for
+3.3V operation
V33
V5
1 Principles of Operation
Figure 1.1 TMC429 functional block diagram
The TMC429 is a miniaturized high performance stepper motor controller with an outstanding costperformance ratio. It is designed for high volume automotive as well as for demanding industrial
motion control applications. Once initialized the TMC429 controls up to three 2-phase stepper motors
simultaneously. A programmable sequencer for 2-phase motors is integrated. The TMC429 motion
controller is equipped with an SPI™ host interface with easy-to-use protocol and two driver interfaces
(SPI and STEP/DIR) for addressing various stepper motor driver types.
1.1 Key Concepts
The TMC429 realizes real time critical tasks autonomously and guarantees for a robust and reliable
drive. These following features contribute toward greater precision, greater efficiency, higher
reliability, and smoother motion in many stepper motor applications.
Initialization Adapt the TMC429 to the driver type and configuration and send initial configuration
data to SPI drivers. Configure microstep resolution and waveform for SPI drivers.
Interfacing The TMC429 offers application specific interfacing via Step/Dir or SPI.
Positioning The TMC429 operates the motors based on user specified target positions and
Programming Every parameter can be changed at any time. The uniform access to any TMC429
Microstepping Based on internal position counters the TMC429 performs up to ±2
The range goes from full stepping (1 microstep = 1 full step) and half stepping (2
www.trinamic.com
velocities. Modify all motion target parameters on-the-fly during motion.
register simplifies application programming. A read-back option for all internal
registers is available.
23
(micro)steps
completely independent from the microcontroller. Microstep resolutions are
individually programmable for each stepper motor.
microsteps per full step) up to 6 bit micro stepping (64 microsteps per full step) for
precise positioning and noiseless stepper motor rotation. With STEP/DIR drivers any
microstep resolution is possible as supported by the driver.
The internal microstep table can be adapted to specific motor characteristics to
further reduce torque ripple, if desired.
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 5
µC
High Level
Interface
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 3
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 2
Stepper Motor
Driver
e.g. TMC260/TMC261
M
Motor 1
TMC429
Motion Controller
SPI
Step/Dir 1 Step/Dir 3Step/Dir 2
SPI
µC
High Level
Interface
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 3
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 2
Stepper Motor
Driver
e.g. TMC236/TMC246
M
Motor 1
TMC429
Motion Controller
SPI
SPI
1.2 Control Interfaces
1.2.1 Serial µC Interface
From the software point of view, the TMC429 provides a set of registers, accessed by a
microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a readwrite selection bit, and data bits to access the registers and the on-chip memory. Each time the
microcontroller sends a datagram to the TMC429 it simultaneously receives a datagram from the
TMC429. This simplifies the communication with the TMC429 and makes programming easy. Most
microcontrollers have an SPI hardware interface, which directly connects to the serial four wire
microcontroller interface of the TMC429. For microcontrollers without SPI
serial communication is sufficient and can easily be implemented.
1.2.2 Step/Dir Driver Interface
The TMC429-LI controls the motor position by sending pulses on the STEP signal while indicating the
direction on the DIR signal. A programmable step pulse length and step frequencies up to 1MHz allow
operation at high speed and high microstep resolution. The driver chip converts these signals into the
coil currents which control the position of the motor. The TMC429-LI perfectly fits to the TMC26x smart
power Step/Dir driver family.
hardware software doing the
Figure 1.2 Application example using Step/Dir driver interface
1.2.3 Serial Driver Interface
The TMC429 automatically generates the required data-stream for SPI drivers and provides user
configurable microstep waves and motor ramps for up to three motors. The serial interface to the
motor drivers is flexibly configurable for different types (from different vendors) with up to 64 bit
length for the SPI daisy chain. The TMC429-I perfectly fits to the TMC24x driver family.
Figure 1.3 Application example using SPI driver interface
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 6
1.3 Software Visibility
From the software point of view the TMC429 provides a set of registers and on-chip RAM (see Figure
1.1), accessed via the serial µC interface in a uniform way. The serial interface uses a simple protocol
with fixed datagram length for the read- and write-access. These registers are used for initializing the
chip as required by the hardware configuration. Afterwards the motor can be moved by writing target
positions or velocity and acceleration values.
1.4 Step Frequencies
The desired motor velocity is an important design parameter of an application. Therefore it is
important to understand the limiting factors.
1.4.1 Step Frequencies using the Step/Dir driver interface
The step pulses can directly be fed to a Step/Dir driver. The maximum full step rate (fsf
the microstep resolution of the external driver chip.
The TMC429 microstep rate (µsf) is up to 1/32 of the clock frequency:
f
=
f
32
EXAMPLE FOR FULL STEP FREQUENCY CALCULATION
f
= 16 MHz
CLK
= 500 kHz
µsf
max
µstep resolution of external driver: 16
) depends on
max
=
16
= 31.25
500
With a standard motor with 1.8° per full step this results in up to 31.25kHz/200= 156 rotations per
second, which is far above realistic motor velocities for this kind of motor and thus imposes no real
limit on the application.
A 16 microsteps resolution can be extrapolated to 256 microsteps within the driver when using the
TMC26x driver family.
1.4.2 Step frequencies using the SPI driver interface
The microstep unit with included sequencer processes step pulses from the pulse generator, which
represent microsteps, half steps, or full steps (depending on the selected step resolution). The serial
driver interface sends datagrams to the stepper motor driver chain whenever a step pulse comes.
The theoretical microstep frequency is identical to Step/Dir mode, but the achievable step frequency
may be limited by the SPI data rate. Maximum SPI frequency (bit rate) is clock frequency divided by 16
(when CLK2DIV=7). An overhead of 1.5 bits is required per datagram. The maximum microstep
transmission frequency depends on the total length of the datagrams sent to the SPI stepper motor
driver chain.
EXAMPLE FOR SPI DATA RATE CALCULATION
At a clock frequency of 16 MHz, with a daisy chain of three SPI stepper motor drivers of 12 bit
datagram length each (e.g. TMC246), the theoretical maximum SPI transmission frequency (fSPI
=
16
16
3 × 12 + 1.5
max
) is:
This is approximately 27 kHz. It is the theoretical upper limit for the fullstep frequency. In an
application, the maximum desired fullstep frequency should be a factor 4 to 8 lower in order to avoid
a beat between the step frequency and the SPI transmission rate.
The microstep rate may be higher than the SPI transmission frequency, even if the stepper motor
driver does not note all microsteps due to the SPI data rate limit. At high step rates (respectively
pulse rates) the differences between microstepping and full step excitation vanish.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 7
1.5 Moving the Motor
Moving the motor is simple:
- To move a motor to a new target position, write the target position into the associated register
by sending a datagram to the TMC429.
