TMC222-PI20_技术文档

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

1

TMC222 – DATASHEET

Micro Stepping Stepper Motor

Controller / Driver with Two Wire Serial Interface

TRINAMIC Motion Control GmbH & Co. KG

Waterloohain 5

D – 22769 Hamburg

1

2

20

19

18

17

16

15

14

13

12

11

SDA

SCL

VDD

GND

TST

SWI

GERMANY

32 31 30 29 28 27 26 25

VBAT

OA1

GND

OA2

OB1

GND

OB2

VBAT

VCP

3

OA1

OB2

4

OA1

www.trinamic.com

VBAT

5

VBAT

TMC 222

QFN32

6

VBAT

SWI

NC

VBAT

VCP

CPP

CPN

open

GND

HW

7

SDA

8

9

10 11 12 13 14 15 16

9

CPN

CPP

10

Top view

1 Features

The TMC222 is a combined micro-stepping stepper motor motion controller and driver with RAM and

OTP memory. The RAM or OTP memory is used to store motor parameters and configuration settings.

The TMC222 allows up to four bit of micro stepping and a coil current of up to 800 mA. After

initialization it performs all time critical tasks autonomously based on target positions and velocity

parameters. Communications to a host takes place via a two wire serial interface. Together with an

inexpensive micro controller the TMC222 forms a complete motion control system. The main benefits

of the TMC222 are:

•

Motor driver

•

Controls one stepper motor with four bit micro stepping

Programmable Coil current up to 800 mA

Supply voltage range operating range 8V ... 29V

Fixed frequency PWM current control with automatic selection of fast and slow decay mode

Full step frequencies up to 1 kHz

High temperature, open circuit, short, over-current and under-voltage diagnostics

•

Motion controller

•

Internal 16-bit wide position counter

Configurable speed and acceleration settings

Build-in ramp generator for autonomous positioning and speed control

On-the-fly alteration of target position

reference switch input available for read out

Two wire serial interface

•

Transfer rates up to 350 kbps

Diagnostics and status information as well as motion parameters accessible

Field-programmable node addresses (32)

2

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

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.

Information given in this data sheet is believed to

be accurate and reliable. However no

responsibility is assumed for the consequences

of its use nor for any infringement of patents or

other rights of third parties which may result form

its use.

Specifications subject to change without notice.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

3

Table of Contents

1

2

FEATURES...................................................................................................................................... 1

GENERAL DESCRIPTION .............................................................................................................. 5

2.1

Block Diagramm........................................................................................................................ 5

Position Controller / Main Control ............................................................................................. 5

Stepper Motor Driver................................................................................................................. 5

Two Wire Serial Interface.......................................................................................................... 5

Miscellaneous ........................................................................................................................... 6

Pin and Signal Descriptions ...................................................................................................... 6

2.2

2.3

2.4

2.5

2.6

3

4

5

TYPICAL APPLICATION................................................................................................................. 7

ORDERING INFORMATION ........................................................................................................... 7

FUNCTIONAL DESCRIPTION ........................................................................................................ 8

5.1

Position Controller and Main Controller .................................................................................... 8

5.1.1

Stepping Modes................................................................................................................. 8

Velocity Ramp.................................................................................................................... 8

Examples for different Velocity Ramps.............................................................................. 9

Vmax Parameter.............................................................................................................. 10

Vmin Parameter............................................................................................................... 11

Acceleration Parameter ................................................................................................... 11

Position Ranges............................................................................................................... 12

Secure Position................................................................................................................ 12

External Switch ................................................................................................................ 12

5.1.2

5.1.3

5.1.4

5.1.5

5.1.6

5.1.7

5.1.8

5.1.9

5.1.10 Motor Shutdown Management......................................................................................... 13

5.1.11 Reference Search / Position initialization......................................................................... 14

5.1.12 Temperature Management.............................................................................................. 15

5.1.13 Battery Voltage Management .......................................................................................... 16

5.1.14 Internal handling of commands and flags........................................................................ 17

5.2

RAM and OTP Memory........................................................................................................... 19

5.2.1

5.2.2

5.2.3

RAM Registers................................................................................................................. 19

Status Flags..................................................................................................................... 20

OTP Memory Structure.................................................................................................... 21

5.3

5.3.1

5.3.2

5.3.3

Stepper Motor Driver............................................................................................................... 21

Coil current shapes.......................................................................................................... 22

Transition Irun to Ihold..................................................................................................... 23

Chopper Mechanism........................................................................................................ 24

6

TWO-WIRE SERIAL INTERFACE................................................................................................. 25

6.1

Physical Layer......................................................................................................................... 25

Communication on Two Wire Serial Bus Interface ................................................................. 25

Physical Address of the circuit ................................................................................................ 26

Write data to TMC222............................................................................................................. 26

Read data from TMC222 ........................................................................................................ 27

Timing characteristics of the serial interface........................................................................... 28

Application Commands Overview........................................................................................... 29

Command Description ............................................................................................................ 30

6.2

6.3

6.4

6.5

6.6

6.7

6.8

6.8.1

6.8.2

6.8.3

6.8.4

6.8.5

6.8.6

GetFullStatus1 ................................................................................................................. 30

GetFullStatus2 ................................................................................................................. 31

GetOTPParam................................................................................................................. 31

GotoSecurePosition......................................................................................................... 32

HardStop.......................................................................................................................... 32

ResetPosition................................................................................................................... 32

4

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.8.7

6.8.8

6.8.9

ResetToDefault................................................................................................................ 33

RunInit.............................................................................................................................. 33

SetMotorParam................................................................................................................ 34

6.8.10 SetOTPParam.................................................................................................................. 34

6.8.11 SetPosition....................................................................................................................... 35

6.8.12 SoftStop ........................................................................................................................... 35

6.9

Positioning Task Example....................................................................................................... 36

7

8

FREQUENTLY ASKED QUESTIONS ........................................................................................... 38

7.1

Using the bus interface............................................................................................................ 38

General problems when getting started .................................................................................. 38

Using the device...................................................................................................................... 39

Finding the reference position................................................................................................. 40

7.2

7.3

7.4

PACKAGE OUTLINE..................................................................................................................... 41

8.1

8.2

SOIC-20 .................................................................................................................................. 41

QFN32..................................................................................................................................... 42

9

PACKAGE THERMAL RESISTANCE........................................................................................... 43

9.1

SOIC-20 Package ................................................................................................................... 43

10

ELECTRICAL CHARACTERISTICS.......................................................................................... 44

10.1

Absolute Maximum Ratings................................................................................................. 44

Operating Ranges................................................................................................................ 44

DC Parameters.................................................................................................................... 44

AC Parameters.................................................................................................................... 46

10.2

10.3

10.4

REVISION HISTORY............................................................................................................................. 47

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5

2 General Description

2.1 Block Diagramm

SWI

OA1

OA2

PWM

regulator

X

SDA

SCL

Two Wire

Serial

Interface

Decoder

Position Controller

Sinewave

table

Serial

Interface

Controller

HW

OB1

OB2

PWM

regulator

Y

DACs

Main control

& Registers

TST

Test

OTP + ROM

VBAT

VDD

Voltage

Regulator

Oscillator

Reference Voltage

&

Thermal Monitoring

Charge

Pump

VCP CP2 CP1

2.2 Position Controller / Main Control

Motor parameters, e.g. acceleration, velocity and position parameters are passed to the main control

block via the serial interface. These information are stored internally in RAM or OTP memory and are

accessible by the position controller. This block takes over all time critical tasks to drive a stepper

motor to the desired position under abiding the desired motion parameters.

The main controller gets feedback from the stepper motor driver block and is able to arrange internal

actions in case of possible problems. Diagnostics information about problems and errors are

transferred to the serial interface block.

2.3 Stepper Motor Driver

Two H-bridges are employed to drive both windings of a bipolar stepper motor. The internal transistors

can reach an output current of up to 800 mA. The PWM principle is used to force the given current

through the coils. The regulation loop performs a comparison between the sensed output current and

the internal reference. The PWM signals to drive the power transistors are derived from the output of

the current comparator.

2.4 Two Wire Serial Interface

Communication between a host and the TMC222 takes places via the two wire bi-directional serial

interface. Motion instructions and diagnostics information are provided to or from the Main Control

block. It is possible to connect up to 32 devices on the same bus. Slave addresses are programmable

via OTP memory or an external pin.

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

2.5 Miscellaneous

Besides the main blocks the TMC222 contains the following:

•

an internal charge pump used to drive the high side transistors.

an internal oscillator running at 4 MHz +/- 10% to clock the two wire serial interface, the

positioning unit, and the main control block

•

internal voltage reference for precise referencing

a 5 Volts voltage regulator to supply the digital logic

protection block featuring Thermal Shutdown, Power-On-Reset, etc.

2.6 Pin and Signal Descriptions

1

20

SDA

SCL

VDD

GND

TST

SWI

2

19

18

17

16

15

14

13

12

11

32 31 30 29 28 27 26 25

VBAT

OA1

GND

OA2

OB1

GND

OB2

VBAT

VCP

3

OA1

OB2

4

OA1

OB2

VBAT

5

VBAT

TMC 222

QFN32

6

VBAT

SWI

NC

VBAT

VCP

CPP

CPN

open

GND

HW

7

SDA

8

9

10 11 12 13 14 15 16

9

CPN

CPP

10

Top view

Name

SOIC20

QFN32

Description

SDA

SCL

VDD

GND

1

2

3

8

9

SDA Serial Data input/output

SCL Serial Clock input

internal supply (needs external decoupling capacitor)

10

4,7,14,17 11,14,25,26, ground, heat sink

31,32

TST

open

HW

5

6

8

12

13

15

test pin (to be tied to ground in normal operation)

must be left open

hard-wired serial interface address bit input

Hint: This is not a logic level input as usual; it needs to be

connected via 1K resistor either to +VBAT or GND;

negative connection of external charge pump capacitor

positive connection of external charge pump capacitor

connection of external charge pump filter capacitor

CPN

CPP

VCP

VBAT

OB2

OB1

OA2

OA1

SWI

9

10

17

18

19

11

12, 19

13

15

3-5,20-22 battery voltage supply (Vbb)

23,24

27,28

29,30

1,2

negative end of phase B coil

positive end of phase B coil

16

18

negative end of phase A coil

positive end of phase A coil

reference switch input;

20

6

Hint: This is not a logic level input as usual; it needs to be

connected via 1K resistor either to +VBAT or GND;

internally not connected (shields when connected to ground)

NC

7,16

Table 1: TMC222 Signal Description

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

7

3 Typical Application

External

Switch

Connect to

GND or V_BAT

Two wire serial Interface

1

2

3

4

5

SDA

SCL

VDD

GND

TST

open

GND

HW

SWI

VBAT

OA1

20

19

18

17

16

15

14

13

12

11

SWI

1k

Ω /1/4W

2.7 nF

100 nF

1 µF

Tantalum

100 nF

GND

OA2

M

6

OB1

V_BAT

7

GND

OB2

Connect to

GND or V_BAT

8...29 V

8

1k

Ω

/1/4W

100 nF

2.7 nF

9

CPN

CPP

VBAT

VCP

220 nF

16 V

220 nF

16 V

100 µF

10

Figure 1: TMC222 Typical Application

Notes :

•

Resistors tolerance +- 5%

2.7nF capacitors: 2.7nF is the minimum value, 10nF is the maximum value

the 1µF and 100µF must have a low ESR value

100nF capacitors must be close to pins V_BBand V_DD

220nF capacitors must be as close as possible to pins CPN, CPP, V_CPand V_BBto reduce EMC radiation.

