Evaluation Board for
TMC429 Motion Controller and
TMC246, TMC248, and TMC249
Stepper Motor Driver ICs for
Two Phase Stepper Motors
Up to 3x 2.8A RMS/ +10V… 24V DC
USB Control/ SPI Access to Chips
2x Ref. Switch Input per Axis
EVALUATION FOR ICs EVALUATION BOARD
Firmware Version V1.09
TMC429+TMC24x EVALUATIN BOARD MANUAL
+ +
+ +
UNIQUE FEATURE
TMC429+TMC24x-EVAL
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 2
TABLE OF CONTENTS
1 Features ........................................................................................................................................................................... 3
1.1 Characteristics of TMC429 Motion Controller .............................................................................................. 4
1.2 Characteristics of Stepper Motor Driver ICs ................................................................................................ 4
1.2.1 TMC246 ............................................................................................................................................................. 4
1.2.2 TMC248 ............................................................................................................................................................. 4
1.2.3 TMC249 ............................................................................................................................................................. 4
2 Order Codes ................................................................................................................................................................... 4
3 Hardware ........................................................................................................................................................................ 5
3.1 Mechanical and Electrical Interfacing ............................................................................................................ 5
3.1.1 Size of the TMC429+TMC24x-EVAL and Mounting Holes ..................................................................... 5
3.1.2 Connectors....................................................................................................................................................... 6
3.1.3 Jumper ............................................................................................................................................................ 10
3.1.4 Keys ................................................................................................................................................................. 13
3.1.5 LEDs ................................................................................................................................................................. 14
3.1.6 Test Points ..................................................................................................................................................... 15
4 Operational Ratings ................................................................................................................................................... 17
5 Getting Started – How to Connect the Board ................................................................................................... 18
5.1 Getting Started with up to Three Motors .................................................................................................. 19
6 Evaluation Software .................................................................................................................................................. 20
6.1 The Main Window ............................................................................................................................................. 20
6.1.1 Examples ........................................................................................................................................................ 21
6.2 Graphic Display .................................................................................................................................................. 23
6.3 TMC429 Register Dialog ................................................................................................................................... 24
6.3.1 Motor 1, Motor 2, and Motor 3 ............................................................................................................... 24
6.3.2 TMC429 Global Parameters ....................................................................................................................... 25
6.3.3 RAM Table ...................................................................................................................................................... 26
6.3.4 TMC429 Specials Dialog: Interrupts and Reversing Switches ........................................................ 27
6.4 The stallGuard Dialog ....................................................................................................................................... 28
6.5 Board Settings Dialog ...................................................................................................................................... 29
6.6 Logging Dialog ................................................................................................................................................... 30
7 TMC429 Parameter Calculation Tool ..................................................................................................................... 31
8 Life Support Policy ..................................................................................................................................................... 32
9 Revision History .......................................................................................................................................................... 33
9.1 Document Revision ........................................................................................................................................... 33
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 3
1 Features
The TMC429+TMC24x evaluation board is designed for evaluating all features of the TMC429 motion
controller in combination with three SPI interface stepper motor driver chips (TMC246, TMC248, and
TMC249). The STM32F ARM Cortex-M3 microcontroller is used to control the TMC429 and the
communication. A software running under Windows enables access to all registers and functions of
the TMC429 from a PC. Furthermore, some basic functionality can be tested/controlled by keys on the
evaluation board.
MAIN CHARACTERISTICS
Application
- Evaluation of all features of the TMC429 controlling the TMC246, TMC248, and TMC249 motor
driver chips
TMC429 Motion Controller
- Motion profile calculation in real-time
- On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
TMC246, TMC428, and TMC249 Motor Drivers
- TMC246, TMC248, and TMC249 SPI stepper motor drivers with stallGuard™ feature
- 16 times microstepping via SPI
- Mixed decay feature for smooth motor operation
- TMC246 comes with integrated power transistors
- TMC248 and TMC249 use external MOSFETs
Electrical Data
- Supply voltage: +10… +24V DC operating voltage
- Motor 1 is driven by the TMC246 stepper motor driver. The maximum motor current is 1A RMS
(1.5A peak).
- Motor 2 is driven by the TMC248 stepper motor driver with external power transistors. The
maximum motor current of this driver chip on the evaluation board is 2.3A RMS (3.3A peak).
- Motor 3 is driven by the TMC249 stepper motor driver with external power transistors. The
maximum motor current of this driver chip on the evaluation board is 2.3A RMS (3.3A peak).
Interfaces
- USB (type B)
- Native SPI of the TMC429
- 2x reference switch input per axis
Safety Features
- Overcurrent
- Short to GND
- Undervoltage protection
- Integrated Diagnostics
Software
- PC demonstration software allowing access to all registers
- TMC429 parameter calculation tool
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 4
Order code
Description
Size of unit [mm3]
TMC429+TMC24x-EVAL
Evaluation board for TMC429, TMC246, TMC248, and
TMC249.
134 x 82 x 11,5
1.1 Characteristics of TMC429 Motion Controller
The TMC429 is a miniaturized high performance stepper motor controller. 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. The chip 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. On the TMC429+TMC24x-EVAL board, the SPI driver
interface is used to control the stepper motor driver chips.
1.2 Characteristics of Stepper Motor Driver ICs
The three stepper motor drivers on the evaluation board use different setups in order to allow testing
different modes of operation and different schematic setups.
