TMC222

TRINAMIC Motion Control...

Micro Stepping Stepper Motor Controller

Manufacturer: TRINAMIC Motion Control...

Document: 48 Pages / 462Kb

Request Quote Download Datasheet Read online HTML view

More from TRINAMIC Motion Control... Browse T parts

Online Datasheet

Read TMC222 online.

TMC222 TRINAMIC | Alldatasheet

Document overview

Manufacturer or author: Provided By ALLDATASHEET.COM(FREE DATASHEET DOWNLOAD SITE)
PDF pages: 48

Technical content

TMC222 DATASHEET (V. 1.12 / March 7, 2011) 1 Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG TMC222 – DATASHEET Micro Stepping Stepper Motor Controller / Driver with Two Wire Serial Interface TRINAMIC Motion Control GmbH & Co. KG Waterloohain 5 D – 22769 Hamburg GERMANY www.trinamic.com

1 Features

The TMC222 is a combined micro-stepping stepper mot or 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 vi a a two wire serial interface. Together with an inexpensive micro controller the TMC222 forms a com plete motion control system. The main benefits of the TMC222 are:

Motor driver
Controls one stepper motor with four bit micro ste pping
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-curren t 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 moti on parameters accessible
Field-programmable node addresses (32) OA1 OA1 VBAT VBAT VBAT SDA OA2 GND GND open GND TST CPN CPP VCP VBAT VBAT VBAT OB2 OB2 NC Top view SWI NC HW VDD SCL GND OB1 OB1 OA2 GND GND 32 31 30 29 28 27 26 25 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 12345678 TMC 222 QFN32 TMC222 HW TST SWI CPN GND open GND SCL SDA VDD OA2 OB1 OB2 VBAT GND GND CPP OA1 VBAT VCP TR INAMIC

2 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Life support policy TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Motion Control GmbH & Co. KG 2011 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.

2 General Description

2.1 Block Diagramm

X PWM regulator Y Charge Pump Reference Voltage Thermal Monitoring OA1 OA2 OB1 OB2 Main control Registers OTP + ROM Decoder Sinewave table DACs Position Controller VCP CP2 CP1 Serial Interface Controller Test Two Wire Serial Interface Voltage Regulator SWI SDA HW TST VBAT VDD SCL

2.2 Position Controller / Main Control

Motor parameters, e.g. acceleration, velocity and p osition parameters are passed to the main control block via the serial interface. These information a re stored internally in RAM or OTP memory and are accessible by the position controller. This block t akes over all time critical tasks to drive a steppe r 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 i nformation 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 o f a bipolar stepper motor. The internal transistors can reach an output current of up to 800 mA. The PW M principle is used to force the given current through the coils. The regulation loop performs a c omparison between the sensed output current and the internal reference. The PWM signals to drive th e 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 p laces via the two wire bi-directional serial interface. Motion instructions and diagnostics info rmation are provided to or from the Main Control block. It is possible to connect up to 32 devices o n the same bus. Slave addresses are programmable via OTP memory or an external pin.

2.5 Miscellaneous

Besides the main blocks the TMC222 contains the following:

an internal charge pump used to drive the high sid e 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

Name SOIC20 QFN32 Description SDA 1 8 SDA Serial Data input/output SCL 2 9 SCL Serial Clock input VDD 3 10 internal supply (needs external decoupling capacitor) 31,32 ground, heat sink TST 5 12 test pin (to be tied to ground in normal o peration) open 6 13 must be left open HW 8 15 hard-wired serial interface address bit inp ut Hint: This is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; CPN 9 17 negative connection of external charge pum p capacitor CPP 10 18 positive connection of external charge pu mp capacitor VCP 11 19 connection of external charge pump filter capacitor VBAT 12, 19 3-5,20-22 battery voltage supply (Vbb) OB2 13 23,24 negative end of phase B coil OB1 15 27,28 positive end of phase B coil OA2 16 29,30 negative end of phase A coil OA1 18 1,2 positive end of phase A coil SWI 20 6 reference switch input; Hint: This is not a logic level input as usual; it needs to be connected via 1K resistor either to +VBAT or GND; NC 7,16 internally not connected (shields when con nected to ground) Table 1: TMC222 Signal Description