4 Ordering Information

Part No.

Package

Peak Current

Temperature Range

TMC222-PI20

(pre-series marking,

same IC as TMC222-SI)

SOIC-20

800 mA

-40°C..125°C

TMC222-SI

TMC222-LI

SOIC-20

QFN32

800mA

-40°C..125°C

Table 2: Ordering Information

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5 Functional Description

5.1 Position Controller and Main Controller

5.1.1 Stepping Modes

The TMC222 supports up to 16 micro steps per full step, which leads to smooth and low torque ripple

motion of the stepping motor. Four stepping modes (micro step resolutions) are selectable by the user

(see also Table 11):

•

Half step Mode

1/4 Micro stepping

1/8 Micro stepping

1/16 Micro stepping

5.1.2 Velocity Ramp

A common velocity ramp where a motor drives to a desired position is shown in the figure below. The

motion consists of a acceleration phase, a phase of constant speed and a final deceleration phase.

Both the acceleration and the deceleration are symmetrical. The acceleration factor can be chosen

from a table with 16 entries. (Table 5: Acc Parameter on page 11). A typical motion begins with a start

velocity Vmin. During acceleration phase the velocity is increased until Vmax is reached. After

acceleration phase the motion is continued with velocity Vmax until the velocity has to be decreased in

order to stop at the desired target position. Both velocity parameters Vmin and Vmax are

programmable, whereas Vmin is a programmable ratio of Vmax. (See Table 3: Vmax Parameter on

page 10 and Table 4: Vmin on page 11). The user has to take into account that Vmin is not allowed to

change while a motion is ongoing. Vmax is only allowed to change under special circumstances. (See

5.1.4 Vmax Parameter on page 10).

The peak current value to be fed to each coil of the stepper-motor is selectable from a table with 16

possible values. It has to be distinguished between the run current Irun and the hold current Ihold. Irun

is fed through the stepper motor coils while a motion is performed, whereas Ihold is the current to hold

the stepper motor before or after a motion. More details about Irun and Ihold can be found in 5.3.1. and

5.3.2.

Velocity resp. acceleration parameters are accessable via the serial interface. These parameters are

written via the SetMotorParam command (see 6.8.9) and read via the GetFullStatus1 command (see

6.8.1).

Velocity V

[FS/s]

V_max

V_min

time

[s]

X_start

X_target

No

Movement

Acceleration

Phase

Deceleration

Phase

No

Movement

State of Motion

Constant Velocity

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

9

5.1.3 Examples for different Velocity Ramps

The following figures show some examples of typical motions under different conditions:

Velocity V

V_max

V_min

X_start

X_{target_1}

X_{target_2}

time

Figure 2: Motion with change of target position

Velocity V

V_max

V_min

X_start

X_{target_1}

X_{target_2}

time

Figure 3: Motion with change of target position while in deceleration phase

Velocity V

V_max

V_min

X_start

X_target

time

Figure 4: Short Motion Vmax is not reached

Velocity V

V_max

V_min

X_start

X_{target_1}

X_{target_2}

time

Figure 5: Linear Zero crossing (change of target position in opposite direction)

The motor crosses zero velocity with a linear shape. The velocity can be smaller than the programmed

Vmin value during zero crossing. Linear zero crossing provides very low torque ripple to the stepper

motor during crossing.

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.1.4 Vmax Parameter

The desired maximum velocity Vmax can be chosen from the table below:

Vmax Vmax Vmax

index [FS/s] group

Stepping Mode

Half-Step 1/4 micro

Mode stepping

[half-steps/s] [micro-steps/s]

1/8 micro

stepping

[micro-steps/s]

790

1/16 micro

stepping

[micro-steps/s]

1579

A

B

99

197

273

334

395

425

456

486

546

607

668

729

790

912

1091

1457

1945

395

546

0

1

136

167

197

213

228

243

273

303

334

364

395

456

546

729

973

1091

2182

668

1335

2670

2

790

1579

3159

3

851

1701

3403

4

912

1823

3647

5

973

1945

3891

6

1091

1213

1335

1457

1579

1823

2182

2914

3891

2182

4364

7

2426

4852

8

2670

5341

9

C

D

2914

5829

10

11

12

13

14

15

3159

6317

3647

7294

4364

8728

5829

11658

15564

7782

Table 3: Vmax Parameter

Under special circumstances it is possible to change the Vmax parameters while a motion is ongoing.

All 16 entries for the Vmax parameter are divided into four groups A, B, C and D. When changing

Vmax during a motion take care that the new Vmax value is within the same group. Background: The

TMC222 uses an internal pre-divider for positioning calculations. Within one group the pre-divider is

equal. When changing Vmax between different groups during a motion, correct positioning is not

ensured anymore.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

11

5.1.5 Vmin Parameter

The minimum velocity parameter is a programmable ratio between 1/32 and 15/32 of Vmax. It is also

possible to set Vmin to the same velocity as Vmax by setting Vmin index to zero. The table below

shows the possible rounded values of Vmin given within unit [FS/s].

Vmax group [A...D] and Vmax index [0…15]

Vmin Vmax

index factor

A

0

B

C

D

1

2

3

4

5

6

7

8

9

10 11 12 13 14 15

99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973

0

1

2

3

4

5

6

7

8

9

1

3

6

9

4

8

5

6

7

8

10 10 11 13 15 19 26

1/32

2/32

3/32

4/32

5/32

6/32

7/32

8/32

9/32

10 11 12 13 14 15 17 19 21 23 27 30 42 57

12 15 18 19 21 22 25 27 30 32 36 42 50 65 88

12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118

15 21 26 30 32 35 37 42 46 52 55 61 71 84 111 149

18 25 30 36 39 42 45 50 55 61 67 72 84 99 134 179

22 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210

24 33 41 49 52 56 60 67 74 82 90 97 112 134 179 240

28 38 47 55 59 64 68 76 84 94 101 111 128 153 202 271

30 42 52 61 66 71 75 84 94 103 112 122 141 168 225 301

34 47 57 68 72 78 83 94 103 114 124 135 156 187 248 332

37 50 62 73 79 85 91 101 112 124 135 147 170 202 271 362

40 55 68 80 86 92 98 111 122 135 147 160 185 221 294 393

43 59 72 86 92 99 106 118 132 145 158 172 198 236 317 423

46 64 78 92 99 107 114 128 141 156 170 185 214 256 340 454

10 10/32

11 11/32

12 12/32

13 13/32

14 14/32

15 15/32

Table 4: Vmin values [FS/s] for all Vmin index – Vmax index combinations

5.1.6 Acceleration Parameter

The acceleration parameter can be chosen from a wide range of available values as described in the

table below. Please note that the acceleration parameter is not to change while a motion is ongoing.

Acceleration Values in [FS/s²] dependent on Vmax

Vmax [FS/s]

Acc index

99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973

49

106

473

735

0

1

218

1004

3609

2

3

6228

4

8848

5

11409

13970

16531

6

7

8

19092

9

21886

24447

27008

29570

10

11

12

13

14

15

34925

40047

29570

Table 5: Acc Parameter

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

The amount of equivalent full steps during acceleration phase can be computed by the next equation:

2

min

−

V

max

V

N

step

=

2⋅ Acc

5.1.7 Position Ranges

Position information is coded by using two’s complement format. Depending on the stepping mode

(See 5.1.1) the position ranges are as listed in the following table:

Stepping Mode

Position Range

Full range excursion

Half-stepping

-4096…+4095

(-2¹²…+2¹²-1)

-8192…+8191

(-2¹³…+2¹³-1)

-16384…+16383

(-2¹⁴…+2¹⁴-1)

-32768…+32767

(-2¹⁵…+2¹⁵-1)

8192 half-steps

2¹³

16384 micro-steps

1/4 micro-stepping

1/8 micro-stepping

1/16 micro-stepping

2¹⁴

32768 micro-steps

2¹⁵

65536 micro-steps

2¹⁶

Table 6: Position Ranges

Target positions can be programmed via serial interface by using the SetPosition command (see

6.8.11). The actual motor position can be read by the GetFullStatus2 command (see 6.8.2).

5.1.8 Secure Position

The GotoSecurePosition command drives the motor to a pre-programmed secure position (see 6.8.4).

The secure position is programmable by the user. Secure position is coded with 11 bits, therefore the

resolution is lower than for normal positioning commands, as shown in the following table.

Stepping Mode

Half-stepping

Secure Position Resolution

4 half steps

1/4 micro stepping

1/8 micro stepping

1/16 micro stepping

8 micro steps (1/4^th)

16 micro steps (1/8^th)

32 micro steps (1/16^th)

Table 7: Secure Position Resolution

5.1.9 External Switch SWI

Pin SWI (see Figure 1, on page 7) will attempt to source and sink current in/from the external switch

pin. This is to check whether the external switch is open or closed, resp. if the pin is connected to

ground or Vbat. The status of the switch can be read by using the GetFullStatus1 command. As long

as the switch is open, the <ESW> flag is set to zero.

The ESW flag just represents the status of the input switch. The SWI input is intended as a physical

interface for a mechanical switch that requires a cleaning current for proper operation. The SWI input

detects if the switch is open or connected either to ground or to Vbat. The SWI input is not a digital

logic level input. The status of the switch does not automatically perform actions as latching of the

actual position. Those actions have to be realized by the application software.

Important Hint: The SWI is not a logic level input as usual; it needs to be connected via 1K resistor

either to +VBAT or GND;

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

13

5.1.10 Motor Shutdown Management

The TMC222 is set into motor shutdown mode as soon as one of the following condition occurs:

•

The chip temperature rises above the thermal shutdown threshold T_tsd. See 5.1.12 Temperature

Management on Page 15

•

The battery voltage drops below UV2 See 5.1.13 Battery Voltage Management on Page 16.