1.2.1 TMC246
This driver operates in a standard SPI setup providing up to 1A RMS current and can be tested using
a standard 1A stepper motor.
In case it is desired to operate motors with less current, e.g. below 500mA RMS current, it may be
desired to exchange the current sense resistors against higher values. This way, the microstep
resolution is not decreased due to scaling down motor current.
1.2.2 TMC248
This TMC248 operates in a standard SPI setup, too. The driver features an additional PWM current
control for fine current setting. It provides from a few 100mA RMS up to 2.3A RMS current and can be
tested using a standard 1A, 2A or 3A stepper motor. For a 3A stepper motor, it might be desired to
use a lower sense resistor value, in order to provide the maximum full current. Be careful to match
driver current setting to the motor before operating.
1.2.3 TMC249
The TMC249 operates in a standard SPI setup as well. As a default the driver provides up to 2.3A RMS
current and can be tested using a standard 1A, 2A or 3A stepper motor. For a 3A stepper motor, it
might be desired to use a lower sense resistor value, in order to provide the maximum full current.
Be careful to match driver current setting to the motor before operating.
In case it is desired to operate motors with less current, e.g. below 1A RMS current, it may be useful
to exchange the current sense resistors against higher values. This way, the microstep resolution is
not decreased due to scaling down motor current. The setup of the TMC249 schematic provides the
option to operate this driver in a non-SPI standalone mode, using an external 0-3V source for analog
phase current control and digital phase polarity and decay control signals. In this mode, the on-board
motion-controller TMC429 and the microcontroller is disconnected from this driver.
Please refer to the specific datasheets (see www.trinamic.com) for detailed information!
2 Order Codes
Table 2.1 Order codes
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 5
134
82
3.5
78.5
3.5
130.5
Ø3.2
3 Hardware
Attention
See also the schematics of the evaluation board (supplied as PDF files on www.trinamic.com) for a
better understanding of this description.
3.1 Mechanical and Electrical Interfacing
3.1.1 Size of the TMC429+TMC24x-EVAL and Mounting Holes
The board dimensions are 134mm x 82mm without mating connectors. Maximum component height
(height above PCB level) without mating connectors is 11.5mm. There are four mounting holes
suitable for M3 screws.
Figure 3.1 TMC429+TMC24x-EVAL dimensions
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 6
Ref. Switches
Motor 0
Motor 1
Motor 3
Power
USB
SPI_OUT
SPI_IN
TMC249
Analog In
1
111
1
1
1
1
Label (KEY)
Connector type
Mating connector type
Power
(X603)
RIA 330-02, 2 pol., 5mm pitch, shrouded
header
RIA 349-2, screw type terminal block,
pluggable, centerline 5 mm / 0.197
inches, wire entry parallel to plug
direction
Motor 1… 3
(X302/X406/X501)
RIA 182-04, 4 pol. 3.5mm pitch, header
RIA 169-04, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
USB (J101)
USB, type B, 4 pol., female
USB, type B, 4 pol., male
Ref. Switches
(J204)
Low profile box header without locking
bar, 16 pol., DIN 41651, 2.54mm pitch,
0.64mm pin diameter
Low profile socket connector, 16pol.,
DIN41651, 2.54mm pitch
Analog_IN
only TMC249
(J502)
Low profile box header without locking
bar, 10 pol., DIN 41651, 2.54mm pitch,
0.64mm pin diameter
Low profile socket connector, 10pol.,
DIN41651, 2.54mm pitch
SPI_IN
(J205)
Low profile box header without locking
bar, 10 pol., DIN 41651, 2.54mm pitch,
0.64mm pin diameter
Low profile socket connector, 10pol.,
DIN41651, 2.54mm pitch
SPI_OUT
(J206)
Low profile box header without locking
bar, 10 pol., DIN 41651, 2.54mm pitch,
0.64mm pin diameter
Low profile socket connector, 10pol.,
DIN41651, 2.54mm pitch
3.1.2 Connectors
Figure 3.2 Connectors of TMC429+TMC24x-EVAL
CONNECTORS OF TMC429+TMC24X-EVAL
Table 3.1 Connectors
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 7
Pin
Label
Description
1
GND
Power supply and signal ground
2
+UB
Operational voltage: +10… +24V DC (protected by onboard 24V suppressor diode)
Pin
Label
Description
1
OB2
Pin 2 of motor coil B
2
OB1
Pin 1 of motor coil B
3
OA2
Pin 2 of motor coil A
4
OA1
Pin 1 of motor coil A
M
OB2
OB1
OA2
OA1
Pin
Label
Description
1
GND
System and module ground
2
GND
System and module ground
3
REF1_L
Left stop switch input for motor 1
(Note: the key REF 1L on the circuit board is already connected.)
4
+5V
+5V output
5
REF1_R
Right stop switch input for motor 1
(Note: the key REF 1R on the circuit board is already connected.)
6
+5V
+5V output
7
REF2_L
Left stop switch input for motor 2
8
+5V
+5V output
9
REF2_R
Right stop switch input for motor 2
10
+5V
+5V output
11
REF3_L
Left stop switch input for motor 3
12
+5V
+5V output
13
REF3_R
Right stop switch input for motor 3
14
+5V
+5V output
15
GND
System and module ground
16
GND
System and module ground
3.1.2.1 Power Connector (X603)
Table 3.2 Power connector
3.1.2.1.1 Digital Power Supply
The digital operating voltages (3.3V for the microcontroller and 5V for all other parts) are generated
onboard.