3 Typical Application

100 nF 1 µF Tantalum 220 nF 16 V 1k Ω /1/4W Connect to GND or V BAT 2.7 nF SWI OB1 OA2 GND OA1 VBAT VCP VBAT OB2 GND SCL 2 VDD 3 GND 4 TST 5 open 6 GND 7 CPP 10 SDA 1 HW 8 CPN 9 1k Ω /1/4W 2.7 nF SWI 100 nF M 100 nF 220 nF 16 V 100 µF VBAT 8...29 V Connect to GND or V BAT External Switch 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 BB and V DD
220nF capacitors must be as close as possible to p ins CPN, CPP, V CP and V BB to 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 SOIC-20 800mA -40° C..125° C TMC222-LI QFN32 800mA -40° C..125° C Table 2: Ordering Information

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 s tep, 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 de sired 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 symm etrical. The acceleration factor can be chosen from a table with 16 entries. (Table 5: Acc Paramet er on page 11). A typical motion begins with a star t velocity Vmin. During acceleration phase the veloci ty is increased until Vmax is reached. After acceleration phase the motion is continued with vel ocity Vmax until the velocity has to be decreased i n 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 ha s to take into account that Vmin is not allowed to change while a motion is ongoing. Vmax is only allo wed 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 th e 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. I run is fed through the stepper motor coils while a moti on is performed, whereas Ihold is the current to ho ld 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 accessab le via the serial interface. These parameters are written via the SetMotorParam command (see 6.8.9) a nd read via the GetFullStatus1 command (see 6.8.1). time [s] Velocity V [FS/s] Vmax Vmin Xstart Xtarget No Movement Acceleration Phase Constant Velocity Deceleration Phase No Movement State of Motion

5.1.3 Examples for different Velocity Ramps

The following figures show some examples of typical motions under different conditions: time Velocity V Vmax Vmin Xstart Xtarget_2 Xtarget_1 Figure 2: Motion with change of target position time Velocity V Vmax Vmin Xstart Xtarget_2 Xtarget_1 Figure 3: Motion with change of target position while in deceleration phase time Velocity V Vmax Vmin Xstart Xtarget Figure 4: Short Motion Vmax is not reached time Velocity V Vmax Vmin Xstart Xtarget_2 Xtarget_1 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 crossi ng provides very low torque ripple to the stepper motor during crossing.

5.1.4 Vmax Parameter

The desired maximum velocity Vmax can be chosen from the table below: Vmax index Vmax [FS/s] Vmax group Stepping Mode Half-Step Mode [half-steps/s] 1/4 micro stepping [micro-steps/s] 1/8 micro stepping [micro-steps/s] 1/16 micro stepping [micro-steps/s] 0 99 A 197 395 790 1579 1 136 B 273 546 1091 2182 2 167 334 668 1335 2670 3 197 395 790 1579 3159 4 213 425 851 1701 3403 5 228 456 912 1823 3647 6 243 486 973 1945 3891 7 273 C 546 1091 2182 4364 8 303 607 1213 2426 4852 9 334 668 1335 2670 5341 10 364 729 1457 2914 5829 11 395 790 1579 3159 6317 12 456 912 1823 3647 7294 13 546 D 1091 2182 4364 8728 14 729 1457 2914 5829 11658 15 973 1945 3891 7782 15564 Table 3: Vmax Parameter Under special circumstances it is possible to chang e the Vmax parameters while a motion is ongoing. All 16 entries for the Vmax parameter are divided i nto four groups A, B, C and D. When changing Vmax during a motion take care that the new Vmax va lue 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.

5.1.5 Vmin Parameter

The minimum velocity parameter is a programmable ra tio between 1/32 and 15/32 of Vmax. It is also possible to set Vmin to the same velocity as Vmax b y setting Vmin index to zero. The table below shows the possible rounded values of Vmin given within unit [FS/s]. Vmin index Vmax factor Vmax group [A...D] and Vmax index [0…15] A B C D 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 1 1/32 3 4 5 6 6 7 7 8 8 10 10 11 13 15 19 26 2 2/32 6 8 10 11 12 13 14 15 17 19 21 23 27 30 42 57 3 3/32 9 12 15 18 19 21 22 25 27 30 32 36 42 50 65 88 4 4/32 12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118 5 5/32 15 21 26 30 32 35 37 42 46 52 55 61 71 84 111 149 6 6/32 18 25 30 36 39 42 45 50 55 61 67 72 84 99 134 179 7 7/32 22 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210 8 8/32 24 33 41 49 52 56 60 67 74 82 90 97 112 134 179 240 9 9/32 28 38 47 55 59 64 68 76 84 94 101 111 128 153 202 271 10 10/32 30 42 52 61 66 71 75 84 94 103 112 122 141 168 225 301 11 11/32 34 47 57 68 72 78 83 94 103 114 124 135 156 187 248 332 12 12/32 37 50 62 73 79 85 91 101 112 124 135 147 170 202 271 362 13 13/32 40 55 68 80 86 92 98 111 122 135 147 160 185 221 294 393 14 14/32 43 59 72 86 92 99 106 118 132 145 158 172 198 236 317 423 15 15/32 46 64 78 92 99 107 114 128 141 156 170 185 214 256 340 454 Table 4: Vmin values [FS/s] for all Vmin index – Vm ax index combinations