An electrical problem occurred, e.g. short circuit, open circuit, etc. In case of such an problem flag

<ElDef> is set to one.

•

Chargepump failure, indicated by <CPFail> flag set to one.

During motor shutdown the following actions are performed by the main controller:

•

H-bridges are set into high impedance mode

The target position register TagPos is loaded with the contents of the actual position register

ActPos.

The two-wire-serial-interface remains active during motor shutdown. To leave the motor shutdown

state the following conditions must be true:

•

Conditions which led to a motor shutdown are not active anymore

A GetFullStatus1 command is performed via serial interface.

Leaving the motor shutdown state initiates the following

•

H-bridges in Ihold mode

Clock for the motor control digital circuitry is enabled

The charge pump is active again

Now the TMC222 is ready to execute any positioning command.

IMPORTANT NOTE:

First, a GetFullStatus1 command has to be executed after power-on to activate the TMC222.

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.1.11 Reference Search / Position initialization

A stepper motor does not provide information about the actual position of the motor. Therefore it is

recommended to perform a reference drive after power-up or if a motor shutdown happened in case of

a problem. The RunInit command initiates the reference search. The RunInit command consists of a

Vmin and Vmax parameter and also position information about the end of first and second motion

(6.8.8 RunInit).

A reference drive consists of two motions (Figure 6: RunInit): The first motion is to drive the motor into

a stall position or a reference switch. The first motion is performed under compliance of the selected

Vmax and Vmin parameter and the acceleration parameter specified in the RAM. The second motion

has got a rectangular shape, without a acceleration phase and is to drive the motor out of the stall

position or slowly towards the stall position again to compensate for the bouncing of the faster first

motion to stop as close to the stall position as possible. The maximum velocity of the second motion

equals to Vmin. The positions of Pos1 and Pos2 can be chosen freely (Pos1 > Pos2 or Pos1 < Pos2).

After the second motion the actual position register is set to zero. Finally, the secure position will be

traveled to if it is enabled (different from the most negative decimal value of –1024).

Once the RunInit command is started it can not be interrupted by any other command except a

condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a

HardStop command is received. Furthermore the master has to ensure that the target position of the

first motion is not equal to the actual position of the stepper motor and that the target positions of the

first and the second motion are not equal. This is very important otherwise the circuit goes into a

deadlock state. Once the circuit finds itself in a deadlock state only a HardStop command followed by a

GetFullStatus1 command will cause the circuit to leave the deadlock state.

Velocity V

[FS/s]

2^ndMotion

1^stMotion

V_max

V_min

Position X

[FS]

Pos1

Figure 6: RunInit

Pos2

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

15

5.1.12 Temperature Management

The TMC222 provides an internal temperature monitoring. The circuit goes into shutdown mode if the

temperature exceeds threshold T_tsd, furthermore two thresholds are implemented to generate a

temperature pre-warning.

Low Temperatur

<Tinfo> = "01"

<TW> = '0'

<TSD> = '0'

T°< Tlow

T°> Tlow

Normal Temp.

<Tinfo> = "00"

<TW> = '0'

<TSD> = '0'

T°< Ttw &

GetFullStatus1

T°< Ttw &

GetFullStatus1

T°> Ttw

Thermal Warning

<Tinfo> = "10"

<TW> = '1'

<TSD> = '0'

T°> Ttw

T°< Ttw

T°> Ttsd

Post

Thermal Warning

Thermal Shutdown

<Tinfo> = "11"

<TW> = '1'

<TSD> = '1'

SoftStop, if motion

Motion = disabled

<Tinfo> = "00"

<TW> = '1'

<TSD> = '0'

T°> Ttsd

T°< Ttsd

Post Thermal

Shutdown 1

<Tinfo> = "10"

<TW> = '1'

<TSD> = '1'

Motion = disabled

T°> Ttw

T°< Ttw

Post Thermal

Shutdown 2

<Tinfo> = "00"

<TW> = '1'

<TSD> = '1'

Motion = disabled

16

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.1.13 Battery Voltage Management

The TMC222 provides an internal battery voltage monitoring. The circuit goes into shutdown mode if

the battery voltage falls below threshold UV2, furthermore one threshold UV1 is implemented to

generate a low voltage warning.

Vbat > UV1 &

GetFullStatus1

Vbat > UV1 &

GetFullStatus1

Normal Voltage

<UV2> = '0'

<StepLoss> = '0'

Motion = enabled

Vbat > UV1

Vbat < UV1

Low Voltage

<UV2> = '0'

<StepLoss> = '0'

Motion = enabled

Vbat < UV2

(no Motion)

Vbat < UV2

(Motion)

Stop Mode 1

Stop Mode 2

<UV2> = '1'

<StepLoss> = '0'

Motion = disabled

<UV2> = '1'

<StepLoss> = '1'

HardStop

Motion = disabled

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

17

5.1.14 Internal handling of commands and flags

The internal handling of commands and flags differs. Commands are handled with different priorities

depending on the current state and the current status of internal flags, see figure below. SetPosition or

GotoSecurePosition commands are ignored as long as the <StepLoss> flag is set. Details can be

found in Table 8: Priority Encoder.

Note: A HardStop command is sent by the master or triggered internally in case of an electrical defect

or over temperature.

A description of the available commands can be found in 6.8 Command Description. A list of the

internal flags can be found in 5.2.2 Status Flags.

As an example: When the circuit drives the motor to its programmed target position, state “GotoPos” is

entered. There are three events which can cause to leave this state: HardStop command received,

SoftStop command received or target position reached. If all three events occur at the same time the

HardStop command is executed since it has the highest priority. The Motion finished event (target

position reached) has the lowest priority and thus will only cause transition to “Stopped” state when

both other events do not occur.

Thermal Shutdown

RunInit

SoftStop

HardStop

Thermal Shutdown

SoftStop

Motion finished

RunInit

HardStop

Power On

Reset

HardStop

Motion finished

HardStop

Thermal Shutdown

GotoSecurePosition

SetPosition

ShutDown

Stopped

GotoPos

Priorities

Motion finished

GetFullStatus1

AND <TSD> + <HS> = 0

High

Low

Motion finished

Figure 7: Internal handling of commands and flags

18

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

Stopped

motor stopped,

Ihold in coils

GotoPos

motor motion

ongoing

RunInit

SoftStop

motor

decelerating

HardStop

motor forced to

stop

ShutDown

State →

no influence on

RAM and

TagPos

motor stopped,

H-bridges in

Hi-Z

Command

↓

GetFullStatus2

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

OTP refresh;

I²C in-frame

OTP refresh;

I²C in-frame

OTP refresh;

I²C in-frame

OTP refresh;

I²C in-frame

OTP refresh;

I²C in-frame

OTP refresh;

I²C in-frame

response;

GetOTPParam

GetFullStatus1

if (<TSD>or

<HS>) = ‘1’

then

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

I²C in-frame

response

[attempt to clear

flags]

→ Stopped

OTP refresh;

OTP to RAM;

AccShapereset

(note 2)

ResetToDefault

OTP refresh; OTP refresh;

OTP to RAM; OTP to RAM;

AccShapereset AccShapereset

OTP refresh;

OTP to RAM;

OTP refresh;

OTP to RAM;

AccShapereset AccShapereset AccShapereset

OTP refresh;

OTP to RAM;

[ActPosand TagPos

are not altered]

SetMotorParam

RAM update

[Master takes care

about proper update]

TagPosand

ActPosreset

TagPosupdated;

→GotoPos

TagPosand

ActPosreset

ResetPosition

SetPosition

TagPosupdated TagPosupdated

If <SecEn> = ‘1’ If <SecEn> = ‘1’

If <SecEn> = ‘1’

then TagPos

SecPos;

→GotoPos

=

GotoSecurePosi

tion

then TagPos = then TagPos

SecPos SecPos

=

RunInit

→RunInit

→HardStop;

<StepLoss>=

‘1’

→HardStop;

<StepLoss>=

‘1’

→HardStop;

<StepLoss>=

‘1’

HardStop

SoftStop

HardStop

→SoftStop

[ ⇔ (<CPFail>or

<UV2>or <ElDef>) =

‘1’ ⇒ <HS>= ‘1’ ]

→Shutdown

→HardStop

Thermal shutdown

→Shutdown

→SoftStop

→Stopped

→SoftStop

→Stopped

[ <TSD> = ‘1’ ]

→Stopped;

TagPos

→Stopped;

TagPos

Motion finished

n.a.

=ActPos

Table 8: Priority Encoder

Color code:

Command ignored

Transition to another state

Master is responsible for proper update (see note 5)

Notes:

1

After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after a GetFullStatus1

command (so that the Master could read the <VddReset> flag).

2

A RunInit sequence runs with a separate set of RAM registers. The parameters which are not specified in a RunInit

command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced to

‘1’ during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case

AccShape at ‘0’ will be taken into account after the RunInit sequence. A GetFullStatus1 command will return the

default parameters for Vmax and Vmin stored in RAM.

3

4

Shutdown state can be left only when <TSD> and <HS> flags are reset.

Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided the physical

conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect).

A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and

Vmin values. This can be done during a RunInit sequence since this motion uses its own parameters, the new

parameters will be taken into account at the next SetPosition command.

5

6

<SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from

0x400 = “100 0000 0000”)

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

19

7

8

9

<Stop> flag allows to distinguish whether state Stopped was entered after HardStop/SoftStop or not. <Stop> is set to

‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped.

While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest

priority, meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions.

If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos

register whatever the state) and motion to secure position is forbidden. Other commands like RunInit or ResetPosition

will be executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command.

5.2 RAM and OTP Memory

Some RAM registers (e.g. Ihold, Irun) are initialized with the content of the OTP (One Time

Programmable) memory. The content of RAM registers that are initialized via OTP can be changed

afterwards. This allows user initialization default values, whereas the default values are one time

programmable by the user. Some OTP bits are address bits of the TMC222.

5.2.1 RAM Registers

Register

Mnemonic

Length

(bit)

Related commands

Comment

Reset

State

Actual Position

Target Position

ActPos

TagPos

16

GetFullStatus2

ResetPosition

SetPosition

Actual Position of the Stepper Motor. 16-bit

signed

16

Target Position of the Stepper Motor. 16-bit

signed

GetFullStatus2

ResetPosition

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

GetFullStatus1

SetMotorParam

ResetToDefault

0x0000

Acceleration

Shape

AccShape

Irun

1

4

0 = Acceleration with Acc Parameter.