- To move a motor with a new target velocity, write the velocity into the register assigned to the
stepper motor.
1.5.1 Motion Controller Functionality
The ramp generator monitors the motion parameters stored in its registers and calculates velocity
profiles. Based on the actual ramp generator velocity a pulse generator supplies step pulses to the
motor driver.
1.5.2 Modes of Motion – Individually Programmable for Each Axis
ramp_mode For positioning applications the ramp_mode is most suitable. The user sets the
position and the TMC429 calculates a trapezoidal velocity profile and drives
autonomously to the target position. During motion, the position may be altered
arbitrarily.
velocity_mode For constant velocity applications the velocity_mode is most suitable. In
velocity_mode, a target velocity is set by the user and the TMC429 takes into account
user defined limits of velocity and acceleration.
hold_mode In hold_mode, the user sets target velocities, but the TMC429 ignores any limits of
velocity and acceleration, to realize arbitrary velocity profiles, controlled completely
by the user.
soft_mode The soft_mode is similar to the ramp_mode, but the decrease of the velocity during
deceleration is done with a soft, exponentially shaped velocity profile.
1.5.3 Interrupts
The TMC429 has capabilities to generate interrupts. Interrupts are based on ramp generator conditions
which can be set using an interrupt mask. The interrupt controller (which continuously monitors
reference switches and ramp generator conditions) generates an interrupt if required.
SPECIAL HANDLING: TMC429-I / 16-PIN PACKAGE
- On 16-pin package the SDO_C signal becomes a low active interrupt signal called nINT_SDO_C
while nSCS_C is high. Set SDO_INT=1 to access the non-multiplexed interrupt signal output
nINT_SDO_C for the other packages.
- If the microcontroller disables the interrupt during access to the TMC429 and enables the
interrupt otherwise, the multiplexed interrupt output of the TMC429 behaves like a dedicated
interrupt output.
- For polling, the TMC429 sends the status of the interrupt signal to the microcontroller with each
datagram.
1.5.4 Reference Switch Handling
The TMC429 has a left and a right reference switch input for each motor. Note, that these inputs are
not available with all packages.
SPECIAL HANDLING: TMC429-I / 16-PIN PACKAGE
Because of its 16-pin package the TMC429-I has only three reference switch inputs: REF1, REF2, and
REF3. Therefore the TMC429-I provides two different modes for reference switch handling:
- In the Default Reference Switch Mode the three reference switch inputs are defined as left side
reference switches, one for each stepper motor.
- The Second Reference Switch Mode defines the first reference input REF1 as left reference switch
input of motor one, the second reference input REF2 as left reference switch input of motor two,
and the 3rd reference input REF3 as right reference switch input of motor one. In the second
reference switch mode there is no reference switch input available for stepper motor three.
- With an external multiplexer 74HC157 any stepper motor may have a left and a right reference
switch.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 8
1.5.5 Integrated Programmable µstep Sequencer
The serial SPI interface to the stepper motor driver chain has to be configured by an initialization
sequence which writes the configuration into the on-chip RAM. Once configured the serial driver
interface works autonomously. The internal multiple port RAM controller of the TMC429 takes care of
access scheduling. So, the user may read and write registers and on-chip RAM at any time. The
registers hold global configuration parameters and motion parameters. The on-chip RAM stores the
configuration of the serial driver interface and the microstep table.
The sequencer internally generates a number of control signals available for transmission to SPI
driver ICs. These sequencer output signals are selected as configured by the internal stepper motor
driver datagram configuration table.
During power-on reset, the TMC429 initializes a default configuration within the on-chip RAM for an
SPI driver chain for TMC23x and TMC24x stepper motor drivers.
1.5.6 Access to Status and Error Bits
STEP/DIR
The microcontroller directly controls and monitors the stepper drivers. It also needs to take care for
advanced current control, e.g. power down in stand still.
SPI
Many serial stepper motor drivers provide status bits (driver active, inactive…) and error bits (short to
ground, wire open…), which are sent back from the stepper motor driver chain to the motion
controller. To have access to error bits and datagrams with a total length up to 48 bits the TMC429
buffers the information by means of two 24 bit wide registers. The microcontroller has direct access
to these registers.
Although, the TMC429 provides datagrams with up to 64 bits to the driver chain, only the last 48 bits
sent back from the driver chain are buffered for read out by the microcontroller. Buffering of up to 48
bits is sufficient for a chain of three stepper motor drivers. For a chain of three TMC23x / TMC24x
stepper motor driver chips all status bits are accessible.
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 9
2 General Definitions, Units, and Notations
2.1 Notations
- Decimal numbers are used as usual without additional identification.
- Binary numbers are identified by a prefixed % character.
- Hexadecimal numbers are identified by a prefixed $ character.
EXAMPLE
Decimal: 42
Binary: %101010
Hexadecimal: $2A
TMC429 DATAGRAMS ARE WRITTEN AS 32 BIT NUMBERS, E.G.:
$1234ABCD = %0001 0010 0011 0100 1010 1011 1100 1101
TWO TO THE POWER OF N
In addition to the basic arithmetic operators (+, -, *, /) the operator two to the power of n is required
at different sections of this data sheet. For better readability instead of 2n the notation 2^n is used.
2.2 Signal Polarities
External and internal signals are high active per default, but the polarity of some signals is
programmable to be inverted. A pre-fixed lower case n indicates low active signals (e.g. nSCS_C,
nSCS_S). See chapter 8.2, too.
2.3 Units of Motion Parameters
The motion parameters position, velocity, and acceleration are given as integer values within TMC429
specific units. With a given stepper motor resolution one can calculate physical units for angle,
angular velocity, angular acceleration. (See chapter 8.1.13)
2.4 Representation of Signed Values by Two’s Complement
Motion parameters which have to cover negative and positive motion direction are processed as
signed numbers represented by two’s complement as usual. Limit motion parameters are represented
as unsigned binary numbers.
SIGNED MOTION PARAMETERS ARE:
V_TARGET / V_ACTUAL / A_ACTUAL / A_THRESHOLD
UNSIGNED MOTION PARAMETERS ARE:
V_MIN / V_MAX / A_MAX
POSITIONS
X_TARGET / X_ACTUAL can be treated as signed or unsigned, as desired.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 10
including SPI and Step/Dir driver
- Fits best to TMC26x and TMC389.
p to three stepper driver
he right reference switch for motor 3 is not
SPI interface for up to three stepper motor driver
inputs
n additional multiplexer 74hc157 might be
necessary. The multiplexing control signal is only
available in SPI stepper motor driver chain mode.