3.1.2.1.1.1 Connecting External Digital Components
For external add-on boards a +5V supply is provided. In case it is desired to evaluate the TMC429 in a
+3.3V environment, replace the R601 30KΩ resistor with a 16KΩ resistor and bridge pin 3 and pin 2 of
the IC603 voltage regulator. Now, the regulator provides 3.3V instead of 5V for all digital parts.
3.1.2.2 Motor Connectors for Axis 1, 2, and 3 (X302/X406/X501)
Motor 1 is driven by the TMC246 (driver with internal power transistors), motor 2 is driven by the
TMC248, and motor 3 is driven by the TMC249. TMC248 and TMC249 have external MOSFETs.
Table 3.3 Motor connector
Figure 3.3 How to connect a stepper motor
3.1.2.3 Reference Switch Connector (J204)
Table 3.4 Reference switch connector
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 8
Pin
Label
Description
1
+5V
Board is self-powered – just used to detect availability of attached host system
(e.g. PC)
2
USB-
Differential USB bus
3
USB+
Differential USB bus
4
GND
System and module ground
Pin
Label
Description
1
SPI2_MISO
SPI serial data input of CPU and output of onboard TMC429.
2
/CS_EXT
Chip select for external TMC429 (customer application board)
3
SPI2_MOSI
SPI serial data output of CPU and input of onboard TMC429
4
GND
System and module ground
5
/CS_429
Chip select for internal TMC429 (allows control of the TMC429+TMC24x-EVAL by
an external CPU)
6
GND
System and module ground
7
SPI2_SCK
SPI serial clock
8
GND
System and module ground
9
+UB
Power supply voltage: +10… +24V DC (normally disconnected by R202)
10
+5V
+5V output
Pin
Label
Description
1
SDI_S_D2
Serial data input from SPI stepper motor driver chain to TMC429
2
n.c.
-
3
SDO_S_S1
Serial data output of TMC429 to SPI stepper motor driver chain
4
GND
System and module ground
5
/SCS_S_S2
SPI chip select signal of TMC429 to stepper motor driving chain
6
GND
System and module ground
7
SCK_S_D1
Serial data clock output to SPI stepper motor driver chain
8
GND
System and module ground
9
+UB
Operational voltage: +10… +24V DC (normally disconnected by R203)
10
+5V
+5V output
3.1.2.4 USB Connector (J101)
Table 3.5 USB connector
3.1.2.5 SPI IN Connector (J205)
For connecting an external CPU to the TMC429 use the SPI IN connector.
Before connecting the external CPU it is necessary to disable the CPU on the evaluation board.
Therefore, plug a jumper at µC Disable (see chapter 3.1.3.1.1).
Table 3.6 SPI IN connector
3.1.2.6 SPI OUT Connector (J206)
For connecting up to three external stepper motor driver ICs to the TMC429 motion controller use the
SPI OUT connector.
Therefore, select the external driver option with jumpers first (see chapter 3.1.3.1.2)
Table 3.7 SPI OUT connector
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 9
Pin
Label
Standalone
mode name
Description
1
GND
GND
System and module ground
2
SDI
PHA
Polarity bridge A (low = current flow from output OA1 to OA2)
3
ANN
MDAN
Enable mixed decay for bridge A (low = enable)
4
INA
INA
Analog current control phase A
5
GND
GND
System and module ground
6
CSN
PHB
Polarity bridge B (low = current flow from output OB1 to OB2)
7
SCK
MDBN
Enable mixed decay for bridge B (low = enable)
8
INB
INB
Analog current control input phase B
9
GND
GND
System and module ground
10
SDO
ERR
Error output (high = overcurrent on any bridge, or over
temperature). This pin is never tri-stated.
3.1.2.7 TMC249 Analog Input Connector (J502)
The TMC249 can be controlled by analog current control signals and digital phase signals. In this
standalone mode, the SPI interface is disabled and the SPI input pins of the TMC249 have alternate
functions as described in Table 3.8.
The standalone mode has to be enabled on the evaluation board by plugging the specific jumpers
below the TMC249 analog input connector (see chapter 3.1.3.4.3)
Table 3.8 TMC249 analog input connector
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 10
Jumper
Description
plugged
25KHz oscillator frequency
no jumper
36KHz oscillator frequency
3.1.3 Jumper
3.1.3.1 TMC429 Related Jumper Settings
The TMC429 is connected with the onboard microcontroller and the onboard stepper motor driver ICs.
TRINAMICs controller driver chains are proven, tested, and fit a wide range of motors and
applications. In case it is desired to evaluate the TMC429 with your own customer specific driver
board or with an external microcontroller, connections to the onboard components can be cut using
jumpers.
3.1.3.1.1 µC Disable
If this jumper is closed all functions of the microcontroller are disabled and its SPI interface enters a
high impedance state. This allows external microcontrollers to be connected to the board. Thus, the
TMC429 can be controlled by a different microcontroller. Connect your external microcontroller with
SPI IN and SPI OUT connectors.
Figure 3.4 µC disable
3.1.3.1.2 Driver Selection
Per default, the onboard stepper motor driver chips are connected to the TMC429 as shown in Figure
3.5. In case an external customer specific stepper motor driver board should be tested, select EXT by
plugging two jumpers on the left and middle pins.