5.1.6 Acceleration Parameter

The acceleration parameter can be chosen from a wid e 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/s 2] dependent on Vmax Acc index Vmax [FS/s] 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 0 49 106 473 1 218 735 2 1004 3 3609 4 6228 5 8848 6 11409 7 13970 8 16531 14785 19092 10 21886 11 24447 12 27008 13 29570 14 29570 34925 15 40047 Table 5: Acc Parameter

12 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG The amount of equivalent full steps during acceleration phase can be computed by the next equation: Acc Nstep −= 2 V 2V 2 min max

5.1.7 Position Ranges

Position information is coded by using two’s comple ment 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 …+2 12 -1) 8192 half-steps 213 1/4 micro-stepping -8192…+8191 (-213 …+2 13 -1) 16384 micro-steps 214 1/8 micro-stepping -16384…+16383 (-214 …+2 14 -1) 32768 micro-steps 215 1/16 micro-stepping -32768…+32767 (-215 …+2 15 -1) 65536 micro-steps 216 Table 6: Position Ranges Target positions can be programmed via serial inter face by using the SetPosition command (see

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. Se cure position is coded with 11 bits, therefore the resolution is lower than for normal positioning commands, as shown in the following table. Stepping Mode Secure Position Resolution Half-stepping 4 half steps 1/4 micro stepping 8 micro steps (1/4 th ) 1/8 micro stepping 16 micro steps (1/8 th ) 1/16 micro stepping 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 s ource and sink current in/from the external switch pin. This is to check whether the external switch i s open or closed, resp. if the pin is connected to ground or Vbat. The status of the switch can be rea d 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 inpu t switch. The SWI input is intended as a physical interface for a mechanical switch that requires a c leaning current for proper operation. The SWI input detects if the switch is open or connected either t o ground or to Vbat. The SWI input is not a digital logic level input. The status of the switch does no t 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 ne eds to be connected via 1K resistor either to +VBAT or GND;

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 shutd own threshold T tsd . See 5.1.12 Temperature Management on Page 15
The battery voltage drops below UV2 See 5.1.13 Bat tery Voltage Management on Page 16.
An electrical problem occurred, e.g. short circuit , open circuit, etc. In case of such an problem fla g <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 a ctive anymore
A GetFullStatus1 command is performed via serial i nterface. Leaving the motor shutdown state initiates the following
H-bridges in Ihold mode
Clock for the motor control digital circuitry is e nabled
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.

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 powe r-up or if a motor shutdown happened in case of a problem. The RunInit command initiates the refere nce search. The RunInit command consists of a Vmin and Vmax parameter and also position informati on 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 m otion is performed under compliance of the selected Vmax and Vmin parameter and the acceleration parame ter 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 po ssible. 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 registe r 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 i nterrupted by any other command except a condition occurs which leads to a motor shutdown (S ee 5.1.10 Motor Shutdown Management) or a HardStop command is received. Furthermore the maste r 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. Position X [FS] Velocity V [FS/s] Vmax Vmin 1st Motion 2nd Motion Pos1 Pos2 Figure 6: RunInit

