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TMC5130-EVAL Datasheet(PDF) 7 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC5130-EVAL Datasheet(HTML) 7 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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7 / 128 page  TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 7 www.trinamic.com 1.1 Key Concepts The TMC5130A implements 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. stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible standstill of the motor. spreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean current wave. dcStep™ Load dependent speed control. The motor moves as fast as possible and never loses a step. stallGuard2™ Sensorless stall detection and mechanical load measurement. coolStep™ Load-adaptive current control reducing energy consumption by as much as 75%. microPlyer™ Microstep interpolator for obtaining increased smoothness of microstepping when using the STEP/DIR interface. 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 TMC5130A supports both, an SPI interface 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. 1.2.1 SPI Interface The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus master to the bus slave another bit is sent simultaneously from the slave to the master. Communication between an SPI master and the TMC5130A slave always consists of sending one 40-bit command word and receiving one 40-bit status word. The SPI command rate typically is a few commands per complete motor motion. 1.2.2 UART Interface The single wire interface allows differential operation similar to RS485 (using SWIOP and SWION) or single wire interfacing (leaving open SWION). It can be driven by any standard UART. No baud rate configuration is required. 1.3 Software From a software point of view the TMC5130A is a peripheral with a number of control and status registers. Most of them can either be written only or read only. Some of the registers allow both read and write access. In case read-modify-write access is desired for a write only register, a shadow register can be realized in master software. |
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