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TMC2041-LA Datasheet(PDF) 4 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC2041-LA Datasheet(HTML) 4 Page - TRINAMIC Motion Control GmbH & Co. KG. |
4 / 66 page TMC2041 DATASHEET (Rev. 1.00 / 2016-NOV-25) 4 www.trinamic.com 1 Principles of Operation VCC_IO TMC2041 SPI interface CSN/IO0 SCK/IO1 SDO SDI/IO2 Step/Dir interface Step/Dir interface Sequencer & Microplyer Single wire interface 5V Voltage regulator charge pump VCP 22n 100n SWION SW_SEL CLK_IN SWIOP +VM 5VOUT VSA 4.7µ +VIO NEXTADDR VCC opt. ext. clock 12-16MHz 3.3V or 5V I/O voltage 100n 100n Sequencer & Microplyer Full Bridge A Full Bridge B +VM VS stepper motor #1 N S O1A1 O1A2 BR1A O1B1 O1B2 Driver 1 100n BR1B Full Bridge A Full Bridge B stepper motor #2 N S O2A1 O2A2 BR2A O2B1 O2B2 Driver 2 BR2B VS 100n 100µF +VIO Optional use lower voltage down to 6V 2R2 470n R1A R1B R2A R2B Figure 1.1 Basic application and block diagram The TMC2041 driver chip is a highly integrated step & direction stepper driver for two stepper motors. The driver, chopper logic, and a 256 microstep sequencer are integrated into the TMC2041. It is pin compatible to the TMC5041 and TMC5072, which provide internal ramping. The TMC2041 offers a number of unique enhancements over similar products. It features automatic standstill current reduction and coolStep for enhanced motor efficiency and provides stallGuard2 for sensorless homing. 1.1 Key Concepts The TMC2041 implements several advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy efficiency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. spreadCycle™ High-precision chopper algorithm available as an alternative to the traditional constant off-time algorithm. stallGuard2™ High-precision load measurement using the back EMF on the motor coils. coolStep™ Load-adaptive current control which reduces energy consumption by as much as 75%. In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage conditions for enhancing safety and recovery from equipment malfunctions. 1.2 Control Interfaces The TMC2041 supports both, an SPI and a UART based single wire interface with CRC checking. Selection of the actual interface is done via the configuration pin SW_SEL, which can be hardwired to GND or VCC_IO depending on the desired interface. From a software point of view the TMC2041 is a peripheral with a number of control and status registers. Most of them can either be written only or |
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