5.1.12 Temperature Management

The TMC222 provides an internal temperature monitor ing. The circuit goes into shutdown mode if the temperature exceeds threshold T tsd , furthermore two thresholds are implemented to gen erate a temperature pre-warning. Low Temperatur <Tinfo> = "01" <TW> = '0' <TSD> = '0' Normal Temp. <Tinfo> = "00" <TW> = '0' <TSD> = '0' Thermal Warning <Tinfo> = "10" <TW> = '1' <TSD> = '0' Post Thermal Warning <Tinfo> = "00" <TW> = '1' <TSD> = '0' T° > Tlow T° < Tlow Thermal Shutdown <Tinfo> = "11" <TW> = '1' <TSD> = '1' SoftStop , if motion Motion = disabled Post Thermal Shutdown 1 <Tinfo> = "10" <TW> = '1' <TSD> = '1' Motion = disabled Post Thermal Shutdown 2 <Tinfo> = "00" <TW> = '1' <TSD> = '1' Motion = disabled T° > Ttw T° > Ttsd T° < Ttw T° > Ttw T° < Ttsd T° > Ttsd T° < Ttw T° > Ttw T° < Ttw & GetFullStatus1 T° < Ttw & GetFullStatus1

5.1.13 Battery Voltage Management

The TMC222 provides an internal battery voltage mon itoring. The circuit goes into shutdown mode if the battery voltage falls below threshold UV2, furt hermore one threshold UV1 is implemented to generate a low voltage warning. Normal Voltage <UV2> = '0' <StepLoss> = '0' Motion = enabled Low Voltage <UV2> = '0' <StepLoss> = '0' Motion = enabled Stop Mode 2 <UV2> = '1' <StepLoss> = '1' HardStop Motion = disabled Stop Mode 1 <UV2> = '1' <StepLoss> = '0' Motion = disabled Vbat < UV1 Vbat > UV1 Vbat < UV2 (Motion) Vbat < UV2 (no Motion) Vbat > UV1 & GetFullStatus1 Vbat > UV1 & GetFullStatus1

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 stat us 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 trigg ered internally in case of an electrical defect or over temperature. A description of the available commands can be foun d 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 reache d. If all three events occur at the same time the HardStop command is executed since it has the highe st 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. RunInit SoftStop Stopped ShutDown HardStop GotoPos Priorities High Low Thermal Shutdown GotoSecurePosition SetPosition Motion finished Motion finished HardStop Thermal Shutdown Power On Reset GetFullStatus1 AND <TSD> + <HS> = 0 HardStop HardStop HardStop Thermal Shutdown SoftStop RunInit Motion finished Motion finished Figure 7: Internal handling of commands and flags

18 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG State →→ →→ Stopped GotoPos RunInit SoftStop HardStop ShutDown Command ↓↓ ↓↓ motor stopped, Ihold in coils motor motion ongoing no influence on RAM and TagPos motor decelerating motor forced to stop motor stopped, H-bridges in Hi-Z 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 GetOTPParam 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 GetFullStatus1 [attempt to clear <TSD> and <HS> flags] I²C in-frame response I²C in-frame response I²C in-frame response I²C in-frame response I²C in-frame response I²C in-frame response; if ( <TSD> or <HS> ) = ‘1’ then →→ →→ Stopped ResetToDefault [ActPos and TagPos are not altered] OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset (note 2) OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset SetMotorParam [Master takes care about proper update] RAM update RAM update RAM update RAM update RAM update RAM update ResetPosition TagPos and ActPos reset TagPos and ActPos reset SetPosition TagPos updated; →→ →→ GotoPos TagPos updated TagPos updated GotoSecurePosi tion If <SecEn> = ‘1’ then TagPos = SecPos ; →→ →→ GotoPos If <SecEn> = ‘1’ then TagPos = SecPos If <SecEn> = ‘1’ then TagPos = SecPos RunInit →→ →→ RunInit HardStop →→ →→ HardStop ; <StepLoss> = ‘1’ →→ →→ HardStop ; <StepLoss> = ‘1’ →→ →→ HardStop ; <StepLoss> = ‘1’ SoftStop →→ →→ SoftStop HardStop [ ⇔ (<CPFail> or <UV2> or <ElDef> ) = Thermal shutdown Motion finished n.a. →→ →→ Stopped →→ →→ Stopped →→ →→ Stopped ; TagPos =ActPos →→ →→ Stopped ; TagPos =ActPos n.a. 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 GetFu llStatus1 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 i n a RunInit command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape i s forced to ‘1’ during second motion even if a ResetToDefault c ommand is issued during a RunInit sequence, in whic h case AccShape at ‘0’ will be taken into account after th e RunInit sequence. A GetFullStatus1 command will return the default parameters for Vmax and Vmin stored in RAM. 3 Shutdown state can be left only when <TSD> and <HS> flags are reset. 4 Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided th e physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect). 5 A SetMotorParam command sent while a motion is ongo ing (state GotoPos) should not attempt to modify Ac c and Vmin values. This can be done during a RunInit sequ ence since this motion uses its own parameters, the new parameters will be taken into account at the next SetPosition command. 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 Copyright © 2004-2009 TRINAMIC Motion Control GmbH & Co. KG 7 <Stop> flag allows to distinguish whether state Sto pped was entered after HardStop/SoftStop or not. <S top> is set to ‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped. 8 While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. Thi s transition has the lowest priority, meaning that <Stop>, <TSD>, etc. are first evaluated for possible transitions. 9 If <StepLoss> is active, then SetPosition and GotoS ecurePosition commands are ignored (they will not m odify 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 initializ ed 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