3 Package Variants
The TMC429 is available in three different package variants, qualified for the industrial temperature
range. An additional variant is available for the automotive temperature range. All package variants
are RoHS compilant.
Order code Package Characteristics JEDEC Drawing
TMC429-LI QFN32 5x5mm, 32 pins, plastic package, industrial (-40… +85°C) MO-220 ?
TMC429-PI24 SOP24 300 mils, 24 pins, plastic package, industrial (-40… +85°C) MS-013 (300 mils)
TMC429-I SSOP16 150 mils, 16 pins, plastic package, industrial (-40… +85°C) MO-137 (150 mils)
4 Pin Assignments
The three package variants of the TMC429 offer different signal sets for various applications:
Type Package Compatibility Remarks
Full functionality
TMC429-LI QFN32
TMC429-PI24 SOP24 TMC428-PI24
replacement
TMC429-I SSOP16
TMC428-I
replacement
interfaces for up to three stepper motor driver chips
-
SPI interface for up to three stepper driver chips
- STEP/DIR interface for u
chips
- T
available.
chips (complements the TMC24x).
- Step/Dir interface for up to two motors.
- The additional reference right side switch
REF1R, REF2R, and REF3R are not available.
- A
Some third party SPI stepper motor drivers have no serial data output and therefore cannot simply be
arranged in a daisy chain to drive more than one motor. The package variants SOP24 and QFN32 have
two additional driver selection outputs nSCS2 and nSCS3 for stepper motor drivers without serial data
output.
All inputs are Schmitt-Trigger. Unused inputs (REF1, REF2, REF3, and SDI_S) need to be connected to
ground. Unused reference switch inputs have to be connected to ground, too. A pull-down resistor is
necessary at the SDI_S input of the TMC429 for those serial peripheral interface stepper motor drivers
that set their serial data output to high impedance Z while inactive.
STEP function outputs are S1, S2, and S3. Corresponding DIR outputs are D1, D2, and D3. The
multiplexed output nINT_SDO_C of TMC429-LI and TMC429-PI24 can be configured in a de-multiplexed
mode. An additional output named POSCMP is available for triggering when moving over a
programmable position.
Attention
- After power on-reset, the TMC429 starts in TMC428 mode. That is, because the TMC429 is a 100%
compatible successor of the TMC428 motion controller. Additional outputs of the TMC429
including specific functions have to be activated by dedicated TMC429 configuration registers.
- Preferably, long wires to the reference switch inputs (REF1, REF2, and REF3) should be avoided.
For long wires, a low pass filter for spike suppression should be provided (refer the TMC429
evaluation board schematic as example).
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 11
TMC429-I
V33
nSCS_C
GND
SDI_C
TEST V5
SCK_C
SDI_S_D2
nINT_SDO_C
CLK nSCS_S_S2
REF2
REF1
REF3
SCK_S_D1
SDO_S_S1
1
2
3
4
5
6
7
8
16
10
11
12
13
14
15
9
SSOP16 (150 MILS)
TMC429-PI24
V33
nSCS_C
GND
SDI_C
TEST
V5
SCK_C
SDI_S_D2
nINT_SDO_C
CLK
nSCS_S_S2
REF2
REF1
REF3
SCK_S_D1
SDO_S_S1
3
4
5
6
7
8
9
10
23
15
16
17
20
21
22
14
1
2
11
12
24
13
18
nSCS2_S3
19
nSCS3_D3
SOP24 (300 MILS)
V5
GND
REFR1 [n.c. @ TMC428]
REFR2 [n.c. @ TMC428]
[n.c. @ TMC428] POSCMP
[n.c. @ TMC428] SDOZ_C
TMC429-LI
nSCS_C
TEST
SCK_C
CLK
REF2
REF3
3
4
5
6
7
8
9
1
2
QFN32 5x5mm
V5
GND
n.c.
10 11 12 13 14 15 16
32 31 30 29 28 27 26 25
22
21
20
19
18
17
24
23
REF1
n.c.
SDI_C
n.c.
SDOZ_C
REFR2
nINT_SDO_C
SDO_S_S1
n.c.
SCK_S_D1
nSCS_S_S2
nSCS2_S3
nSCS3_D3
V5
V33
GND
n.c.
SDI_S_D2
REFR1
REFR3
POSCMP
GND
n.c.
4.1 Package Outlines
Please refer to the application note
PCB_Guidelines_TRINAMIC_packages
for a practical guideline for all
available TRINAMIC IC packages and
PCB footprints. The application note
covers package dimensions, example
footprints and general information on
PCB footprints for these packages. It is
available on www.trinamic.com.
Figure 4.1 TMC429 pin out
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 12
Pin
SSOP16
SOP24
QFN32
In/Out
Description
Reset
- - - - Internal power-on reset.
CLK
5 7 5 I Clock input
nSCS_C
6 9 7 I Low active SPI chip select input driven from µC
SCK_C
7
10 8 I
Serial data clock input driven from µC
SDI_C
8
11
10 I Serial data input driven from µC
Multiplexed nINTERRUPT output if communication with
SDO_C will never be high impedance; the TMC429 is
equipped with an additional pin named SDOZ_C that
nSCS_S_S2
12
17
18 O SPI chip select signal to stepper motor driving chain
Step output S2 (for motor 2) in Step/Dir mode
nSCS3_D3
-
19
20 O SPI chip select signal (SOP24 only) /
SCK_S_D1
Serial data clock output to SPI stepper motor driver
DIR output D1 (for motor 1) in Step/Dir mode
SDO_S_S1
10
15
15 O Serial data output to SPI stepper motor driver chain /
SDI_S_D2
16
23
27
I
O
Serial data input from SPI stepper motor driver chain
down resistor at SDI_S avoids high
DIR output D2 (for motor 2) in Step/Dir mode
REF1
1 2 31 I Reference switch input 1
REF2
2 3 1 I Reference switch input 2
(no internal pull-up resistor)
(no internal pull-up resistor)
V5
13
5, 20
3, 21
+5V supply / +3.3V supply
V33
14
21
22 470nF ceramic capacitor pin / +3.3V supply
GND
15
8, 22
6, 23, 25
Ground
TEST
4 6 4 I Must be connected to GND as close as possible to the
n.c.
26, 32
POSCMP
- 1 30
n.c. / O
Position compare output for SOP24 and QFN32 /
SDOZ_C
-
12
12
O / Z
SDOZ_C becomes high impedance (Z) when nSCS_C=1 /
configured with TMC429
register to give the nINT signal directly without
multiplexing
REFR1 - 24
28 I Reference switch right 1 input
Only available for TMC429 in SOP24 package and
REFR2
SOP24 package and
QFN32 package (with internal pull-up resistor)
REFR3
- - 29 I Reference switch right 3 input
4.2 Signal Descriptions
No external reset input pin is available.
nINT_SDO_C
nSCS2_S3
REF3 3 4 2 I Reference switch input 3
9 14 14 O Serial data output to µC input /
µC is idle (resp. nSCS_C = 1)
becomes high impedance when nSCS_C=1.