1 = Velocity set to Vmin, without

acceleration

Coil Peak Current

Coil Hold Current

Minimum Velocity

Maximum Velocity

Shaft

Coil current when motion is ongoing

(Table 12: Irun / Ihold Settings)

Ihold

4

Coil current when motor stands still

(Table 12: Irun / Ihold Settings)

Vmin

4

Start Velocity of the stepper motor

(Table 4: Vmin )

Vmax

Shaft

4

Target Velocity of the stepper motor

(Table 3: Vmax Parameter)

OTP

Memory

1

Direction of motion

Acceleration /

Deceleration

Acc

4

Parameter for acceleration

(Table 5: Acc Parameter)

Secure Position

Stepping Mode

SecPos

StepMode

11

2

Target Position for GotoSecurePosition

command (6.8.4 GotoSecurePosition); 11

MSBs of 16-bit position (LSBs fixed to ‘0’)

Micro stepping mode

GetFullStatus2

ResetToDefault

GetFullStatus1

GetFullStatus2

ResetToDefault

(5.1.1 Stepping Modes)

20

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.2.2 Status Flags

The table below shows the flags which are accessable by the serial interface in order to receive

information about the internal status of the TMC222.

Flag

Mnemonic Length

(bit)

Comment

Reset

state

Digital supply

Reset

VddReset

1

GetFullStatus1 Set to ‘1’ after power-up or after a micro-cut in the supply

voltage to warn that RAM contents may have been lost.

Is set to ‘0’ after GetFullStatus1 command.

‘1’

Over current in coil OVC1

A

1

GetFullStatus1 Set to ‘1’ if an over current in coil #1 was detected. Is set to

‘0’ after GetFullStatus1 command.

‘0’

Over current in coil OVC2

B

GetFullStatus1 Set to ‘1’ if an over current in coil #2 was detected. Is set to

‘0’ after GetFullStatus1 command.

StepLoss

GetFullStatus1 Set to ‘1’ when under voltage, over current or over

temperature event was detected. Is set to ‘0’ after

GetFullStatus1 command. SetPosition and

GotoSecurePosition commands are ignored when

<StepLoss> = 1

‘0’ if SecPos = “100 0000 0000”

Secure position

enabled

Electrical Defect

SecEn

ElDef

1

Internal use

‘1’ otherwise

n.a.

‘0’

GetFullStatus1 Set to ‘1’ if open circuit or a short was detected, (<OVC1>

or <OVC2>). Is. Is set to ‘0’ after GetFullStatus1 command.

GetFullStatus1 Indicates the chip temperature

“00” = normal temperature

Temperature Info Tinfo

2

“00”

“01 = low temperature warning

“10” = high temperature warning

“11” = motor shutdown

GetFullStatus1 Set to one if temperature raises above 145 °C. Is set to ‘0’

after GetFullStatus1 command.

Thermal Warning TW

Thermal Shutdown TSD

1

3

‘0’

GetFullStatus1 Set to one if temperature raises above 155°C. Is set to ‘0’

after GetFullStatus1 command and Tinfo = “00”.

GetFullStatus1 Indicates the actual behavior of the position controller.

“000”: Actual Position = Target Position; Velocity = 0

“001”: Positive Acceleration; Velocity > 0

Motion Status

Motion

“000”

“010”: Negative Acceleration; Velocity > 0

“011”: Acceleration = 0 Velocity = maximum pos Velocity

“100”: Actual Position /= Target Position; Velocity = 0

“101”: Positive Acceleration; Velocity < 0

“110”: Positive Acceleration; Velocity < 0

“111”: Acceleration = 0 Velocity = maximum neg Velocity

GetFullStatus1 Indicates the status of the external switch.

‘0’ = open

External Switch

Status

ESW

1

‘0’

‘1’ = close

GetFullStatus1 ‘0’ charge pump OK

Charge Pump

failure

Electrical flag

CPFail

HS

1

‘0’

‘1’ charge pump failure

Internal use

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

21

5.2.3 OTP Memory Structure

The table below shows where the OTP parameters are stored in the OTP memory.

Note: If the OTP memory has not been programmed, or if the RAM has not be programmed by a

SetMotorParam command, or if anyhow <VddReset> = ‘1’, any positioning command will be ignored, in

order to avoid any consequence due to unwanted RAM content. Please check that the correct supply

voltage is applied to the circuit before zapping the OTP (See: Table 21: DC Parameters Supply and

Voltage regulator on page 45), otherwise the circuit will be destroyed.

OTP Bit Order

OTP

Address

7

OSC3

6

5

4

3

2

1

0

0x00

0x01

0x02

0x03

0x04

0x05

0x06

0x07

OSC2

TSD2

OSC1

TSD1

OSC0

TSD0

IREF3

BG3

IREF2

BG2

IREF1

BG1

IREF0

BG0

AD3

AD2

AD1

AD0

Irun3

Irun2

Irun1

Vmax1

Irun0

Vmax0

Shaft

Ihold3

Vmin3

Acc3

Ihold2

Vmin2

Acc2

Ihold1

Vmin1

Acc1

Ihold0

Vmin0

Acc0

Vmax3

Vmax2

SecPos10. SecPos9

SecPos7 SecPos6

SecPos8

SecPos5 SecPos4

SecPos3

SecPos2

SecPos1 SecPos0

StepMode1 StepMode0 LOCKBT LOCKBG

Table 9 : OTP Memory Structure

Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP

memory at circuit delivery, they correspond to the calibration of the circuit and are just documented

here as an indication. These might vary between different components. These bits (gray within Table 9

: OTP Memory Structure) should not be used after readout. Each OPT bit is at ‘0’ when not zapped.

Zapping a bit will set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped. Zapping of a bit already

at ‘1’ is disabled, to avoid any damage of the Zener diode. It is important to note that only one single

OTP byte can be programmed at the same time (see command SetOTPParam).

Once OTP programming is completed, bit LOCKBG can be zapped, to disable unwanted future

zapping, otherwise any OTP bit at ‘0’ could still be zapped.

Lock bit

Protected byte

LOCKBT (zapped before delivery)

LOCKBG

0x00 to 0x01

0x02 to 0x07

Table 10 : OTP Lock bits

The command used to load the application parameters via the serial bus into the RAM prior to an OTP

Memory programming is SetMotorParam. This allows for a functional verification before using a

SetOTPParam command to program and zap separately one OTP memory byte. A GetOTPParam

command issued after each SetOTPParam command allows to verify the correct byte zapping.

5.3 Stepper Motor Driver

The StepMode parameter in SetMotorParam command (6.8.9 SetMotorParam on page 34) is used to

select between different stepping modes. Following modes are available:

StepMode parameter

Mode

00

01

10

11

Half Stepping

1/4 µStepping

1/8 µStepping

1/16 µStepping

Table 11: StepMode

22

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.3.1 Coil current shapes

The next four figures show the current shapes fed to each coil of the motor in different stepping

modes.

i

t

Figure 8: Coil Current for Half Stepping Mode

i

t

Figure 9: Coil Current for 1/4 Micro Stepping Mode

i

t

Figure 10: Coil Current for 1/8 Micro Stepping Mode

i

t

Figure 11: Coil Current for 1/16 Micro Stepping Mode

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

23

5.3.2 Transition Irun to Ihold

At the end of a motor motion the actual coil currents Irun are maintained in the coils at their actual DC

level for a quarter of an electrical period (two half steps) at minimum velocity. Afterwards the currents

are then set to their hold values Ihold. The figure below illustrates the mechanism:

i

t

I = I_run

I = I_hold

Figure 12: Transition Irun to Ihold

Both currents Irun and Ihold are parameterizeable using the command SetMotorParam. 16 values are

available for Irun current and 16 values for Ihold current. The table below shows the corresponding

current values.

Irun / Ihold setting Peak Current

(hexadecimal)

0x0

0x1

[mA]

59

71

0x2

0x3

84

100

119

141

168

200

238

283

336

400

476

566

673

800

0x4

0x5

0x6

0x7

0x8

0x9

0xA

0xB

0xC

0xD

0xE

0xF

Table 12: Irun / Ihold Settings

24

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

5.3.3 Chopper Mechanism

The chopper frequency is fixed as specified in chapter 10.4 AC Parameters on page 46. The TMC222

uses an intelligent chopper algorithm to provide a smooth operation with low resonance. The TMC222

uses internal measurements to derive current flowing through coils. If the current is less than the

desired current, the TMC222 switches a H-bridge in a way that the current will increase. Otherwise if

the current is too high, the H-bridge will be switched to decrease the current. For decreasing two

modes are available, slow decay and fast decay, whereas fast decay decreases the current faster than

slow decay. The figure below shows the chopper behavior.

Figure 13: Different Chopper Cycles with Fast and Slow Decay

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

25

6 Two-Wire Serial Interface

6.1 Physical Layer

Both SDA and SCL lines are connected to positive supply voltage via a current source or pull-up

resistor (see figure below). When there is no traffic on the bus both lines are high. Analog glitch filters

are implemented to suppress spikes with a length of up to 50 ns.

+ 5V

SDA line

SCL line

SCL_IN

SDA_IN

SCL_OUT

SDA_OUT

SCL_OUT

SDA_OUT

TMC222

Master

Figure 14: Two Wire Serial Interface - Physical Layer

6.2 Communication on Two Wire Serial Bus Interface

Each datagram starts with a Start condition and ends with a Stop condition. Both conditions are unique

and cannot be confused with data. A high to low transition on the SDA line while SCL is high indicates

a Start condition. A low to high transition on the SDA line while SCL is high defines a Stop condition

(see figure below).

SDA

SCL

STOP

condition

START

condition

Figure 15: Two Wire Serial Interface - Start / Stop Conditions

The SCL clock is always generated by the master. On every rising transition of the SCL line the data

on SDA is valid. Data on SDA line is only allowed to change as long as SCL is low (see figure below).

SDA

SCL

data line

stable,

data valid

data change

allowed

Figure 16: Two Wire Serial Interface - Bit transfer

26

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

Every byte put on the SDA line must have a length of 8 bits, where the most significant bit (MSB) is

transferred first. The number of bytes that can be transmitted to the TCM222 is restricted to 8 bytes.

Each byte is followed by an acknowledge bit, which is issued by the receiving node (see figure below).

MSB

1

ACK

9

ACK

9

SDA

SCL

2

7

8

1

STOP

condition

START

condition

Figure 17: Two Wire Serial Interface - Data Transfer

6.3 Physical Address of the circuit

The circuit must be provided with a physical address in order to discriminate this circuit from other

ones on the serial bus. This address is coded on seven bits (two bits are internally hardwired to ‘1’),

yielding the theoretical possibility of 32 different circuits on the same bus. It is a combination of four

OTP memory bits (see Table 9 : OTP Memory Structure) and one hardwired address bit (pin HW). HW

must either be connected to ground or Vbat. When HW is not connected and left floating correct

functionality of the serial interface is not guaranteed. Pin HW uses the same principle to check whether

it is connected to ground or Vbat like the SWI input (see 5.1.9 External Switch).