(bit) Related commands Comment Reset State Actual Position ActPos 16 GetFullStatus2 ResetPosition Actual Position of the Stepper Motor. 16-bit signed 0x0000 Target Position TagPos 16 SetPosition GetFullStatus2 ResetPosition Target Position of the Stepper Motor. 16-bit signed Acceleration Shape AccShape 1 GetFullStatus1 SetMotorParam ResetToDefault 0 = Acceleration with Acc Parameter. 1 = Velocity set to Vmin, without acceleration Coil Peak Current Irun 4 GetFullStatus1 SetMotorParam ResetToDefault Coil current when motion is ongoing (Table 12: Irun / Ihold Settings) OTP Memory Coil Hold Current Ihold 4 GetFullStatus1 SetMotorParam ResetToDefault Coil current when motor stands still (Table 12: Irun / Ihold Settings) Minimum Velocity Vmin 4 GetFullStatus1 SetMotorParam ResetToDefault Start Velocity of the stepper motor (Table 4: Vmin ) Maximum Velocity Vmax 4 GetFullStatus1 SetMotorParam ResetToDefault Target Velocity of the stepper motor (Table 3: Vmax Parameter) Shaft Shaft 1 GetFullStatus1 SetMotorParam ResetToDefault Direction of motion Acceleration / Deceleration Acc 4 GetFullStatus1 SetMotorParam ResetToDefault Parameter for acceleration (Table 5: Acc Parameter) Secure Position SecPos 11 GetFullStatus2 ResetToDefault Target Position for GotoSecurePosition command (6.8.4 GotoSecurePosition); 11 MSBs of 16-bit position (LSBs fixed to ‘0’) Stepping Mode StepMode 2 GetFullStatus1 GetFullStatus2 ResetToDefault Micro stepping mode (5.1.1 Stepping Modes)

5.2.2 Status Flags

The table below shows the flags which are accessabl e by the serial interface in order to receive information about the internal status of the TMC222. Flag Mnemonic Length (bit) Related Command 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 A OVC1 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 B OVC2 1 GetFullStatus1 Set to ‘1’ if an over current in coil #2 was detected. Is set to ‘0’ after GetFullStatus1 command. ‘0’ StepLoss StepLoss 1 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’ Secure position enabled SecEn 1 Internal use ‘0’ if SecPos = “100 0000 0000” ‘1’ otherwise n.a. or <OVC2>). Is. Is set to ‘0’ after GetFullStatus1 command. ‘0’ Temperature Info Tinfo 2 GetFullStatus1 Indicates the chip temperature “00” = normal temperature “01 = low temperature warning “10” = high temperature warning “11” = motor shutdown “00” Thermal Warning TW 1 GetFullStatus1 Set to one if temperature raises above 145 ° C. Is set to ‘0’ after GetFullStatus1 command. ‘0’ Thermal Shutdown TSD 1 GetFullStatus1 Set to one if temperature raises above 155° C. Is set to ‘0’ after GetFullStatus1 command and Tinfo = “00”. ‘0’ Motion Status Motion 3 GetFullStatus1 Indicates the actual behavior of the position controller. “000”: Actual Position = Target Position; Velocity = 0 “001”: Positive Acceleration; Velocity > 0 “010”: Negative Acceleration; Velocity > 0 “011”: Acceleration = 0 Velocity = maximum pos Velo city “100”: Actual Position /= Target Position; Velocity = 0 “101”: Positive Acceleration; Velocity < 0 “110”: Positive Acceleration; Velocity < 0 “111”: Acceleration = 0 Velocity = maximum neg Velo city “000” External Switch Status ESW 1 GetFullStatus1 Indicates the status of the external switch. ‘0’ = open ‘1’ = close ‘0’ Charge Pump failure CPFail 1 GetFullStatus1 ‘0’ charge pump OK ‘1’ charge pump failure ‘0’