- 18 19 O SPI chip select signal (SOP24 only) /
Step output S3 (for motor 3) in Step/Dir mode
DIR output D3 (for motor 3) in Step/Dir mode
11 16 17 O
chain /
STEP output S1 (for motor 1) in Step/Dir mode
(pull-up/impedance; SDI_S input is the power-on default) /
(no internal pull-up resistor)
- - 9, 11,
16, 24,
- 13 13 I Reference switch right 2 input
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chip. No user function.
- Not connected pins
Output for pos_comp function
The nINT signal is not mapped to SDOZ_C pin /
The pin nINT_SDO_C can be
QFN32 package (with internal pull-up resistor)
Only available for TMC429 in
Only available for TMC429 in QFN32 package
(with internal pull-up resistor)
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 13
SCK_S_D1
SDO_S_S1
SDI_S_D2
nSCS_S_S2
REF2
REF3
REF1
TEST GND
SDI_C
nSCS_C
SCK_C
nINT_SDO_C
CLK
V5V33
TMC429-LI
nSCS3_D3
nSCS2_S3
POSCMP
REFR3
REFR2
REFR1
SDOZ_C
STP_3
DIR_3
STP_2
DIR_2
STP_1
DIR_1
MISO
MOSI
SCK
nSCS
µC
TMC26x
TMC26x
TMC26x
STEP
DIR
CSN
SCK
SDI
SDO
TMC26x
#1
STEP
DIR
CSN
SCK
SDI
SDO
TMC26x
#2
STEP
DIR
CSN
SCK
SDI
SDO
TMC26x
#3
nSCS2_S3
nSCS3_D3
nSCS_S_S2
SDI_S_D2
SDO_S_S1
SCK_S_D1
nSCS_C
SCK_C
SDI_C
SDOZ_C
MOSI
MISO
SCK
TMC429-LI
CSn_0
CSn_1
CSn_2
CSn_3
CLKCLK
100K
5 Sample Circuits
The sample circuits show the connection of the external components.
5.1 Application Example: TMC429 in QFN32 Package
All signals of the TMC429 are available with the QFN32 package. We recommend this package for
applications using TRINAMICs TMC26x smart power driver family.
Figure 5.1 TMC429 within QFN32 package
Figure 5.2 TMC429 / TMC26x outline for configuration via SPI and STEP/DIR for motion
PPLICATION ENVIRONMENT OF TMC429 (QFN32 PACKAGE) AND 3 X TMC26X STEPPER MOTOR DRIVER:
A
- One SPI chip select signal CSN_0 selects the TMC429 SPI microcontroller interface.
- Up to three SPI chip select signals (CSN_3, CSN_2, CSN1) select up to three TMC262 SPI for
- The TMC429 SDOZ_C is high impedance when nSCS_C is 1.
configuration.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 14
10K
SCK_S
SDO_S
SDI_S
nSCS_S
SDO
CSN
SDI
SCK
SDO
CSN
SDI
SCK
SDO
CSN
SDI
SCK
TMC23x / TMC24x
TMC23x / TMC24x TMC23x / TMC24x
REF2 REF3
REF1
TEST
GND
µC
SCK
MOSI
MISO
SS
SDI_C
nSCS_C
SCK_C
SDO_C
CLK
CLK
V5V33
470 nF
+5 V
1K 1K
Reference Switch Inputs
active high
SM#3
SM#2
SM#1
TMC429-LI
1K
100 nF
Output SDO_C will nerver
be high impedance
10nF
10nF
10nF
4.7K
4.7K
4.7K
Optional filter for long cables and to avoid
failure if switch wires are next to motor
cables.
10K
SCK_S
SDO_S
SDI_S
nSCS_S
nSCS
SDI
SCK
nSCS
SDI
SCK
nSCS
SDI
SCK
Driver
w/ o SDO
Driver
w/ o SDO
REF2 REF3
REF1
TEST
GND
µC
SCK
MOSI
MISO
SS
SDI_C
nSCS_C
SCK_C
SDO_C/
SDOZ_C
CLK
CLK
V5V33
470 nF
+ 5 V
SM#3 SM#2
SM#1
TMC429- LI /
TMC429-PI24
nSCS2
nSCS3
V5 GND
Output SDO_ C will nerver
be high impedance
Driver
w/ o SDO
REFR1 REFR2 REFR3
5.2 Application Example: TMC429 in SSOP16 Package
The low-prized TMC429-I is an optimum choice for SPI stepper motor drivers if the additional
functions of the TMC429-LI are not required. We recommend this package for TRINAMICs TMC23x and
TMC24x stepper driver family.
Figure 5.3 TMC429 application environment with TMC429 in SSOP16 package
5.3 Application Example: TMC429 with Drivers without Serial
For driver chips without serial data output the TMC429-LI and the TMC429-PI24 with two additional
chip select outputs are available. The TMC429 sends data to the driver chain on demand only, which
minimizes the interface traffic and reduces the power consumption.
Figure 5.4 Usage of drivers without serial data output (SDO) with TMC429 in SOP24 or in QFN32
packages
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Data Output (SDO)
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 15
Bus clock input
SCK_C
Serial data input
SDI_C
Serial data output
SDO_C
6 Control Interface
The communication takes place via four wire serial interfaces and 32 bit datagrams of fixed length.
Stepper motor drivers with parallel inputs can be used in connection with the TMC429 with some
additional glue logic.
RESPONSIBILITIES ARE DEFINED AS FOLLOWS:
- The microcontroller is master of the TMC429.
- The TMC429 is master of the stepper motor driver daisy chain.
AUTOMATIC POWER-ON RESET:
- The TMC429 cannot be accessed before the power-on reset is completed and the clock is stable.
- All register bits are initialized with 0 during power-on-reset, except the SPI clock pre-divider
clk2_div that is initialized with 15 (see section 8.2.5.3).
6.1 Bus Signals
Signal Description TMC429 Microcontroller
Chip select input nSCS_C
6.2 Serial Peripheral Interface for µC
The serial microcontroller interface of the TMC429 acts as a 32 bit shift register.
COMMUNICATION BETWEEN µC AND THE TMC429
1. The serial µC interface shifts serial data into SDI_C with each rising edge of the clock signal
SCK_C.