The TMC222 supports a “general call” address. Therefore the circuit is addressable using either the

physical slave address or address “000 0000”.

AD6

'1'

AD5

'1'

AD4

AD3

AD2

AD1

AD0

Physical address

OTP Memory

OTP_AD3 OTP_AD2OTP_AD1 OTP_AD0

Hardwired Bit

(Connect to 0 or 1)

HW2

Figure 18: Two Wire Serial Interface - Physical Address resp. Address Field

With un-programmed OTP address bits (OTP_AD3=o, OTP_AD2=o, OTP_AD1=o, OTP_AD0=o) and

HW='0' (pin HW @ GND), the slave address resp. the address field of the TMC222 for reading is

11oooo01 (0xC1, 193) and for writing the slave address resp. the address field is 11oooo00 (0xC0,

192). The LSB of the address field selects read (='1') and write (='0'). With un-programmed OTP

address bits and HW='1' (pin HW @ Vbat), the slave address resp. the address field of the TMC222

for reading is 11oooo11 (0xC3, 195) and for writing the salve address resp. the address field is

11oooo10 (0xC2, 194).

Important Hint: The HW is not a logic level input as usual; it needs to be connected via 1K resistor

either to +VBAT or GND;

6.4 Write data to TMC222

A complete datagram consists of the following: a Start condition, the slave address (7 bit), a read/write

bit (‘0’ = write, ‘1’ = read), an acknowledge bit, a number of data bytes (8 bit) each followed by an

acknowledge bit, and a Stop condition. The acknowledge bit is used to signal to the transmitter the

correct reception of the preceding byte, in this case the TMC222 pulls the SDA line low.

The TMC222 reads the incoming data at SDA with every rising edge of the SCL line. To finish the

transmission the master has to transmit a Stop condition. Some commands for the TMC222 are

supporting eight bytes of data, other commands are transmitting two bytes of data.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

27

DATA

A

S

Slave addr

R/W

P

(n Bytes + acknowledge)

'0' (Write)

master to slave

slave to master

S: Start Condition

P: Stop Condition

A: Acknowledge (SDA low)

A: not Acknowledge (SDA high)

Figure 19: Two Wire Serial Interface - Writing Data to Slave

6.5 Read data from TMC222

When reading data from a slave two datagrams are needed. The first datagram consists of two bytes

of data. The first byte consists of the slave address and the write bit. The second byte consists of the

address of an internal register of the TMC222. The internal register address is stored in the circuits

RAM. The second datagram consists of the slave address and the read bit. Then the master can read

the data bits on the SDA line with every rising edge of the SCL line. After each byte of data the master

has to acknowledge correct data reception by pulling SDA low. The last byte must not be

acknowledged by the master so that the slave knows the end of transmission (see figure below).

Dump Internal Address to Slave

S

Slave addr

R/W

A

internal addr

A

P

'0' (Write)

Read Data from Slave

Slave addr

S

R/W

A

DATA

A

DATA

A

P

(n Bytes + acknowledge)

'1' (Read)

master to slave

slave to master

S: Start Condition

P: Stop Condition

A: Acknowledge (SDA low)

A: not Acknowledge (SDA high)

Figure 20: Two Wire Serial Interface - Read Data from Slave

28

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.6 Timing characteristics of the serial interface

START

STOP

START

SDA

SCL

t_f

t_LOW

t_r

t_SU;DATt_f

t_HD;STA

t_r

t_BUF

t_HD;STA

t_HD;DATt_HIGH

t_SU;STA

t_SU;STO

Figure 21: Definition of Timing

SCL Clk frequency <= 100KHz

SCL Clk frequency <= 350KHz

Parameter

Symbol

Unit

Min.

Max.

1.5

(2)

Min.

Max.

0.3V_DD

(2)

Low level input voltage:

Fixed input levels

V_IL

V_IH

-0.5⁽¹⁾

V

High level input voltage:

Fixed input levels

3.0

0.7V_DD

Pulse width of spikes which must be

suppressed by the input filter

Capacitance for each I/O pin

t_SP

C_i

n/a

-

n/a

10

50

-

50

10

ns

pF

Table 13: Two Wire Serial Interface - Characteristics of the SDA and SCL I/O Stages

Notes

(1): If Input voltage = < -0.3 Volts, then 20…100 Ohms resistor must be added in series

(2): Maximum V_IH= V_DDmax+ 0.5 Volt

n/a: not applicable

SCL Clk frequency <= 100KHz

SCL Clk frequency <= 350KHz

Parameter

Symbol

Unit

Min.

Max.

Min.

Max.

SCL clock frequency

f_SCL

0

100

0

350

KHz

Hold time (repeated) START

condition. After this period, the

first clock pulse is generated.

LOW period of the SCL clock

HIGH period of the SCL clock

Set-up time for a repeated START

condition

t_HD;STA

4.0

-

0.6

-

µs

t_LOW

t_HIGH

4.7

4.0

-

1.3

0.6

-

µs

t_SU;STA

t_SU;DAT

t_r

4.7

250

-

0.6

100

-

µs

ns

Data set-up time

Rise time of both SDA and SCL

signals

(1)

1000

20+0.1C_b

300

Fall time of both SDA and SCL

signals

t_f

t_SU;STO

t_BUF

C_b

-

300

20+0.1C_b

300

ns

µs

pF

Set-up time for STOP condition

Bus free time between a STOP

and START condition

4.0

4.7

0

-

0.6

1.3

-

Capacitive load for each bus line

Noise margin at the LOW level for

each connected device (including

hysteresis)

400

V_nL

0.1V_DD

0.2V_DD

-

0.1V_DD

0.2V_DD

-

V

Noise margin at the HIGH level for

each connected device (including

hysteresis)

V_nH

Table 14: Two Wire Serial Interface - Characteristics of the SDA and SCL bus lines

Notes

(1): C_b= total capacitance of one bus line in pF.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

29

6.7 Application Commands Overview

Communications between the TMC222 and a Two Wire Serial Bus Master takes place via a set of

commands.

Reading commands are used to:

•

Get actual status information, e.g. error flags

Get actual position of the Stepper Motor

Verify the right programming and configuration of the TMC222

Writing commands are used to:

•

Program the OTP Memory

Configure the TMC222 with motion parameters (e.g. max/min speed, acceleration, stepping mode,

etc.)

•

Provide target positions to the Stepper motor

Command

Mnemonic

Command Byte

(hexadecimal)

0x81

Function

GetFullStatus1

GetFullStatus2

GetOTPParam

Returns complete status of the chip

Returns actual, target and secure position

Returns OTP parameter

0xFC

0x82

GotoSecurePosition Drives motor to secure position

Immediate full stop

0x84

0x85

HardStop

ResetPosition

ResetToDefault

RunInit

Sets actual position to zero

Overwrites the chip RAM with OTP contents

Reference Search

0x86

0x87

0x88

0x89

SetMotorParam

SetOTPParam

SetPosition

SoftStop

Sets motor parameter

Zaps the OTP memory

0x90

0x8B

0x8F

Programmers a target and secure position

Motor stopping with deceleration phase

Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.8 Command Description

There are data fields labeled as "N/A = not applicable". Within the command description tables, the

contend is normally given as '1'. Data fields labeled by N/A might be reserved for later variants of the

TMC222 and the content should be ignored for the TMC222.

Concerning response datagrams, the byte 0 is the slave address that is applied for addressing, where

the byte 1 is the slave address that is sent back within the response data frame.

6.8.1 GetFullStatus1

This command is provided to the circuit by the Master to get a complete status of the circuit and of the

stepper-motor. The parameters sent via the two wire serial bus to the Master are:

•

coil peak and hold current values (Irun and Ihold)

maximum and minimum velocities for the stepper-motor (Vmax and Vmin)

direction of motion clockwise / counterclockwise (Shaft)

stepping mode (StepMode) (Table 11: StepMode on page 21)

acceleration (deceleration) for the Stepper motor (Acc)

acceleration shape (AccShape)

status information:

•

motion status <Motion [2:0]>

over current flags for coil A <OVC1> and coil B <OVC2>

digital supply reset <VddReset>

charge pump status <CPFail>

external switch status <ESW>

step loss <StepLoss>

electrical defect <ElDef>

under voltage <UV2>

temperature information <Tinfo>

temperature warning <TW>

temperature shutdown <TSD>

GetFullStatus1 command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

bit 3

OTP1

0

bit 2

OTP0

0

bit 1

HW

0

bit 0

0

1

Slave Address

GetFullStatus1

OTP2

0

1

0

1

GetFullStatus1 command (Response)

Structure

Byte

Content

bit 7

1

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

HW

bit 0

1

0

1

2

3

4

5

6

7

8

Slave Address

Address

Irun & Ihold

Vmax & Vmin

Status 1

Status 2

Status 3

N/A

1

OTP3 OTP2 OTP1 OTP0

OTP3 OTP2 OTP1

1

OTP0

HW

Irun (3:0)

Vmax (3:0)

StepMode(1:0)

Ihold (3:0)

Vmin (3:0)

ACC(3:0)

AccShape

Shaft

UV2

ESW

1

VddReset StepLoss ElDef

Motion(2:0)

TSD TW

OVC1 OVC2

Tinfo(1:0)

1

CPFail

1

N/A

1

Note: N/A = not applicable

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

31

6.8.2 GetFullStatus2

This command is provided to the circuit by the Master to get the actual position of the stepper-motor.

The position is provided by the circuit in 16-bit format, with the 3 LSBs at ‘0’ when in half stepping

mode (StepMode = “00”). Furthermore programmed target position and secure position are also

provided.

GetFullStatus2 command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

1

bit 4

bit 3

OTP1

1

bit 2

OTP0

1

bit 1

HW

0

bit 0

0

1

Slave Address

GetFullStatus2

OTP2

1

0

GetFullStatus2 command (Response)

Structure

Byte

Content

bit 7

1

bit 6

1

bit 5

bit 4

bit 3

bit 2

bit 1

HW

bit 0

1

0

1

2

3

4

5

6

7

8

Slave Address

Address

OTP3 OTP2 OTP1 OTP0

1

OTP3 OTP2 OTP1

ActPos(15:8)

ActPos(7:0)

OTP0

HW

Actual Position 1

Actual Position 2

Target Position 1

Target Position 2

Secure Position

N/A

TagPos(15:8)

TagPos(7:0)

SecPos(7:0)

1

SecPos(10:8)

1

Note: N/A = not applicable

6.8.3 GetOTPParam

This command is provided to the circuit by the master to read the content of the OTP Memory. For

more information refer to Table 9 : OTP Memory Structure on page 21.