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 th e 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 th e OTP (See: Table 21: DC Parameters Supply and Voltage regulator on page 45), otherwise the circuit will be destroyed. OTP Address OTP Bit Order 7 6 5 4 3 2 1 0 0x00 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 IREF0 0x01 TSD2 TSD1 TSD0 BG3 BG2 BG1 BG0 0x02 AD3 AD2 AD1 AD0 0x03 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 I hold0 0x04 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 Vmin0 0x05 SecPos10. SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 Acc0 0x06 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos2 SecPos1 SecPos 0 0x07 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 dif ferent components. These bits (gray within Table 9 : OTP Memory Structure) should not be used after re adout. 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 Zene r diode. It is important to note that only one sing le OTP byte can be programmed at the same time (see command SetOTPParam). Once OTP programming is completed, bit LOCKBG can b e zapped, to disable unwanted future zapping, otherwise any OTP bit at ‘0’ could still be zapped. Lock bit Protected byte LOCKBT (zapped before d elivery) 0x00 to 0x01 LOCKBG 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 fo r a functional verification before using a SetOTPParam command to program and zap separately o ne 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 Half Stepping

01 1/4 µStepping 10 1/8 µStepping 11 1/16 µStepping Table 11: StepMode

5.3.1 Coil current shapes

The next four figures show the current shapes fed t o each coil of the motor in different stepping modes. t i Figure 8: Coil Current for Half Stepping Mode t i Figure 9: Coil Current for 1/4 Micro Stepping Mode t i Figure 10: Coil Current for 1/8 Micro Stepping Mode t i Figure 11: Coil Current for 1/16 Micro Stepping Mode

5.3.2 Transition Irun to Ihold

At the end of a motor motion the actual coil curren ts Irun are maintained in the coils at their actual DC level for a quarter of an electrical period (two ha lf steps) at minimum velocity. Afterwards the curre nts are then set to their hold values Ihold. The figure below illustrates the mechanism: t i I = I run I = I hold Figure 12: Transition Irun to Ihold Both currents Irun and Ihold are parameterizeable u sing 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 (hexadecimal) Peak Current [mA] 0x0 59 0x1 71 0x2 84 0x3 100 0x4 119 0x5 141 0x6 168 0x7 200 0x8 238 0x9 283 0xA 336 0xB 400 0xC 476 0xD 566 0xE 673 0xF 800 Table 12: Irun / Ihold Settings

5.3.3 Chopper Mechanism

The chopper frequency is fixed as specified in chap ter 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 flowin g 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 switc hed 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

6 Two-Wire Serial Interface

6.1 Physical Layer

Both SDA and SCL lines are connected to positive su pply voltage via a current source or pull-up resistor (see figure below). When there is no traff ic on the bus both lines are high. Analog glitch fi lters are implemented to suppress spikes with a length of up to 50 ns. SDA line SCL line TMC222 SCL_IN SCL_OUT SDA_IN SDA_OUT Master SCL_IN SCL_OUT SDA_IN SDA_OUT + 5V 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 end s with a Stop condition. Both conditions are unique and cannot be confused with data. A high to low tra nsition 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 START condition STOP 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) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Every byte put on the SDA line must have a length o f 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). SDA SCL 1 2 7 8 9 9 1 START condition STOP condition MSB ACK ACK Figure 17: Two Wire Serial Interface - Data Transfer