Figure 3.5 For external driver selection plug the jumpers on the left side. Here, the internal
drivers are chosen.
3.1.3.2 TMC246 Related Jumper Settings
The oscillator frequency can be chosen by jumpers.
Note: there is no jumper selection for overvoltage protection because the integrated MOSFETs of the
TMC246 are designed for a peak value of 40V, which is higher than supplied motor voltage on the
evaluation board.
3.1.3.2.1 TMC246 Oscillator Frequency
The oscillator frequency can be chosen by plugging a jumper on the OSZ pins or leaving them open.
Figure 3.6 Choose oscillator frequency by jumper. Here, 36KHz are set. Connect the OSZ pins for
selecting 25KHz.
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 11
Jumper
Description
plugged
25KHz oscillator frequency
no jumper
36KHz oscillator frequency
3.1.3.3 TMC248 Related Jumper Settings
3.1.3.3.1 TMC248 Oscillator Frequency
The oscillator frequency can be chosen by plugging a jumper on both OSZ pins or leaving them open.
Figure 3.7 Choose oscillator frequency by jumper. Here, 36KHz are set. Connect the OSZ pins for
selecting 25KHz.
3.1.3.3.2 TMC248 Overvoltage Protection
To enable the overvoltage protection a jumper can be plugged on the OVD pins (see Figure 3.7).
Because the evaluation board is limited to 26.5V DC peak supply voltage, this function is useful only
for short time overvoltage shut down tests up to 28V.
3.1.3.3.3 TMC248 PWM (Pulse Width Modulation) Selection
The processor uses a PWM to generate a voltage between 0 and 2V for the current control of the
TMC248. This is important for the current setting of motor 2, which can be calibrated via software (see
chapter 6.5).
To enable the PWM selection via the processor and to set the motor current, three jumpers have to
be plugged:
- The analog input of the TMC248 has to be enabled by plugging a jumper on the ANALOG pins.
- The PWM selection of the processor has to be enabled by plugging two jumpers on the PWM
pins.
If all three jumpers are plugged, the PWM can be set using the evaluation board software.
Figure 3.8 Enabling PWM selection with jumpers and choosing PWM values via software
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 12
Jumper
Description
plugged
25KHz oscillator frequency
no jumper
36KHz oscillator frequency
3.1.3.4 TMC249 Related Jumper Settings
3.1.3.4.1 TMC249 Oscillator Frequency
The oscillator frequency can be chosen by plugging a jumper on the OSZ pins or leaving them open.
Figure 3.9 Choose oscillator frequency by jumper. Here, 36KHz are set. Connect the OSZ pins for
selecting 25KHz.
3.1.3.4.2 TMC249 Overvoltage Protection
To enable the overvoltage protection a jumper can be plugged on the two OVD pins (see Figure 3.9).
Because the evaluation board is limited to 26.5V DC peak supply voltage, this does only make sense
for short time overvoltage shut down tests up to 28V.
3.1.3.4.3 TMC249 SPI or Analog Control
The TMC249 can be controlled by analog current control signals and digital phase signals. Please refer
to the TMC429 datasheet for details. In this standalone mode, the SPI interface is disabled and the
SPI input pins of the TMC249 have alternate functions as described in chapter 3.1.2.7.
Normally, the jumper setting of the TMC429+TMC24x-EVAL selects SPI mode. If analog control should
be used, the jumpers have to be plugged differently. The inscription on the circuit board shows how
to place the jumpers for the analog (standalone) mode.
Figure 3.10 Jumper setting for SPI control or analog control
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 13
Label
Description
REF 1L
This push button can be used for motor 1. The left reference switch is active as
long as the button is pushed. It is connected to pin 1 (REF1) of the TMC429 (using
a multiplexer).
REF 1R
This push button can be used for motor 1. The right reference switch is active as
long as the button is pushed. It is connected to pin 1 (REF1) of the TMC429 (using
a multiplexer).
Label
Description
MOVE 1
Push this key to move one or more motors decreasing the position counter.
MOVE 2
Push this key to move one or more motors increasing the position counter.
3.1.4 Keys
The evaluation board offers five keys:
- REF 1L (hard wired to TMC429 REF1L input)
- REF 1R (hard wired to TMC429 REF1R input)
- MOVE 1 (firmware defined)
- MOVE 2 (firmware defined)
- STOP (firmware defined)
The keys allow a simple standalone test of the basic funcitons.
Figure 3.11 Keys
3.1.4.1 Reference Switches for Motor 1
The keys REF 1L and REF 1R are push buttons. As long as one of these buttons is pushed, the related
reference switch of motor 1 is active.
Table 3.9 Reference switches for motor 1
Reference switches for motor 2 and motor 3 can be connected using the reference switch connector.
3.1.4.2 MOVE 1 and MOVE 2
These keys are programmed in a way that the motor accelerates as long as one of it is pressed. If the
button (e.g. MOVE 1) is not pushed any more, the connected motor will rotate constantly with the
reached velocity. For further acceleration the same key can be pushed as often and as long as the
velocity limit 2047 will be reached.
For deceleration, the other key (e.g. MOVE 2) has to be used. It is possible to decelerate the motor to
a velocity of 0 and accelerate it in the opposite direction by pressing the key constantly. A further
possibility is decelerating the motor in increments. If the key for deceleration is not pushed any more,
the motor will rotate constantly in the reached velocity.