2. Then, it copies the content of the 32 bit shift register into a buffer register with the rising
edge of the selection signal nSCS_C.
3. The serial interface of the TMC429 immediately sends back data read from registers or read
from internal RAM via the signal SDO_C.
4. The signal SDO_C can be sampled with the rising edge of SCK_C. SDO_C becomes valid at
least four CLK clock cycles after SCK_C becomes low as outlined in the timing diagram.
6.2.1 Timing
A complete serial datagram frame has a fixed length of 32 bit. Because of on-the-fly processing of the
input data stream, the serial µC interface of the TMC429 requires the serial data clock signal SCK_C to
have a minimum low / high time of three clock cycles. The SPI signals from the µC interface may be
asynchronous to the clock signal CLK of the TMC429.
If the microcontroller and the TMC429 work on different clock domains that run asynchronously by
the timing of the SPI interface of the microcontroller should be made conservative in the way that
the length of one SPI clock cycle equals 8 or more clock cycles of the TMC429 clock CLK.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 16
t
SD
t
SD
CLK
sdi_c_bit#31
t
SCKCL
t
SCKCH
t
SUCSC
t
HDCSC
1 x SDI_C sampled
one full 32 bit datagram
SDO_C
(for TMC429-I)
SDI_C
SCK_C
nSCS_C
sdi_c_bit#30 . . . sdi_c_bit#1
30 x sampled SDI_C
sdi_c_bit#0
1 x SDI_C sampled
t
CLK
t
DATAGRAMuC
t
PD
t
IS
t
SD
t
SI
t
HDCSC
t
SUCSC
sdo_c_bit#31
sdo_c_bit#30 ... sdo_c_bit#1
sdo_c_bit#0
nINT
sdo_c_bit#31
sdo_c_bit#30 ... sdo_c_bit#1
sdo_c_bit#0
nINT
SDOZ_C
Figure 6.1 Timing diagram of the serial µC interface
EXPLANATORY NOTES
- While the data transmission from the microcontroller to the TMC429 is idle, the low active serial
chip select input nSCS_C and also the serial data clock signal SCK_C are set to high.
- While the signal nSCS_C is high, the TMC429 assigns the status of the internal low active
interrupt signal nINT to the serial data output SDO_C.
- The data signal SDI_C driven by the microcontroller has to be valid at the rising edge of the
serial data clock input SCK_C. The maximum duration of the serial data clock period is unlimited.
- While the µC interface of the TMC429 is idle, the SDO_C signal is the (active low) interrupt status
nINT of the integrated interrupt controller of the TMC429. The timing of the multiplexed interrupt
status signal nINT is characterized by the parameters t
The following SPI clock frequencies are recommended in order to avoid possible issues concerning
the SPI frequency between microcontroller and TMC429:
- For fCLK = 16MHz an upper SPI clock frequency of 1MHz is recommended.
- For fCLK = 32MHz an upper SPI clock frequency of 2MHz is recommended.
PROCEDURE OF DATA TRANSMISSION
1. The signal nSCS_C has to be high for at least three clock cycles before starting a datagram
transmission. To initiate a transmission, the signal nSCS_C has to be set to low.
2. Three clock cycles later the serial data clock may go low.
3. The most significant bit (MSB) of a 32 bit wide datagram comes first and the least significant
bit (LSB) is transmitted as the last one.
4. A data transmission is finished by setting nSCS_C high three or more CLK cycles after the last
rising SCK_C slope.
5. So, nSCS_C and SCK_C change in opposite order from low to high at the end of a data
transmission as these signals change from high to low at the beginning.
Information for TMC429-I / 16-pin package
In contrast to most other SPI compatible devices, the serial data output SDO_C of the TMC429-I is
always driven. It will never be high impedance Z. If high impedance is required for the SDO_C
connected to the microcontroller, it can be realized using a single gate 74HCT1G125. An additional pin
named SDOZ_C is available for the TMC429 with an integrated high impedance driver.
www.trinamic.com
and tSI (see chapter 16.3).
IS
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 17
SCK_
S
SDO_
S
SDI_S
nSCS
_S
REF
2
REF
3
REF
1
TEST GND
CLK
V
5V
33
TMC
429
SCK
_C
SDI
_C
nSCS_C
SDOZ_C
SCK
_C
SDI_
C
nSCS_
C
SDOZ_C
nINT_SDO_C
nINT
nINTERRUPT status valid after
MSB
LSB
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0
RRS
RW
Figure 6.2 The TMC429 has a high impedance pin SDOZ_C. The nINT_SDO_C can be configured as
non multiplexed interrupt output nINT if required.
TIMING CHARACTERISTICS OF THE SERIAL MICROCONTROLLER INTERFACE
Symbol Parameter Min Typ Max Unit
tSUCSC Setup Clocks for nSCS_C 3
tHDCSC Hold Clocks for nSCS_C 3
tSCKCL Serial Clock Low 3
tSCKCH Serial Clock High 3
∞
∞
∞
∞
CLK periods
CLK periods
CLK periods
CLK periods
tSD SDO_C valid after SCK_C low 2.5 3.5 CLK periods
tIS
2.5 CLK periods
nSCS_C low
tSI SDO_C valid after nSCS_C high 4.5 CLK periods
tDAMAGRAMuC Datagram Length 3+3+32*6= 198
tDAMAGRAMuC Datagram Length 12.375
∞
∞
CLK periods
µs
fCLK Clock Frequency 0 32 MHz
tCLK Clock Period tCLK = 1 / fCLK 31.25
tPD CLK-rising-edge-to-Output
5 ns
∞
ns
Propagation Delay
6.2.2 Datagram Structure
The µC communicates with the TMC429 via the four wire serial interface. Each datagram sent to the
TMC429 via the pin SDI_C and each datagram received from the TMC429 via the pin SDO_C is 32 bits
long.
The first bit sent is the most significant bit (MSB) sdi_c_bit#31. The last bit sent is the least significant
bit (LSB) sdi_c_bit#0 (see Figure 6.1). During the reception of a datagram, the TMC429 immediately
sends back a datagram of the same length to the microcontroller. This return datagram consists of
requested read data in the lower 24 datagram bits and status bits in the higher 8 datagram bits. A
read request is distinguished from a write request by the read/not write datagram bit (RW).
6.2.2.1 Datagrams Sent to the TMC429
The datagrams sent to the TMC429 are assorted in four groups of bits:
RRS The register RAM select (RRS) bit selects either registers or the on-chip RAM.
ADDRESS Address bits address memory within the register set or within the RAM area.
RW The read / not write (RW) bit distinguishes between read access and write access:
DATA Data bits are only for write access. For read access these bits are not used (don’t
ADDRESS
www.trinamic.com
read: RW = 1 / write RW = 0.
care) and should be set to 0.