6.3 Physical Address of the circuit

The circuit must be provided with a physical addres s in order to discriminate this circuit from other ones on the serial bus. This address is coded on se ven bits (two bits are internally hardwired to ‘1’) , yielding the theoretical possibility of 32 differen t 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. There fore the circuit is addressable using either the physical slave address or address “000 0000”. Physical address OTP Memory Hardwired Bit (Connect to 0 or 1) OTP_AD3 OTP_AD1 OTP_AD2 OTP_AD0 '1' '1' AD5 AD6 AD1 AD2 AD3 AD4 AD0 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 addr ess 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 nee ds 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 St art condition, the slave address (7 bit), a read/wr ite 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 acknowle dge 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 ever y rising edge of the SCL line. To finish the transmission the master has to transmit a Stop cond ition. 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 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG S PAR/W Slave addr DATA '0' (Write) ADATA A (n Bytes + acknowledge) 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 ne eded. The first datagram consists of two bytes of data. The first byte consists of the slave addre ss and the write bit. The second byte consists of t he 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 addr ess and the read bit. Then the master can read the data bits on the SDA line with every rising edg e of the SCL line. After each byte of data the mast er has to acknowledge correct data reception by pullin g SDA low. The last byte must not be acknowledged by the master so that the slave knows the end of transmission (see figure below). S PAR/W Slave addr internal addr '0' (Write) master to slave slave to master S: Start Condition P: Stop Condition A: Acknowledge (SDA low) A: not Acknowledge (SDA high) Dump Internal Address to Slave Read Data from Slave S PAR/W Slave addr DATA '1' (Read) ADATA A A (n Bytes + acknowledge) Figure 20: Two Wire Serial Interface - Read Data from Slave

6.6 Timing characteristics of the serial interface

tHD;STA tLOW tr tHIGH tf tHD;DAT tSU;DAT tHD;STA tSU;STA tr tBUF tSU;STO START STOP START Figure 21: Definition of Timing Parameter Symbol SCL Clk frequency <= 100KHz SCL Clk frequency <= 350KHz Unit Min. Max. Min. Max. Low level input voltage: Fixed input levels V High level input voltage: Fixed input levels V IH 3.0 (2) 0.7V DD (2) V Pulse width of spikes which must be suppressed by the input filter t SP n/a n/a 50 50 ns Capacitance for each I/O pin C i - 10 - 10 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 O hms resistor must be added in series (2): Maximum V IH = V DDmax + 0.5 Volt n/a: not applicable Parameter Symbol SCL Clk frequency <= 100KHz SCL Clk frequency <= 350KHz 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. t HD;STA 4.0 - 0.6 - µs LOW period of the SCL clock t LOW 4.7 - 1.3 - µs HIGH period of the SCL clock t HIGH 4.0 - 0.6 - µs Set-up time for a repeated START condition t SU;STA 4.7 - 0.6 - µs Data set-up time t SU;DAT 250 - 100 - ns Rise time of both SDA and SCL signals t r - 1000 20+0.1C b (1) 300 ns Fall time of both SDA and SCL signals t f - 300 20+0.1C b (1) 300 ns Set-up time for STOP condition t SU;STO 4.0 - 0.6 - µs Bus free time between a STOP and START condition t BUF 4.7 - 1.3 - µs Capacitive load for each bus line C b 0 400 - 400 pF Noise margin at the LOW level for each connected device (including hysteresis) V nL 0.1V DD - 0.1V DD - V Noise margin at the HIGH level for each connected device (including hysteresis) V nH 0.2V DD - 0.2V DD - V 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.

6.7 Application Commands Overview

Communications between the TMC222 and a Two Wire Se rial 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 Function Command Byte (hexadecimal) GetFullStatus1 Returns complete status of the chip 0x81 GetFullStatus2 Returns actual, target and secure po sition 0xFC GetOTPParam Returns OTP parameter 0x82 GotoSecurePosition Drives motor to secure position 0x84 HardStop Immediate full stop 0x85 ResetPosition Sets actual position to zero 0x86 ResetToDefault Overwrites the chip RAM with OTP con tents 0x87 RunInit Reference Search 0x88 SetMotorParam Sets motor parameter 0x89 SetOTPParam Zaps the OTP memory 0x90 SetPosition Programmers a target and secure positio n 0x8B SoftStop Motor stopping with deceleration phase 0x8 F Table 15: Two-Wire-Serial-Interface - Command Overview (in alphabetical order)

6.8 Command Description

There are data fields labeled as "N/A = not applica ble". Within the command description tables, the contend is normally given as '1'. Data fields label ed by N/A might be reserved for later variants of t he TMC222 and the content should be ignored for the TMC222. Concerning response datagrams, the byte 0 is the sl ave 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 Mast er to get a complete status of the circuit and of t he 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-mot or (Vmax and Vmin)
direction of motion clockwise / counterclockwise ( Shaft)
stepping mode (StepMode) (Table 11: StepMode on pa ge 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 <O VC2>
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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0