If the STOP key is pressed, all connected motors stop immediately with a hard stop.
Table 3.10 MOVE 1 and MOVE 2 keys on the circuit board
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 14
Label
Color
Description
LED1
green
Indicates, if +5V digital power supply is available.
LED2
green
This LED lights up if motor 1 rotates decreasing the position counter.
LED3
green
This LED lights up if motor 1 rotates increasing the position counter.
LED 1
LED 2 LED 2
3.1.5 LEDs
The evaluation board has three LEDs. LED1 near the power supply indicates that the +5V digital supply
is available. LED2 and LED3 are connected to the TMC246. LED2 lights up as long as motor 1 rotates
decreasing the position counter. LED3 lights up if the motor rotates increasing the position counter.
Note
The push buttons MOVE 1 and MOVE 2 can also be used to move the other motors. But in case motor
2 and/or motor 3 rotate, there will be no LED signals, because the TMC248 and TMC249 are not
connected to LED2 and LED3.
LEDS OF EVALUATION BOARD
Table 3.11 LEDs
Figure 3.12 LEDs
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 15
Label
Description
GND
Digital and power ground. Use for oscilloscope.
VS
Supply voltage
VT
Short to GND detection comparator.
SRA
Bridge A sense resistor voltage
SRB
Bridge B sense resistor voltage
OSZ
Oscillator frequency. The frequency can be chosen with jumpers.
EN
Driver enable of CPU
Pin
Label
Description
1
AGND
Analog ground (reference for SRA, SRB, OSC, SLP, INA, INB, SLP)
2
ANN
Enable analog current control via INA and INB (low active)
3
HA1
Output for high side P-channel transistors
4
HA2
Output for high side P-channel transistors
5
LA1
Output for low side N-channel transistors
6
LA2
Output for low side N-channel transistors
7
SRA
Bridge A current sense resistor input
8
OSC
Oscillator capacitor or external clock input for chopper
9
SDO
Data output of SPI interface (tri-state)
10
SDI
Data input of SPI interface
11
SCK
Serial clock input of SPI interface
12
CSN
Chip select input of SPI interface
13
ENN
Device enable (low active) and overvoltage shutdown input
14
SPE
Enable SPI mode (high active).
15
BL1
Digital blank time select
16
SRB
Bridge B current sense resistor input
17
LB2
Output for low side N-channel transistors
18
LB1
Output for low side N-channel transistors
19
HB2
Output for high side P-channel transistors
20
HB1
Output for high side P-channel transistors
21
BL2
Digital blank time select
22
VT
Short to GND detection comparator
23
VS
Motor supply voltage
24
GND
Digital and power GND
25
VCC
3.0… 5.5V supply voltage for analog and logic circuits
26
INB
Analog current control phase B
27
INA
Analog current control phase A
28
SLP
Slope control resistor. Tie to GND for fastest slope
Label
Description
GND
Digital and power ground. Use for oscilloscope.
VS
Supply voltage
VT
Short to GND detection comparator. Compare VS to VT to evaluate, weather the
power supply is near short to GND.
SRA
Bridge A sense resistor voltage
SRB
Bridge B sense resistor voltage
OSZ
Oscillator frequency. The frequency can be chosen with jumpers.
EN
Driver enable of CPU
3.1.6 Test Points
TEST POINTS RELATED TO TMC246
Table 3.12 TMC246 test points
TEST POINTS RELATED TO TMC248
Every pin of the TMC248 driver chip can be accessed here.
Table 3.13 TMC248 test points
TEST POINTS RELATED TO TMC249
Table 3.14 TMC249 test points
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 16
3.1.6.1 VS compared to VT
To evaluate whether the power supply VS is near short to GND, compare VS to VT using two
oscilloscope channels.
3.1.6.2 Current Sense Resistor Inputs (SRA and SRB)
The screenshots in this chapter show typical microstep waves and chopper cycles measured on the
pins SRA and SRB. The area between the white broken line and the white line marked with a red 2
corresponds to one microstep. The chopper cycles of the two phases are nearly the same, but shifted.
Figure 3.13 Oscilloscope screen shot: microsteps
Figure 3.14 Oscilloscope screen shot: chopper cycles
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 17
Symbol
Parameter
Min
Typ
Max
Unit
VCC
Power supply voltage for operation
7
12-24
26.5*)
V
VCCIO
Digital power supply (for external
microcontroller)
5 5.1
V
+5V
Output of internal switch regulator
5 5.1
V
I
SUPPLY
Power supply current
1.4 4
A
T
ENV
Environment temperature at rated
current (no forced cooling required)
20°C °C
4 Operational Ratings
The operational ratings shown below should be used as design values. The maximum power supply
current depends on the used motors and the supply voltage.
Do not exceed the maximum values during operation! Otherwise the MOSFETs or the suppressor diode
may be damaged!
Table 4.1 General operational ratings of the module
*) The TMC429+TMC24x-EVAL is equipped with a SMBJ24A +24V DC suppressor diode, that limits the
operation voltage range. For short time overvoltage shut down tests up to 28V can be applied.
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 18
YOU NEED
- Evaluation board
- Up to three stepper motors (motor current: 1…
3A RMS)
- USB interface
- Power supply +12… 24V DC, at least 1.5A
recommended
- TMC429+TMC24x-EVAL software and PC
- Cables for interface, motor, and power
PRECAUTIONS
- Do not mix up connections or short-circuit pins.