GetOTPParam command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

bit 3

OTP1

0

bit 2

OTP0

0

bit 1

HW

1

bit 0

0

1

Slave Address

GetOTPParam

OTP2

0

1

0

GetOTPParam command (Response)

Structure

Byte

Content

bit 7

1

bit 6

1

bit 5

bit 4

bit 3

bit 2

bit 1

HW

bit 0

1

0

1

2

3

4

5

6

7

8

Slave Address

OTP byte 0

OTP byte 1

OTP byte 2

OTP byte 3

OTP byte 4

OTP byte 5

OTP byte 6

OTP byte 7

OTP3 OTP2 OTP1 OTP0

OTP@0x00

OTP@0x01

OTP@0x02

OTP@0x03

OTP@0x04

OTP@0x05

OTP@0x06

OTP@0x07

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.8.4 GotoSecurePosition

This command is provided by the Master to one or all the stepper-motors to move to the secure

position SecPos[10:0]. It can also be triggered at the end of a RunInit initialization phase. If

SecPos[10:0] equals 0x400 (the most negative decimal value of -1024) the secure position is disabled

and the GotoSecurePosition command is ignored.

GotoSecurePosition command

Byte

Content

Structure

bit 7

1

bit 6

bit 5

OTP3

0

bit 4

OTP2

0

bit 3

OTP1

0

bit 2

OTP0

1

bit 1

HW

0

bit 0

0

1

Slave Address

1

0

GotoSecurePosition 1

0

6.8.5 HardStop

This command is internally triggered when an electrical problem is detected in one or both coils,

leading to switch off the H-bridges. If this problem is detected while the motor is moving, the

<StepLoss> flag is raised allowing to warn the Master that steps may have been lost at the next

GetFullStatus1 command. A HardStop command can also be issued by the Master for some safety

reasons.

HardStop command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

OTP2

0

bit 3

OTP1

0

bit 2

OTP0

1

bit 1

HW

0

bit 0

0

1

Slave Address

HardStop

1

0

1

6.8.6 ResetPosition

This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order

to allow for an initialization of the stepper-motor position.

Hint: This command is ignored during motion. It has no effect during motion. The Status Flags (section

5.2.2, page 20) named 'Motion Status' indicate if the motor is at rest (velocity=0).

ResetPosition command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

bit 3

OTP1

0

bit 2

OTP0

1

bit 1

HW

1

bit 0

0

1

Slave Address

ResetPosition

OTP2

0

1

0

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

33

6.8.7 ResetToDefault

This command is provided to the circuit by the Master in order to reset the whole slave node into the

initial state. ResetToDefault will for instance overload the RAM with the reset state of the register

parameters. This is another way for the Master to initialize a slave node in case of emergency, or

simply to refresh the RAM content.

Note: ActPos is not modified by a ResetToDefault command, and it’s value is copied into TagPos

register in order to avoid an attempt to position the motor to ‘0’.

ResetToDefault command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

bit 3

OTP1

0

bit 2

OTP0

1

bit 1

HW

1

bit 0

0

1

Slave Address

ResetToDefault

OTP2

0

1

0

1

6.8.8 RunInit

This command is provided to the circuit by the Master in order to initialize positioning of the motor by

seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization on

page 14. It leads to a sequence of the following commands:

•

SetMotorParam(Vmax, Vmin);

SetPosition(Pos1);

SetMotorParam(Vmin, Vmin);

SetPosition(Pos2);

ResetPosition

GotoSecurePosition

Once the RunInit command is started it can not be interrupted by any other command except when a

condition occurs which leads to a motor shutdown (See 5.1.10 Motor Shutdown Management) or a

HardStop command is received. If SecPos[10:0] equals 0x400 (the most negative decimal value of

-1024) the final travel to the secure position is omitted.

The master has to ensure that the target position of the first motion is not equal to the actual position

of the stepper motor and that the target positions of the first and second motion are different, too. This

is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state

only a HardStop command followed by a GetFullStatus1 command will cause the circuit to leave the

deadlock state.

RunInit command

Byte

Content

Structure

bit 4 bit 3

OTP3 OTP2 OTP1 OTP0

bit 7

1

bit 6

bit 5

bit 2

bit 1

HW

0

bit 0

0

1

2

3

4

5

6

7

8

Slave Address

RunInit

N/A

1

0

1

0

1

0

1

0

1

N/A

1

Vmax(3:0)

1

Vmax Vmin

Position1 byte 1

Position1 byte 2

Position2 byte 1

Position2 byte 2

Vmin(3:0)

TagPos1(15:8)

TagPos1(7:0)

TagPos2(15:8)

TagPos2(7:0)

Note: N/A = not applicable

34

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.8.9 SetMotorParam

This command is provided to the circuit by the Master to set the values for the following stepper motor

parameters in RAM:

•

coil peak current value (Irun)

coil hold current value (Ihold)

maximum velocity for the Stepper-motor (Vmax)

minimum velocity for the Stepper-motor (Vmin)

acceleration shape (AccShape)

stepping mode (StepMode)

direction of the Stepper-motor motion (Shaft)

acceleration (deceleration) for the Stepper-motor (Acc)

secure position for the Stepper-motor (SecPos)

If SecPos[10:0] is set to 0x400 (the most negative decimal value of –1024) the secure position is

disabled and the GotoSecurePosition command is ignored.

SetMotorParam command

Byte

Content

Structure

bit 4 bit 3

OTP1 OTP0

bit 7

1

bit 6

1

bit 5

bit 2

bit 1

HW

0

bit 0

0

1

2

3

4

5

6

7

8

Slave Address

SetMotorParam

N/A

OTP3

0

OTP2

1

0

1

0

1

N/A

1

Irun & I hold

Vmax & Vmin

Status

Irun(3:0)

Vmax(3:0)

Ihold(3:0)

Vmin(3:0)

Acc(3:0)

SecPos(10:8)

Shaft

SecPos(7:0)

AccShape StepMode[1:0]

SecurePos

StepMode

Note: N/A = not applicable

6.8.10 SetOTPParam

This command is provided to the circuit by the Master in order to zap the OTP memory. The OTPA

address (OTPA) addresses the OTP word (please refer section 5.2.3, page 21) within the OTP

Memory structure. The Pbit byte represents the bit pattern to be programmed, where a one programs

an un-programmed OTP bit. For example, if one wants to OTP the defaults to Irun := 0xD and Ihold =

0x5, one has to execute the SetOTPParam with OTPA = 0x03 and Pbit := 0xD5. Those OTP bits that

are un-programmed can be programmed to '1' by corresponding Pbit chosen as '1' . For OTP the

supply voltage Vbat has to be within the valid range specified as VbbOTP within Table 21, page 45.

SetOTPParam command

Byte

Content

Structure

bit 4

bit 7

1

bit 6

1

bit 5

bit 3

bit 2

bit 1

bit 0

0

1

2

3

4

5

Slave Address

SetOTPParam

N/A

OTP3 OTP2 OTP1 OTP0

HW

0

1

0

1

0

1

0

1

0

1

N/A

OTP Address

Pbit

1

Pbit(7:0)

OTPA(2:0)

Note: N/A = not applicable

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

35

6.8.11 SetPosition

This command is provided to the circuit by the Master to drive the motor to a given position relative to

the zero position, defined in number of half or micro steps, according to StepMode[1:0] value.

SetPosition will not be performed if one of the following flags is set to one:

•

temperature shutdown <TSD>

under voltage <UV2>

step loss <StepLoss>

electrical defect <ElDef>

SetPosition command

Structure

bit 4 bit 3

OTP3 OTP2 OTP1 OTP0

Byte

Content

bit 7

1

bit 6

1

bit 5

bit 2

bit 1

HW

1

bit 0

0

1

2

3

4

5

Slave Address

SetPosition

N/A

1

0

1

0

1

0

1

N/A

Position byte1

Position byte2

1

TagPos(15:8)

TagPos(7:0)

Note: N/A = not applicable

6.8.12 SoftStop

If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate

deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in

the following cases:

•

The chip temperature rises above the Thermal shutdown threshold.

The Master requests a SoftStop.

SoftStop command

Byte

Content

Structure

bit 7

1

bit 6

1

bit 5

OTP3

0

bit 4

bit 3

OTP1

1

bit 2

OTP0

1

bit 1

HW

1

bit 0

0

1

Slave Address

SoftStop

OTP2

0

1

0

1

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

6.9 Positioning Task Example

The TMC222 has to perform a positioning task, where the actual position of the stepper motor is

unknown. The desired target position is 3000 µsteps away from position 0. See figure below.

Stop

Actual

Target

Position

=

= 3000

unknown

?

X [µsteps]

?

Position 0

Figure 22: Positioning Example: Initial situation

The following sequence of commands has to be sent to the slave in order to complete the scenario

described above (assumed after power on):

GetFullStatus1

The command is used to read the current status of the TMC222. Electrical or environmental problems

will be reported, furthermore the circuit leaves the shutdown state and is ready for action. See 6.8.1

GetFullStatus1 on page 30.

GetFullStatus2

The circuit will enter a deadlock state if the actual position corresponds to the first target position of the

RunInit command. This command is used to read the actual position. The master must take care that

both positions are containing different values. For deadlock conditions see 5.1.11 Reference Search /

Position initialization on page 14.

SetMotorParam

In order to drive the stepper motor with a desired motion parameters like torque, velocity, aso. the

SetMotorParam command must issued. See 6.8.9 SetMotorParam on page 34.

RunInit

Hence the actual position is unknown, a position initialization has to be performed. The first motion

must drive the stepper motor into the stop for sure. The second motion is a very short motion to bring

the motor out of the stop. The actual position is then set to zero automatically after the second motion

is finished. See 6.8.8 RunInit on page 33.

After reference search the situation is as depicted in the figure below. Actual position of the stepper

motor corresponds to zero, the target position is 3000 µsteps away from the actual position.

Stop

Actual

Position

= 0

Target

Position

= 3000

X [µsteps]

Figure 23: Positioning Example: Situation after reference search

Now the positioning command SetPosition can be issued in order to drive the stepper motor to the

desired position.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

37

SetPosition

This command will cause the stepper motor to move to the desired target position. See 6.8.11

SetPosition on page 35. After the motion has been finished, the situation is as depicted in the figure

below.

Stop

Actual Position

= Target Position

= 3000

X [µsteps]

Figure 24: Positioning Example: Motion finished

Afterwards the actual status and position can be verified by GetFullStatus1 and GetFullStatus2

commands. The master can check if a problem, caused by electrical or temperature problems,

occurred. Furthermore the actual position is read.