32 BIT DATAGRAM SENT FROM µC TO THE TMC429 VIA PIN SDI_C
DATA
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 18
MSB
LSB
INT
CDGW
SM3
SM2
SM1
RS3
xEQt3
RS2
xEQt2
RS1
xEQt1
NOTE
- Different internal registers of the TMC429 have different lengths. For some registers only a subset
of 24 data bits is used.
- Unused data bits should be set to 0.
- Some addresses select a couple of registers mapped together into the 24 data bit space.
6.2.2.2 Datagrams received by µC from the TMC429
The datagrams received by the µC from the TMC429 contain two groups of bits:
STATUS BITS The status bits, sent back with each datagram, comprehend the most important
internal status bits of the TMC429 and the settings of the reference switches
DATA BITS Data bits are only for write access.
The most significant bit MSB is received first; the least significant bit LSB is received last. The TMC429
only sends datagrams on demand.
32 BIT DATAGRAM SENT BACK FROM THE TMC429 TO µC VIA PIN SDO_C
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
STATUS BITS DATA BITS
STATUS INFORMATION BITS
INT The status bit INT is the internal high active interrupt controller status output
signal. Handling of interrupt conditions without using interrupt techniques is
possible by polling this status bit.
The interrupt signal is also directly available at the SDO_C pin of the TMC429
(set SDO_INT=1 in if_configuration_429 register). The pin SDO_C may directly be
connected to an interrupt input of the microcontroller.
Since the SDO_C / nINT output on TMC429-I (16-pin package) is multiplexed, the
microcontroller has to disable its interrupt input while it sends a datagram to
the TMC429. The SDO_C signal driven by the TMC429 alternates during datagram
transmission.
CDGW The CDGW cover datagram waiting bit is a handshake signal for the
microcontroller. It shows the state of a datagram covering mechanism that is
necessary for direct configuration data transmission to the stepper motor driver
chain, e.g. for configuring the drivers in the initialization phase.
The CDGW status bit also gives the status of the datagram_high_word and
datagram_low_word.
RS3, RS2, RS1 The status bits RS3, RS2 and RS1 represent the state of the left reference switch
inputs. They are also accessible in register %1111100 as l3, l2 and l1.
xEQt3, xEQt2, xEQt1 The three status bits xEQt3, xEQt2, and xEQt1 indicate individually for each
stepper motor, if it has reached its target position.
The status bits r1, r2, r3 and l1, l2, l3 and bits xEQt3, xEQt2, and xEQt1 can trigger an interrupt or
enable simple polling techniques.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 19
6.2.3 Simple Datagram Examples
The % prefix – normally indicating binary representation in this data sheet – is omitted for the
following datagram examples. Assuming, one would like to write (RW=0) to a register (RRS=0) at the
address %001101 the following data word %0000 0000 0000 0001 0010 0011, one would have to send
the following 32 bit datagram
00011010000000000000000100100011
to the TMC429. With inactive interrupt (INT=0), no cover datagram waiting (CDGW=0), all reference
switches inactive (RS3=0, RS2=0, RS1=0), and all stepper motors at target position (xEQt3=1, xEQt2=1,
xEQt1=1) the status bits would be %10010101 the TMC429 would send back the 32 bit datagram:
10010101000000000000000000000000
To read (RW=1) back the register written before, one would have to send the 32 bit datagram
00011011000000000000000000000000
to the TMC429 and the TMC429 would reply with the datagram
10010101000000000000000100100011.
Write (RW=0) access to on-chip RAM (RRS=1) to an address %111111 occurs similar to register access,
but with RRS=1. To write two 6 bit data words %100001 and %100011 to successive pair-wise RAM
addresses %1111110 and %1111111 (%100001 to %1111110 and %100011 to %1111111) which are
commonly addressed by one datagram, one would have to send the datagram
11111110000000000010001100100001.
To read (rw=1) from that on-chip memory address, one would have to send the datagram
11111111000000000000000000000000.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 20
with up to
7 Address Space Partitions
The functionality of the TMC429 is mapped to registers which are combined to groups and mapped to
the address space:
- Each stepper motor has a set of registers individually assigned to it and arranged within a
contiguous address space.
- A set of registers within the address space holds the global parameters which are common for
all stepper motors. A single dedicated global parameter register is essential for the configuration
of the serial four wire stepper motor driver interface.
- One half of the on-chip RAM address space holds the configuration parameters for the stepper
motor driver chain (used for SPI mode, only).
- The other half of the on-chip RAM address space is provided to store a microstep table if
required (used for SPI mode, only).
- The first seven datagram bits (sdi_c_bit#31 and sdi_c_bit#30 ... sdi_c_bit#25, respectively RRS and
ADDRESS) address the whole address space of the TMC429.
ADDRESS SPACE PARTITIONS
Address ranges (incl. RRS) Assignment
%000 0000 . . . %000 1111 16 registers for stepper motor #1
%001 0000 . . . %001 1111 16 registers for stepper motor #2
%010 0000 . . . %010 1111 16 registers for stepper motor #3
%011 0000 . . . %011 1110 15 common registers
%011 1111 1 global parameter register
%100 0000 . . . %101 1111 32 addresses of 2x6 bit for driver chain configuration
%110 0000 . . . %111 1111 32 addresses of 2x6 bit for microstep table
Registers
24 bits
RAM
128x6 bit
CHANGING TARGET POSITION OR TARGET VELOCITY OF SINGLE MOTORS
The stepper motors are controlled directly by writing motion parameters into associated registers.
Only one register write access is necessary for changing a target motion parameter. Thus the
microcontroller has to send one 32 bit datagram to the TMC429 for altering the target position or the
target velocity of one stepper motor.
CHANGING DRIVER CONFIGURATION OR MICROSTEP TABLE OF ALL MOTORS
Some parameters are packed together in a single data word at a single address. These parameters
have to be initialized once and remain unchanged during operation. They have to be changed in
common. The access to the on-chip RAM addresses concern two successive RAM addresses. So, always
two data words are modified with each write access to the on-chip RAM.
Once initialized after power-up, the content of the RAM is usually left unchanged.
7.1 Read and Write
Read and write access is selected by the RW bit (sdi_c_bit#24) of the datagram sent from the µC to
the TMC429. The on-chip configuration RAM and the registers are writeable with read-back option.
Some addresses are read-only. Write access (RW=0) to some of those read-only registers triggers
additional functions, explained in detail later.
7.2 Register Set
The register address mapping is given in chapter 7.3. The registers are initialized internally during
power-up. During power-up initialization, the TMC429 does not send any datagrams to the stepper
motor driver chain.