- Avoid bounding I/O wires with motor wires.
- Do not exceed the maximum power supply of
+26.5V DC!
- DO NOT CONNECT OR DISCONNECT THE MOTORS
WHILE POWERED!
- START WITH POWER SUPPLY OFF!
- CONNECT POWER SUPPLY GND FIRST TO AVOID
SUPPLY CURRENT FLOWING BACK VIA USB CABLE.
Pin 1 GND
Pin 2 +10V… 24V DC
Serial USB
interface
1
SPI IN
SPI OUT
Ref. Switches
Motor 1 Motor 2
Motor 3
Power
Power
supply
1
1
1
11
1
1
Stepper
Motor
USB
Analog
5 Getting Started – How to Connect the Board
Figure 5.1 Getting started
STARTING UP
1. Connect the USB interface.
2. Read the information about motor default settings in chapter 5.1. Connect one or more motors.
3. Connect the power supply of the evaluation board.
4. Turn power ON. The green LED near the power supply lights up. The motor is powered but in
standstill now. If this does not occur, turn power OFF. Check your connections and power supply!
5. Now, the keys on the board can be used. Please refer to chapter 3.1.4 for further information.
6. If you connect the USB the first time, you will be asked for the virtual com port configuration file
that is required for configuration of a virtual com port for your evaluation board. For Windows
systems use the TMC429+TMC24x-EVAL.inf configuration file (available on www.trinamic.com).
7. Download the file TMC429+TMC2xx-EVAL.exe. Open it with a double click.
8. Push the button Open. The board will be detected now.
9. Start examinations with the PC software (refer to chapter 6).
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Figure 5.2 Interface dialogue of evaluation board software
TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 19
5.1 Getting Started with up to Three Motors
Before connecting one or more motors, note that every axis has own default settings. This is, because
the three motor drivers use different setups in order to allow testing different modes of operation
and different schematic setups. This way, various stepper motors can be examined easily.
MOTOR 1 (UP TO 1A RMS)
Motor 1 is driven by the TMC246 stepper motor driver. The maximum motor current of this driver chip
is 1A RMS (1.5A peak) which is also the default value of the evaluation board. The default value for
stand still is 125mA.
Software settings:
- TMC429 IS_VO: 1 (=1/8 current)
- IS_AGTAT=IS_ALEAT=0 (=8/8 current)
MOTOR 2 (UP TO 2.3A RMS)
Motor 2 is driven by the TMC248 stepper motor driver with external power transistors. This driver
provides a fine current control using µC PWM output. The maximum motor current of this driver chip
is 2.3A RMS (3.3A peak). The software default setting for motor current is 1A RMS (1.5A peak). The
default value for stand still is 500mA.
Software settings:
- PWM=111/256 current
- TMC429 IS_VO: 4 (=4/8 current)
- IS_AGTAT=IS_ALEAT=0 (=8/8 current)
MOTOR 3 (UP TO 2.3A RMS)
Motor 3 is driven by the TMC249 stepper motor driver with external power transistors. The maximum
motor current of this driver chip is 2.3A RMS (3.3A peak). The software default setting for motor
current is 2.3A RMS (3.3A peak). The default value for stand still is 300mA.
Software settings:
- TMC429 IS_VO: 1 (=1/8 current)
- IS_AGTAT=IS_ALEAT=0 (=8/8 current)
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6 Evaluation Software
The evaluation software TMC429+TMC2xx-EVAL.exe is intended for customers who design own PCBs
with the TMC429 and/or one of the three motor driver chips. In order to understand the settings, the
datasheets of the ICs need to be referenced. The software is designed for adjusting and testing all
settings by allowing direct register access.
6.1 The Main Window
After starting the software the main window will open up (Figure 6.1). First, click the Open button. If
the connection to the evaluation board is established successfully, the message The board is active
will be displayed. If the message The board does not respond is displayed, please check the power
supply and the connection to your PC again.
The TMC429 status register is displayed in the TMC429 status bits section on the left side. Using the
controls in the Motor 1, Motor 2 and Motor 3 sections, the motors can be run. Just enter all necessary
parameters and click the appropriate Go button. You can stop a motor by clicking the appropriate
Stop button. Use the buttons All Go and All Stop to run or stop all motors simultaneously.
Figure 6.1 The main window
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Mode
Function
ramp_mode
Default mode for positioning applications with trapezoidal ramp. This mode is
provided as default mode for positioning tasks.
soft_mode
Similar to ramp_mode, but with soft target position approaching. The target
position is approached with exponentially reduced velocity. This feature can be
useful for applications where vibrations at the target position have to be
minimized.
velocity_mode
Mode for velocity control applications, change of velocities with linear ramps.
This mode is for applications, where stepper motors have to be driven precisely
with constant velocity.
hold_mode
The velocity is controlled by the microcontroller, motion parameter limits are
ignored. This mode is provided for motion control applications, where the ramp
generation is completely controlled by the microcontroller.
Proceed as follows to run a motor:
- Select a ramp mode.
- Fill in the other necessary parameters.
- Start the motor or all motors.
You will find an explanation of all parameters in the TMC429
data sheet.
In this example it is assumed that a motor is connected to the
MOTOR1 connector.