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

7 Frequently Asked Questions

7.1 Using the bus interface

Q: How many devices can be operated on the same bus?

A: 32 devices can be discriminated by means of the physical address. However, it depends on some

factors if this high number really makes sense. First of all it has to be checked if each device can be

serviced under any circumstances in the maximum allowed time taking the bus speed and the

individual real-time requirements of each device into account. Second, the idea of reserving address 0

for OTP physical address programming during system installation and defective parts replacement

reduces the number to 30.

Q: How to program the OTP physical address bits of a device if there are more devices

connected to the same bus?

A: The problem here is that all new devices are shipped with the OTP physical address bits set to zero

making it difficult to address just one device with the SetOTPParam command. Use HW input as chip

select line to address just one device by SetOTPParam. If this is impractible since the HW input is

hardwired or not controllable for any other reason the only alternative is to assemble and program one

device after the other. I.e., assemble only first device and program the desired non-zero address, then

assemble the second device and program the desired non-zero address, and so on until all devices are

assembled and programmed. This is also a good service concept when replacing defective devices in

the field: The idea is that all devices are programmed to different non-zero physical addresses at

production/installation time. Once a defective device is being replaced the replacement part can easily

be addressed by SetOTPParam since it is the only part with physical address zero.

7.2 General problems when getting started

Q: What is the meaning of ElDef?

A: The ElDef flag (‘Electrical Defect’) is the logical ORing of the OVC1 and OVC2 flags. OVC1 is set to

one in case of an overcurrent (coil short) or open load condition (selected coil current is not reached)

for coil A. OVC2 is the equivalent for coil B.

Q: What could be the reason for ElDef / OVC1 / OVC2 being set to one?

A: There are a number of possible causes:

•

Motor not connected (ꢀ open load)

Connected motor has shorted coils (ꢀ overcurrent) or broken coils (ꢀ open load)

Motor coils connected to the wrong device pins

Selected coil current can not be reached (ꢀ open load) due to high coil impedance or low

supply voltage. Solution: Select a lower coil run/hold current or rise the supply voltage.

Generally: the calculated voltage required to reach a desired coil current at a given coil

resistance (V = I • R) must be significantly lower than actual supply voltage due to the coil

inductivity.

Q: Should the external switch be normally closed or open when the reference position is hit?

A: The SWI input resp. the ESW flag have neither effect on any internal state machine nor on

command processing, even not on the RunInit command. ESW must be polled by software using

GetFullStatus1 command. The software can simply be adapted to whatever state the switch is in when

the reference position is hit, i.e. closed or open.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

39

7.3 Using the device

Q: What is the meaning of the ‘Shaft’ bit?

A: The Shaft bit determines the rotating direction of the motor, i.e. clockwise or counter-clockwise

rotation.

Q: How to generate an interrupt when the target position is reached?

A: This is not possible. The device hasn’t any interrupt output at all. Just poll ActPos or Motion[2:0]

using an appropriate command.

Q: How can I ensure that I always get consistent data for ActPos and ESW?

A: There isn’t a single command to read both ActPos and ESW simultaneously. GetFullStatus1 will

read ESW whereas GetFullStatus2 will read ActPos. Thus it is not possible to read consistent values

as long as a motion is in progress.

Q: How to specify a second target position to go to immediately after a first target position has

been reached?

A: This is possible using the RunInit command. Note, that after the second target position has been

reached the internal position counter ActPos is reset to zero.

Q: Is it possible to change Vmax on-the-fly?

A: Yes, it is, if the new velocity is in the same group as the old one (see Vmax Parameters). Otherwise

correct positioning is not ensured anymore. Vmax values are divided into four groups:

•

group A: Vmax index = 0

group B: Vmax index = 1, 2, 3, 4 ,5 or 6

group C: Vmax index = 7, 8, 9, 10 ,11 or 12

group D: Vmax index = 13, 14 or 15

Q: Is it possible to change the stepping mode on-the-fly?

A: Yes, it is possible and it has immediate effect on the current motion.

Q: How to operate in continuous velocity mode rather than positioning (ramp) mode?

A: There is no velocity mode. The device was designed primarily for positioning tasks so for each

motion there has to be specified a target position by the respective command. However, velocity mode

can be emulated by repeating the following two commands again and again:

•

Read ActPos using GetFullStatus2 command

Set lower 16 bits of [ActPos+32767] as the next target position using SetPosition command

For real continuous motion this sequence has to be repeated before the current target position has

been reached.

Q: Which units, formats and ranges does position information have?

A: All 16-bit position data fields in commands and responses are coded in two’s complement format

with bit 0 representing 1/16 micro-steps. Hence a position range of –32768…+32767 in units of 1/16

micro-steps is covered regardless of the selected stepping mode (1/2, 1/4, 1/8 or 1/16 micro-stepping).

The difference between the stepping modes is the resolution resp. the position of the LSB in the 16-bit

position data field: it’s bit 0 for 1/16, bit 1 for 1/8, bit 2 for 1/4 and bit 3 for 1/2 micro-stepping. The

position range can be regarded as a circle since position –32768 is just 1/16 micro-step away from

position +32767. The device will always take the shortest way from the current to the target position,

i.e., if the current position is +32767 and the target position is –32768 just 1/16 micro-step will be

executed. 65535 1/16 micro-steps in the opposite direction can be achieved for example by two

consecutive SetPosition commands with target positions 0 and –32768.

The 11-bit secure position data field can be treated as the upper 11 MSBs of the 16-bit position data

fields described above with the 5 LSBs hardwired to zero. Hence it covers the same position range with

a reduced resolution: The position range is –1024…+1023 in units of two full-steps.

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TMC222 DATASHEET (V. 1.12 / March 7, 2011)

7.4 Finding the reference position

Q: How do I find a reference position?

A: The recommended way is to use the RunInit command. Two motions are specified through RunInit.

The first motion is to reach the mechanical stop. Its target position should be specified far away

enough so that the mechanical stop will be reached from any possible starting position. There is no

internal stall detection so that at the end of the first motion the step motor will bounce against the

mechanical stop loosing steps until the internal target position is reached. The second motion then can

be used either to drive in the opposite direction out of the mechanical stop right into the reference

position which is a known number of steps away from the mechanical stop. Or the second motion can

slowly drive a few steps in the same direction against the mechanical stop to compensate for the

bouncing of the faster first motion and stop as close to the mechanical stop as possible.

Q: Can the SWI input help in finding a reference position?

Not directly. The current state of the SWI input is reflected by the ESW flag which can only be polled

using the command GetFullStatus1. The SWI input resp. the ESW flag have neither influence on any

internal state machine nor on command processing. The recommended way to find a reference

position is to use the RunInit command. Alternatively one could initiate a long distance motion at very

low speed using SetPosition and then poll ESW as frequently as possible to be able to stop the motion

using HardStop right in the moment the switch position is reached. Then one would reset the internal

position counters ActPos and TagPos using the ResetPosition command.

Q: What is the logic of the ESW flag?

A: The ESW flag reflects the state of the SWI input. ESW is set to one if SWI is high or low, i.e. pulled

to VBAT or to GND. ESW is set to zero if SWI is left open, i.e. floating. ESW is updated synchronously

with ActPos every 1024 µs.

Q: Is it possible to swap the logic of the ESW flag?

A: No, it’s not. Actually this is not necessary since the ESW flag must be polled and evaluated by

software anyway. The state of ESW has neither effect on any internal state machine nor on command

processing.

Q: What else is important for the RunInit command?

A: The first target position of RunInit must be different from the current position before sending RunInit

and the second target position must be different from the first one. Otherwise a deadlock situation can

occur. During execution of RunInit only Get… commands should be sent to the device.

Q: Does the second motion of RunInit stop when the ESW flag changes, or does it continue

into the mechanical stop?

A: Neither nor. The SWI input resp. the ESW flag have neither effect on any internal state machine nor

on command processing, i.e. the RunInit command is not influenced by SWI / ESW. The same is true

for the mechanical stop: as there isn’t any internal stall detection the RunInit command can not detect a

mechanical stop. When the mechanical stop is hit the first or second motion of RunInit (or the motion

of any other motion command) will be continued until the internal position counter ActPos has reached

the target position of this motion. This results in the motor bouncing against the mechanical stop and

loosing steps. The intention of the second motion of RunInit is to drive out of the mechanical stop

(reached by the first motion) to the desired reference position at a known distance from the mechanical

stop or to drive slowly against the mechanical stop again to compensate for the bouncing of the first

motion and to come to a standstill as close to the mechanical stop as possible.

Q: Does RunInit reset the position?

A: Yes, it does. After the second motion of RunInit has been finished the internal position counter

ActPos is reset to zero.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

41

8 Package Outline

8.1 SOIC-20

Figure 25: Package Outline SOIC-20

A

UNIT max

.

A₁

A₂

A₃

b_p

c

D⁽¹⁾E⁽¹⁾

e

H_E

L

L_p

Q

v

w

y

Z⁽¹⁾

theta

mm

2.65 0.30 2.45 0.25 0.49 0.32 13.0 7.6 1.27 10.65 1.4

0.10 2.25 0.36 0.23 12.6 7.4 10.00

inches 0.10 0.012 0.096 0.01 0.019 0.013 0.51 0.30 0.050 0.419 0.055 0.043 0.043 0.01 0.01 0.004 0.035

0.004 0.089 0.014 0.009 0.49 0.29 0.394 0.016 0.039 0.016

1.1

0.4

1.1

1.0

0.25 0.25 0.1

0.9

0.4

8°

0°

Table 16: SOIC-20 Mechanical Data

Note: inch dimensions are derived from the original mm dimensions

42

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

8.2 QFN32

D

D1

32

1

Top view

J

C

17

24

Side view

16

25

EXPOSED DIE

ATTACH PAD

0°~12°

P

R 0.2

PIN1 I.D.

9

32

8

1

L

b

Bottom view

Figure 26: Package Outline QFN32

REF

MIN

A

A1

A2

A3

b

C

D

D1

E

E1

e

J

K

L

P

R

0.80

0.00 0.576

0.02 0.615 0.203

0.05 0.654

0.25

0.3

0.24

0.42

0.6

5.37

5.47

5.57

mm

5.37

5.47

5.57

mm

0.35

0.4

2.185

NOM

MAX

Unit

7

6.75

mm

7

6.75

mm

0.65

mm

45

deg.

0.90

mm

0.35

mm

0.45

mm

2.385

mm

Hint: The exposed die attached pad is electrical ground. This pad should be connected to ground or can be left open. It is

recommended to connect it to ground for cooling.