The TMC429 loads a default RAM configuration for a TMC236 / TMC239 / TMC246 / TMC249 SPI driver
chain on power-on reset. For a Step/Dir driver chain this is of no relevance.
www.trinamic.com
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 21
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
0
RRS
RW
RW=0 : WRITE access / RW=1 : READ access
0 0 0
1
X_ACTUAL
0 0 1 1
V_MAX
0 1 0 0
V_TARGET
0 1 0 1
V_ACTUAL
0 1 1 0
A_MAX
0 1 1 1
A_ACTUAL
1 0 0 0
A_THRESHOLD
1 0 1 0
REF_CONF
R_M
1 1 0 0 PULSE_DIV
RAMP_DIV
USRS
1 1 1
0
X_LATCHED
1 1 1 1 USTEP_COUNT_429
C
(SMDA=11)
0 0 0
0
DATAGRAM_LOW_WORD
0 0 1
0
COVER_POSITION
COVER_LEN
0 1 0 0
IF_CONFIGURATION_429
0 1 0
1
POS_COMP_429
0 1 1 0 POS_COMP_INT_429
M
I
P
1 1 1 0
mot1r
refmux
cont_update
cs_ComInd
dac_ab
fd_ab
ph_ab
sck_s
nscs_s
SMDA =
stepper motor driver address
M =
mask
cw =
cover waiting
RRS =
register RAM select
l1, l2, l3 =
left switch 1/2/3 (read-out)
r1, r2, r3 =
right switch 1/2/3 (read-out)
unused bits
7.3 Register Mapping
All register bits are initialized with 0 during power on reset, except the SPI clock pre-divider clk2_div
(see section 8.2.5.3) that is initialized with 15. The on-chip RAM of the TMC429 is initialized internally
during power-up. It can be modified by the microcontroller as required.
TMC429 REGISTER MAPPING
32 BIT DATAGRAM SENT FROM µC TO THE TMC429 VIA PIN SDI_C
0
SMDA
0
0
0
1
1
0
1 1
ADDRESS
IDX
THREE STEPPER MOTOR REGISTER SETS (SMDA={00, 01, 10})
DATA
0 0 0 0 X_TARGET
0 0 1 0 V_MIN
IS_AGTAT
IS_ALEAT
IS_v0
1 0 0 1 1 PMUL PDIV
lp
1 0 1 1 INTERRUPT_MASK INTERRUPF_FLAGS
1 1 0 1 DX_REF_TOLERANCE
JDX
OMMON REGISTERS
0 0 0 1 DATAGRAM_HIGH_WORD
cw
0 0 1 1 COVER_DATAGRAM
1 0 0 0
1 0 0 1 TYPE_VERSION_429 (= $429101 for TMC429 version 1.01, read-only)
1 1 1 1 1 1
R_M = RAMP_MODE I = interrupt
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OWER-DOWN
l3 r3 l2 r2 l1 r1
POLARITIES
CLK2_DIV
LSMD
0 0 0 0
STPDIV_429
(if en_sd=1)
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 22
X_TARGET
R/W
24 bit
This register holds the current target position in units of
X_ACTUAL
24 bit
The current position of each stepper motor is available by read
Positions can be treated as signed or
unsigned.
V_MAX
R/W
11 bit
This parameter sets the maximum motor velocity.
of V_TARGET depends on the chosen mode of operation.
V_ACTUAL
12 bit signed
This read-only register holds the current velocity of the
A_MAX
R/W
11 bit
This register defines the absolute value of the desired
with a value range from 0 to 2047.
A_ACTUAL
R
12 bit signed
The actual acceleration can be read out by the microcontroller
IS_AGTAT
R/W
3 bit
unsigned
in SPI
RAMP_MODE
R/W
2 bit
The two bits RAMP_MODE (R_M) select one of the four possible
select the behavior of the
The bit called lp (latched position) is a read only status bit.
INTERRUPT_MASK
R/W
8 bit
The TMC429 provides one interrupt register of eight flags for
RAMP_DIV
R/W
4 bit
The parameter RAMP_DIV scales the acceleration parameter
s used for
setting the microstep resolution in SPI mode.
DX_REF_TOLERANCE
R/W
12 bit
DX_REF_TOLERANCE excludes a motion range to allow motion
unsigned
a change of the reference switch state.
holds the actual
8 Register Description
The TMC429 provides axis parameter registers and global parameter registers.
8.1 Axis Parameter Registers
The registers hold binary coded numbers. Some are unsigned (positive) numbers, some are signed
numbers in two’s complement, and some are control bits or single flags. The functionality of different
registers depends on the RAMP_MODE (refer to chapter 8.1.11).
OVERVIEW AXIS PARAMETER REGISTER MAPPING
REGISTER R / W TYPE DESCRIPTION
microsteps. Positions can be treated as signed or unsigned.
R/W*2
out of this register.
V_MIN R/W 11 bit
unsigned
unsigned
V_TARGET R/W 12 bit signed The V_TARGET register holds the current target velocity. The use
R*1
unsigned
IS_ALEAT
IS_V0
A_THRESHOLD
PMUL
PDIV
REF_CONF
lp
R/W
R/W
R/W
R/W
R/W
R/W
R
3 bit
3 bit
11 bit
1+7 bit
4 bit
unsigned
4 bit
1 bit
This register holds the absolute velocity value at or below which
the stepper motor can be stopped abruptly.
associated stepper motor.
acceleration for velocity_mode and ramp_mode (resp. soft_mode)
from the A_ACTUAL read-only register.
These parameters control the current scaling values I
driver mode. Depending on the ramp phase they are applied to
the motor by scaling the amplitudes of the internal sequencer.
These values form a floating point number with PMUL as
mantissa and PDIV as exponent. PMUL and PDIV are used for
calculating the deceleration ramp.
modes of operation.
The configuration bits REF_CONF
reference switches.
S
INTERRUPT_FLAGS
PULSE_DIV
USRS
X_LATCHED
USTEP_COUNT_429 R/W 8 bit The read-write register USTEP_COUNT_429
1
*
in hold_mode only, this register is a read-write register.
2
*
before overwriting X_ACTUAL choose velocity_mode or hold_mode. Refer to chapter 8.1.2.
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R/W
R/W
R/W
8 bit
4 bit
2 bit
R 24 bit
each stepper motor.
A_MAX.
The pulse generator clock – defining the maximum step pulse
rate – is determined by the parameter PULSE_DIV. The parameter
PULSE_DIV scales the velocity parameters.
The parameter USRS (µstep resolution selection) i
near the reference position.
This read-only register stores the actual position X_ACTUAL upon
microstep pointer of the internal sequencer.
TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 23
8.1.1 X_TARGET (IDX=%0000)
This register holds the current target position in units of microsteps.
UNIT OF TARGET POSITION
The unit of the target position depends on the setting of the associated microstep resolution register
usrs.
POSITIONING
- If the difference X_TARGET to X_ACTUAL is not zero and R_M = ramp_mode or soft_mode, the
TMC429 moves the stepper motor in the direction of X_TARGET in order to position X_ACTUAL to
X_TARGET. Usually X_TARGET is modified to start a positioning.
- The condition | X_TARGET – X_ACTUAL | < 2
- Target position X_TARGET and current position X_ACTUAL may be altered on the fly.
- To move from one position to another, the ramp generator of the TMC429 automatically
generates ramp profiles in consideration of the velocity limits V_MIN and V_MAX and acceleration
limit A_MAX.
The registers X_TARGET, X_ACTUAL, V_MIN, V_MAX, and A_MAX are initialized with zero after power up.
23
must be satisfied for motion into correct direction.
8.1.2 X_ACTUAL (IDX=%0001)
The current position of each stepper motor is available by read out of the registers called X_ACTUAL.
The actual position can be overwritten by the microcontroller. This feature is important for the
reference switch position calibration controlled by the microcontroller.
UNIT OF CURRENT POSITION
The unit of the target position depends on the setting of the associated microstep resolution register
usrs.
Attention
Before overwriting X_ACTUAL choose velocity_mode or hold_mode.
If X_ACTUAL is overwritten in ramp_mode or soft_mode the motor directly drives to X_TARGET.
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 24
t
v(t)
t
0
t
1
A
_
MAX
t3t
4
t
2
Δv
t
7
t
8
t
5
Δv
A_MAX
- A_MAX
- A_MAX
t
6
acceleration constant velocity deceleration
acceleration deceleration
Δt
01
Δt
56
8.1.3 V_MIN (IDX=%0010)
This register holds the absolute velocity value at or below which the stepper motor can be stopped
abruptly.
UNIT OF VELOCITY
The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,
V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 8.1.13 for details) and depends
on the clock frequency of the TMC429.
DECELERATION
- The parameter V_MIN is relevant for deceleration while reaching a target position. V_MIN should
be set greater than zero.
- This control value allows reaching the target position faster because the stepper motor is not
slowed down below V_MIN before the target is reached.
- Due to the finite numerical representation of integral relations the target position cannot be
reached exactly, if the calculated velocity is less than one, before the target is reached. Setting
V_MIN to at least one assures reaching each target position exactly.
Figure 8.1 Velocity ramp parameters and velocity profiles
8.1.4 V_MAX (IDX=%0011)
This parameter sets the maximum motor velocity. The absolute value of the velocity will not exceed
this limit, except if the limit V_MAX is changed during motion to a value below the current velocity.
UNIT OF VELOCITY
The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,
V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see page 8.1.13 for details) and depends
on the clock frequency of the TMC429.
HOMING PROCEDURE
To set target position X_TARGET and current position X_ACTUAL to an equivalent value (e.g. to set
both to zero at a reference point) the assigned stepper motor should be stopped first and the
parameter V_MAX should be set to zero to hold the assigned stepper motor at rest before writing into
the register X_TARGET and X_ACTUAL.
Attention
Before overwriting X_ACTUAL choose velocity_mode or hold_mode.
If X_ACTUAL is overwritten in ramp_mode or soft_mode the motor directly drives to X_TARGET.
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TMC429 DATASHEET (Rev. 2.04 / 2015-JUN-03) 25
ramp_mode
The V_TARGET register holds the current target velocity calculated internally
by the ramp generator.
register. The associated
stepper motor accelerates until it reaches the specified target velocity. The
velocity is changed according to the motion parameter limits if the register
hold_mode
The register V_TARGET is ignored.
register holds the current target velocity calculated internally
8.1.5 V_TARGET (IDX=%0100)
The use of V_TARGET depends on the chosen mode of operation:
Mode of operation Functionality of V_TARGET
velocity_mode A target velocity can be written into the V_TARGET
V_TARGET is changed.
soft_mode The V_TARGET
by the ramp generator.
UNIT OF VELOCITY
The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,
V_TARGET, V_ACTUAL) is defined by the parameter PULSE_DIV (see chapter 8.1.13 for details) and
depends on the clock frequency of the TMC429.
8.1.6 V_ACTUAL (IDX=%0101)
This read-only register holds the current velocity of the associated stepper motor. Internally, the ramp
generator of the TMC429 processes with 20 bits while only 12 bits (the most significant bits) can be
read out as V_ACTUAL.
In hold_mode only, this register is a read-write register. Writing zero to the register V_ACTUAL
immediately stops the associated stepper motor, because hidden bits are set to zero with each write
access to the register V_ACTUAL. In hold_mode motion parameters are ignored and the
microcontroller has the full control to generate a ramp. The TMC429 only handles the microstepping
and datagram generation for the associated stepper motor of the daisy chain.
UNIT
The unit of velocity parameters is steps per time unit. The scale of velocity parameters (V_MIN, V_MAX,
V_TARGET, and V_ACTUAL) is defined by the parameter PULSE_DIV (see chapter 8.1.13 for details) and
depends on the clock frequency of the TMC429.
An actual velocity of zero read out by the microcontroller means that the current velocity is in an
interval between zero and one. Therefore the actual velocity should not be used to detect a stop of a
stepper motor. It is advised to detect the target_reached flag instead.
8.1.7 A_MAX (IDX=%0110)
This register defines the absolute value of the desired acceleration for velocity_mode and ramp_mode
(resp. soft_mode) with a value range from 0 to 2047.
Note
The motion controller cannot stop the stepper motor if A_MAX is set to zero on the fly because
afterwards the velocity cannot be changed automatically any more.
UNIT
The unit of the acceleration is change of step frequency per time unit divided by 256. The scale of
acceleration parameters (A_MAX, A_ACTUAL, and A_THRESHOLD) is defined by the parameter RAMP_DIV
(see section 8.1.13) and depends on the clock frequency of the TMC429.
8.1.7.1 A_MAX in ramp_mode
As long as RAMP_DIV ≥ PULSE_DIV – 1 is valid, any value of A_MAX within its range (0… 2047) is
allowed and there exists a valid pair {PMUL, PDIV} for each A_MAX. The reason is that the acceleration
scaling determined by RAMP_DIV is compatible with the step velocity scaling determined by
PULSE_DIV. A large RAMP_DIV stands for low acceleration and a large PULSE_DIV stands for low
velocity. Low acceleration is compatible with low speed and high speed as well, but high acceleration
is more compatible with high speed.
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