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TMC4210-I Datasheet(PDF) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4210-I Datasheet(HTML) 5 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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5 / 48 page  TMC4210 DATASHEET (Rev. 1.03 / 2015-JUN-03) 5 www.trinamic.com 1.2 Control Interfaces 1.2.1 Serial µC Interface Using this interface, the TMC4210 receives target positions, target velocities, and target acceleration values for the microcontroller. Further, it is used for configuration. From the software point of view, the TMC4210 provides a set of registers, accessed by the microcontroller via a serial interface in a uniform way. Each datagram contains address bits, a read- write selection bit, and data bits to access the registers and the on-chip memory. Each time the microcontroller sends a datagram to the TMC4210 it simultaneously receives a datagram from the TMC4210. This simplifies the communication with the TMC4210 and makes programming easy. Most microcontrollers have an SPI hardware interface, which directly connects to the serial four wire microcontroller interface of the TMC4210. For microcontrollers without SPI hardware software doing the serial communication is sufficient and can easily be implemented. 1.2.2 Step/Dir Driver Interface The TMC4210-I 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 TMC4210-I perfectly fits to the TMC26x smart power Step/Dir driver family. µC High Level Interface Stepper Motor Driver incl. MOSFETs TMC260/TMC261/ TMC2660 M TMC4210 Motion Controller SPI Step/Dir SPI Figure 1.2 Application example using Step/Dir driver interface 1.3 Software Visibility From the software point of view the TMC4210 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. |
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