First, set the ramp mode of motor 1 to RAMP. Then enter the
following parameters:
- Target Position: 100000
- Vmin: 1
- Vmax: 500
- Max Accel.: 150
Click the Go button. Now, the motor will be running until
position 100000 is reached. After that, enter zero as Target
Position and click the Go button again. The motor will run back
to position zero.
You can also try to change the position on the fly whilst the
motor is running. Just enter a different position, click the Go
button and see how the motor reacts. Also open the graphics
window (Chapter 6.2) and watch the ramps.
Now try the other ramp modes.
Figure 6.2 Ramp mode selection
RAMP MODES PROVIDED BY TMC429
Table 6.1 TMC429 ramp modes
6.1.1 Examples
Figure 6.3 Example: positioning of motor 1 in RAMP mode
In RAMP and SOFTMODE the Vmin parameter must not be zero because otherwise the target position
sometimes cannot be reached.
Some other parameters which are not displayed in the main window are calculated and set up
automatically according to the acceleration parameter.
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When using VELOCITY mode, you can enter the acceleration and
the Vmax parameter. The motor is then accelerated to that
velocity and keeps running constantly until you change the
velocity and click the Go button again. The motor will then be
accelerated or decelerated to the new velocity using the
acceleration parameter you have entered.
If you set the ramp mode to HOLD, you can only enter the
actual velocity parameter, click the Go button and control the
velocity directly.
Figure 6.4 Example: motor 1 driven in VELOCITY mode
Figure 6.5 Example: motor1 in HOLD mode
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6.2 Graphic Display
The graphic display window (Figure 6.6) shows the driving ramps of all the stepper motors. There is
one tab for each motor. The following values are displayed:
Green actual position of the motor.
Red actual velocity of the motor. The value is shown as an absolute value, so negative velocities
will also be shown as positive values.
Blue actual acceleration, also shown as an absolute value.
Yellow actual target velocity of the motor, also displayed as an absolute value.
Please note that this is only a rough and not an exact diagram.
Figure 6.6 graphic display window
EXPLANATIONS
The value Time interval [ms] shows the time between two pixels on the X axis. This value mainly
depends on the performance of the PC and will be slower when the register window of the
evaluation board software is open (the display then gets slower because more values are queried
from the evaluation board).
The scales of the Y axis are automatically adapted to fit the entire curves. The curves are also
displayed one pixel against each other for a better view.
If Stop when velocity = 0 is activated the display will be stopped when the velocities of all motors are
zero.
All curves are cleared by clicking the Clear display button.
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 24
6.3 TMC429 Register Dialog
By clicking the TMC429 Registers button the register window opens and gives you access to every
TMC429 register. This dialog contains six pages on which all registers are displayed sorted by
functional blocks.
Please read more about the registers in the TMC429 data sheet.
Figure 6.7 The register window showing the Motor 1 page
Click on the Graphics button to open the graphics window which displays the driving ramps of all
motors.
6.3.1 Motor 1, Motor 2, and Motor 3
On the motor tabs, all registers belonging to the motors 1, 2, and 3 are displayed (Figure 6.7). In the
Actual Values and Read Only Values sections, the contents of all readable registers are displayed.
These values are updated permanently.
To change the contents of a register, first click on its name in the Registers section. Then change the
value in the appropriate edit field in the New Value section. You can also copy the actual values into
the edit fields by clicking the Copy button.
In the SPI Telegram section, the SPI telegram for setting the selected register to the desired value is
shown. Click the Send SPI Telegram button to send it to the evaluation board, and the value will be
set. Now, the new value is shown in the Actual Values section.
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 25
6.3.2 TMC429 Global Parameters
This page (Figure 6.8) contains all the TMC429 global parameter registers. It is made up just like the
motor register pages. The contents of the read only registers (including the reference switch flags) are
shown in the Read Only section. In the Read/Write section all writable registers are displayed. In the
Actual Values section the actual contents of the registers are shown and updated permanently. To
change a register, select it in the Registers section and fill in the new value in the New Value section.
Using the Copy button, you can copy the actual contents into the edit fields.
In the SPI Telegram section, the SPI telegram for setting the selected register to the desired value is
shown. Click the Send SPI Telegram button to send it to the evaluation board, and the value will be
set.
Figure 6.8 The register window showing the Global Parameters page
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 26
6.3.3 RAM Table
On this tab (Figure 6.9), the internal configuration RAM of the TMC429 chip (which contains the driver
configuration and the microstepping table) can be viewed and modified. Furthermore, any SPI data
telegram can be entered and sent to the evaluation board and the response can be viewed.
Figure 6.9 The register dialog showing the RAM Table tab
Click the Read from RAM button to read the contents of the TMC429 RAM into the RAM editor. The
progress bar below the RAM editor shows the reading progress. After that, the values can be
modified. By clicking the Write to RAM button, the values will be written back to the TMC429 RAM,
which is also shown by the progress bar. Use the Save to file function to save the contents of the
RAM editor to a file and the Load from file function to read the file back into the RAM editor.
The Microstep Shape function is used to calculate enhanced microstepping tables. To do this, first set
the Sigma value to the desired value (any floating point number between –1 and +1). By clicking the
Calculate button the new microstepping table will be written to the RAM editor only, and by clicking
the Calculate & Write to RAM button, the values are not only written to the RAM editor, but also to
the TMC429 microstepping RAM. The driver configuration bytes will not be modified by this process.