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

43

9 Package Thermal Resistance

9.1 SOIC-20 Package

The junction case thermal resistance is 28°C/W, leading to a junction ambient thermal resistance of

63°C/W, with the PCB ground plane layout condition given in the figure below and with

•

PCB thickness = 1.6mm

1 layer

Copper thickness = 35µm

×

(10mm 23mm)

2

Figure 27: Layout consideration

44

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

10 Electrical Characteristics

10.1 Absolute Maximum Ratings

Parameter

Min

-0.3

-50

-55

-2

Max

+35

Unit

V

Vbat

Tamb

Tst

Vesd ^(**)

Supply Voltage

Ambient temperature under bias ^(*)

Storage temperature

Electrostatic discharge voltage on pins

+150

+160

+2

°C

kV

Table 17: Absolute Maximum Ratings

(*) The circuit functionality is not guaranteed

(**) Human body model (100pF via 1.5 KΩ)

10.2 Operating Ranges

Parameter

Min

+8

Max

+29

Unit

V

Vbat

Supply Voltage (Vbb)

Operating temperature range

Vbat <= 18V

Vbat <= 29V

-40

+125

+85

°C

Top

Table 18: Operating Ranges

10.3 DC Parameters

Motor Driver

Symbol

Pin(s)

Parameter

Test condition

Min

Typ

Max

Unit

IMSmax

Peak

Max current through motor coil in

normal operation

800

mA

OA1

OA2

OB1

OB2

IMSmax

RMS

RDSon

Max RMS current through coil in

normal operation

570

mA

Ω

On resistance for each pin

(including bond wire)

Leakage current

To be confirmed by

characterization

HZ Mode, 0V < V(pin) < Vbb

1

IMSL

-50

+50

µA

Table 19: DC Parameters Motor Driver

Thermal Warning and shutdown

Symbol

Ttw

Ttsd ^(*)

Tlow

Pin(s)

Parameter

Test condition

Min

Typ

145

Max

Unit

°C

Thermal Warning

Thermal Shutdown

Low Temperature Warning

138

152

Ttw + 10

Ttw - 155

°C

Table 20: DC Parameters Thermal Warning and shutdown

(*) NO more than 100 cumulated hours in life time above Ttsd

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

45

Supply and Voltage regulator

Symbol

Vbb

Pin(s)

Parameter

Test condition

Min

6.5

Typ

Max

18

Unit

V

Nominal operating supply range (*)

VbbT85

Nominal operating supply range (*)

for temperature < 85°C

29

V

VbbOTP

UV1

UV2

VBB

Supply Voltage for OTP zapping

Low voltage high threshold

Stop voltage low threshold

Total current consumption

8.5

8.8

8.1

9.5

9.8

8.9

V

9.4

8.5

10

V

mA

Ibat

Unloaded Outputs

8V < Vbb < 18V

Cload = 1µF (+100nF cer.)

Vbb < UV2

Vdd

Internal regulated output ^(**)

4.75

5

2

5.25

V

IddStop

VddReset

IddLim

Digital current consumption

Digital supply reset level ^(***)

Current limitation

mA

V

VDD

4.4

40

Pin shorted to ground

mA

Table 21: DC Parameters Supply and Voltage regulator

(*) Communication over serial bus is operating. Motor driver is disabled when Vbb < UV2.

(**) Pin VDD must not be used for any external supply.

(***) The RAM content will not be altered above this voltage

Switch Input and hardwired address input HW

Symbol

Rt_OFF

Rt_ON

Pin(s)

Parameter

Switch OFF resistance ^(*)

Switch ON resistance ^(*)

Test condition

Min

Typ

Max

Unit

kΩ

10

Switch to GND or Vbat

2

kΩ

SWI

HW

Vbb_sw

Vbb range for guaranteed

operation of SWI and HW

Maximum Voltage

6

18

40

V

Vmax_sw

Ilim_sw

T < 1s

Short to GND or Vbat

V

mA

Current limitation

30

Table 22: DC Parameters Switch Input and hardwired address input

(*) External resistance value seen from pin SWI or HW, including 1kΩ series resistor

Test pin

Symbol

Vhigh

Vlow

Pin(s)

Parameter

Test condition

Min

Typ

Max

Unit

Input level high

Input level low

0.7

Vdd

TST

0.3

HWhyst

Hysteresis

0.075

Vdd

Table 23: DC Parameters Test pin

Charge Pump

Symbol

Pin(s)

Parameter

Test condition

Vbb > 15V

Vbb > 8V

Min

Typ

Max

Unit

Vcp

Vbb+10 Vbb+12.5 Vbb+15

Vbb+5.8

V

Output Voltage

VCP

Cbuffer

Cpump

External Buffer Capacitor

External pump Capacitor

220

470

nF

CPP

CPN

Table 24: DC Parameters Charge Pump

46

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

10.4 AC Parameters

Power-Up

Symbol

Pin(s)

Parameter

Test condition

Min

Typ

Max

Unit

Tpu

Power-Up time

10

ms

Table 25: AC Parameters Power-Up

Switch Input and hardwired address input HW

Symbol

Tsw

Tsw_on

Pin(s)

Parameter

Test condition

Min

Typ

1024

1/16

Max

Unit

µs

SWI

HW

Scan Pulse Period

Scan Pulse Duration

921

1127

Tsw

Table 26: AC Parameters Switch Input and hardwired address input

Motor Driver

Symbol

Fpwm

Tbrise

Tbfall

Pin(s)

Parameter

Test condition

Min

Typ

20

Max

Unit

kHz

ns

OA1

OA2

OB1

OB2

PWM frequency

Turn-On transient time

Turn-Off transient time

18

22

Between 10% and 90%

350

250

ns

Table 27: AC Parameters Motor Driver

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

47

Revision History

Version

up to 0.90p

0.91p

Date (Initials)

Comments

July 9, 2003 before v. 0.90 changes on unpublished internal versions only

September 18, 2003 pins renamed according to TRINAMIC conventions; corrections

concerning cross references, drawings in PDF

0.92p

0.93p

January 28, 2004 Order Code Update (Table 2: Ordering Information, page 7)

April 23, 2004 New TRINAMIC logo; Table 5: Acc Parameter, page 11: combined cells

with same value; ESW is zero when switch is open (section 5.1.9, page

12); Table 9 : OTP Memory Structure on page 21: corrections concerning

bit mappings (exchanged locations of SecPos10… SecPos8 and

StepMode1… StepMode 0); corrected command descriptions

1.01

1.02

August 24, 2004 velocity groups integrated into Vmax table; corrected and enhanced Vmin

table; corrected meaning of Shaft bit; FAQ included

September 15, 2004 Updated Ordering Information; improved description of 2^ndmotion of

RunInit in Reference Search / Position initialization; combined tables for

Irun and Ihold; some corrections to DC Parameters; added final travel to

secure position during RunInit; reworked Internal handling of commands

and flags

1.03

1.04

October 1, 2004 New company address

January 7, 2005 Order code updated (Table 2: Ordering Information, page 7);

GetFullStatus1 (section 6.8.1, page 30) byte 1 (address) corrected; hint

concerning ResetPosition added (section 6.8.6, page 32)

1.05

October 21, 2005 Unit [FS/s] for Vmin added for Table 4 page 11, hint concerning OTP

memory (section 5.2, page 19); notes concerning "N/A = not applicable"

added due to customer requests, general hint concerning N/A added and

hint concerning slave address (byte 0) vs. slave address (byte) of

response datagrams added (section 6.8, page 30); hints added

concerning the SWI switch input and its ESW flag (section 5.1.9, page

12); hints concerning physical address (section 6.3, page 26);

GetFullStatus1 command (Response) Byte 1 Structure corrected (section

6.8.1, page 30); GetFullStatus2 command (Response) Byte 1 Structure

corrected (section 6.8.2, page 31); explanations and cross reference for

OTP from section 6.8.10, page 34 to section 5.2.3 page 21; labeling

indices of contend for TagPos 1 & 2 corrected for the RunInit Command

(section 6.8.8, page 33)

1.06

March 15, 2007 QFN32 package information added: Pin and Signal description to section

2.6 page 6, Ordering information to 4 page 7, Package Outline

information to 8 page 41;

Comment to 5.1.11, page 14: positions of Pos1 and Pos2; orientation of

marking outline for TMC222 symbols referring to the SOIC package

adapted to real marking (p. 1, p. 6)

1.07

1.08

August 8, 2007 QFN pinning on page 1 corrected, was bottom view before.

July 14, 2008 fixed MSBs (bit #7, bit #6, bit #5) of return byte #1 (Address) of

GetFullStatus1 (section 6.8.1 GetFullStatus1, page 30) corrected to ‘1’;

fixed MSBs (bit #7, bit #6, bit #5) of return byte #1 (Address) of

GetFullStatus2 (section 6.8.2 GetFullStatus2, page 31) corrected to ‘1’;

internal calibration parameters that can be read out via GetOTPParam

grayed within table Table 9 : OTP Memory Structure (section 5.2.3 OTP

Memory Structure, page 21) and hint added that these bits should not be

used after read out;

1.09

1.10

July 17, 2008 references to Table 9 : OTP Memory Structure corrected; color of fixed

MSBs of GetFullStatus1/2 corrected (were green); numbering of tables

corrected (#10 was missing)

March 2^nd, 2009 (LL) GetActualPos (part of GetFullStatus2) corrected in Table 8: Priority

Encoder, page 18 (GetActualPos => GetFullStatus2)

1.11 November 25, 2009 (LL) Hint concerning connecting exposed ground for cooling added (section

8.2, page 42); operating supply voltage range (VbbT85 parameter added

for temperature < 85°C (VbbT85 Table 21, page 45)

1.12 March 7, 2011 (LL)

Hints concerning usage of HW pin and SWI pin added Table 1: TMC222

Signal Description, page 6; section 5.1.9 External Switch SWI, page 12;

section 6.3 Physical Address of the circuit, page 26;

48

TMC222 DATASHEET (V. 1.12 / March 7, 2011)

Please refer to www.trinamic.com for updated data sheets and application notes on this

product and on other products.

The TMCtechLIB CD-ROM including data sheets, application notes, schematics of evaluation

boards, software of evaluation boards, source code examples, parameter calculation

spreadsheets, tools, and more is available from TRINAMIC Motion Control GmbH & Co. KG by

request to tmc_info@trinamic.com


型号：	TMC222-PI20
厂家：	TRINAMIC MOTION CONTROL GMBH & CO. KG.
描述：	Micro Stepping Stepper Motor Controller 电动机控制光电二极管
文件：	总48页 (文件大小：462K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

TMC222-PI20 [TRINAMIC]

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