In the SPI Direct section, any SPI telegram can be entered and sent to the TMC429 by clicking the
Send button. The response sent from the TMC429 is then displayed below the Send button.
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6.3.4 TMC429 Specials Dialog: Interrupts and Reversing Switches
The TMC429 Specials tab of the TMC429 Register Set dialog is mainly designed for use with Step/Dir
stepper motor driver ICs. With the SPI controller driver chain provided on the TMC429+TMC24x-EVAL a
few special features can be used. Please ignore all input possibilities on the tab which are not for SPI
operation.
SETTING AND RESETTING INTERRUPTS
For setting up a position compare interrupt and enabling it, the POS_COMP_429 and the
POS_COMP_INT_429 registers can be used. Proceed as follows:
1. Choose the register IF_CONFIG_429 and then motor 1, motor 2, or motor 3. Click Send SPI
Telegram.
2. Choose the register POS_COMP_INT_429 and set ticks at MASK and INTERRUPT. Click Send SPI
Telegram.
3. Choose the register POS_COMP_429 and write a position value for the interrupt in the New
Value field. Click Send SPI Telegram.
Now, the interrupt flag will be set, if the chosen motor passes the interrupt position. To reset the
interrupt flag, choose the register POS_COMP_INT_429 and send the SPI telegram again by just clicking
Send SPI Telegram.
INVERTING REFERENCE SWITCHES
For inverting the reference switches of a motor choose the register IF_CONFIG_429 and set a tick at
INV_REF. Further, motor 1, motor 2, or motor 3 has to be chosen. Thereafter, click Send SPI Telegram.
Now, the reference switches for your chosen motor are inverted.
Figure 6.10 TMC429 Special Features’ tab
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 28
Error flag
Description
OC-A
Overcurrent on phase A
OC-B
Overcurrent on phase B
OL-A
Open load on phase A
OL-B
Open load on phase B
OC-HS
Overcurrent on high side
UV
Undervoltage
OT-PW
Overtemperature prewarning
OT
Overtemperature
6.4 The stallGuard Dialog
Clicking the TMC24x stallGuard button opens the stallGuard window (Figure 6.11). Here, the stallGuard
feature provided by the TMC246, TMC248, and the TMC249 can be explored.
Figure 6.11 The stallGuard dialog. In this example motor 3 is not connected.
For each motor driver chip there is a stallGuard display which shows the actual setting. Stall detection
thresholds can be set with the slider on top of each display. If the load value shown by the red bar
reaches the stall detection theshold, the motor will be stopped immediately.
The error flags are shown by the blue LEDs. The abbreviations at the error flag LEDs have the
following meanings:
Table 6.2 Stepper motor driver error flags
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 29
6.5 Board Settings Dialog
Clicking the Board Settings button opens up the board settings window. This little dialog offers two
very useful features.
MOTOR DRIVERS SECTION
Per default, all motor driver chips are enabled after starting the TMC429+TMC2xx-EVAL.exe evaluation
software. In case you like to disconnect one or more motors maybe for a change or something else,
click the Disable button first. Thereafter, all stepper motor drivers ICs are disabled. So, it is not
necessary to turn off the power supply before disconnecting motors.
Disconnecting motors while the board is powered leads to damage on the motor driver chips. To
avoid this turn power off or click the Disable button on the Board Settings dialog first!
PWM SECTION
Here, the PWM current setting of the TMC248 can be chosen in a value range from 0 to 255. This way,
the motor current for motor 2 can be set from 0 to 100% of the maximum value.
Figure 6.12 Board settings dialog
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6.6 Logging Dialog
The Logging dialog can be used to store values during motor rotation. Proceed as follows:
1. Click the button with three points on the right side of the window. Then, write in a file name
and choose a storage location.
2. Set a tick at Log for each motor you like to. Now, choose the specific parameters, each with a
tick.
3. Click Start logging. Now, the polled values are stored directly into a .csv file.
4. Click Stop logging to end the polling.
5. Now, all values can be read out using Excel. Excel opens up automatically after a double click
at the stored file.
In case it is desired to add further polled values to an existing file, tick Append to log file.
Figure 6.13 Logging dialog
Figure 6.14 Logged values shown in Excel
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7 TMC429 Parameter Calculation Tool
TRINAMIC offers the TMC429Calc.exe calculation tool for TMC429 parameter calculation on the
TRINAMIC website www.trinamic.om. This program serves as a help to calculate the PMul and PDiv
parameters (see the TMC429 datasheet for an exact explanation of these parameters). It can be run
simply by double clicking the file TMC429Calc.exe.
Figure 7.1 TMC429Calc program
First, enter the parameters on the left side. After that, click the Calculate button and the values will be
calculated and displayed on the right side of the window.
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8 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 2013
Information given in this data sheet is believed to be
accurate and reliable. However neither 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 are subject to change without notice.
All trademarks used are property of their respective
owners.
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TMC429+TMC24x-EVAL Manual (Rev2.00 / 2013-MAY-06) 33
Version
Date
SD – Sonja Dwersteg
Author
Description
1.00
2011-NOV-11
SD
Initial version, based on TMC428 Eval Kit 3.0 Manual
(writers: LL, OK)
2.00
2013-MAY-06
SD
Completely revised manual because of new
hardware and firmware versions. TMC429 (successor
of TMC428) and TMC248 are new on the evaluation
board.
9 Revision History
9.1 Document Revision
Table 9.1 Document revision
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