1 GetFullStatus1 1 0 0 0 0 0 0 1

GetFullStatus1 command (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1

1 Address 1 1 1 OTP3 OTP2 OTP1 OTP0 HW

2 Irun & Ihold Irun (3:0) Ihold (3:0)

3 Vmax & Vmin Vmax (3:0) Vmin (3:0)

4 Status 1 AccShape StepMode(1:0) Shaft ACC(3:0)

5 Status 2 VddReset StepLoss ElDef UV2 TSD TW Tinfo(1:0)

6 Status 3 Motion(2:0) ESW OVC1 OVC2 1 CPFail

7 N/A 1 1 1 1 1 1 1 1

8 N/A 1 1 1 1 1 1 1 1

Note: N/A = not applicable

6.8.2 GetFullStatus2

This command is provided to the circuit by the Mast er to get the actual position of the stepper-motor. The position is provided by the circuit in 16-bit f ormat, with the 3 LSBs at ‘0’ when in half stepping mode (StepMode = “00”). Furthermore programmed targ et position and secure position are also provided. GetFullStatus2 command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GetFullStatus2 1 1 1 1 1 1 0 0

GetFullStatus2 command (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

2 Actual Position 1 ActPos(15:8)

3 Actual Position 2 ActPos(7:0)

4 Target Position 1 TagPos(15:8)

5 Target Position 2 TagPos(7:0)

6 Secure Position SecPos(7:0)

7 Secure Position 1 1 1 1 1 SecPos(10:8)

Note: N/A = not applicable

6.8.3 GetOTPParam

This command is provided to the circuit by the mast er 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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GetOTPParam 1 0 0 0 0 0 1 0

GetOTPParam command (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 OTP byte 0 OTP@0x00

2 OTP byte 1 OTP@0x01

3 OTP byte 2 OTP@0x02

4 OTP byte 3 OTP@0x03

5 OTP byte 4 OTP@0x04

6 OTP byte 5 OTP@0x05

7 OTP byte 6 OTP@0x06

8 OTP byte 7 OTP@0x07

6.8.4 GotoSecurePosition

This command is provided by the Master to one or al l 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 decima l value of -1024) the secure position is disabled and the GotoSecurePosition command is ignored. GotoSecurePosition command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GotoSecurePosition 1 0 0 0 0 1 0 0

6.8.5 HardStop

This command is internally triggered when an electr ical problem is detected in one or both coils, leading to switch off the H-bridges. If this proble m is detected while the motor is moving, the <StepLoss> flag is raised allowing to warn the Mast er 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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 HardStop 1 0 0 0 0 1 0 1

6.8.6 ResetPosition

This command is provided to the circuit by the Mast er 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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 ResetPosition 1 0 0 0 0 1 1 0

6.8.7 ResetToDefault

This command is provided to the circuit by the Mast er 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 i nitialize 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 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 ResetToDefault 1 0 0 0 0 1 1 1

6.8.8 RunInit

This command is provided to the circuit by the Mast er in order to initialize positioning of the motor by seeking the zero (or reference) position. Refer to 5.1.11 Reference Search / Position initialization o n 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 i nterrupted by any other command except when a condition occurs which leads to a motor shutdown (S ee 5.1.10 Motor Shutdown Management) or a HardStop command is received. If SecPos[10:0] equal s 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 o f 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 st ate only a HardStop command followed by a GetFullStatus 1 command will cause the circuit to leave the deadlock state. RunInit command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 RunInit 1 0 0 0 1 0 0 0

2 N/A 1 1 1 1 1 1 1 1

3 N/A 1 1 1 1 1 1 1 1

4 Vmax Vmin Vmax(3:0) Vmin(3:0)

5 Position1 byte 1 TagPos1(15:8)

6 Position1 byte 2 TagPos1(7:0)

7 Position2 byte 1 TagPos2(15:8)

8 Position2 byte 2 TagPos2(7:0)

Note: N/A = not applicable

6.8.9 SetMotorParam

This command is provided to the circuit by the Mast er to set the values for the following stepper moto r 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 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SetMotorParam 1 0 0 0 1 0 0 1

4 Irun & I hold Irun(3:0) Ihold(3:0)

5 Vmax & Vmin Vmax(3:0) Vmin(3:0)

6 Status SecPos(10:8) Shaft Acc(3:0)

7 SecurePos SecPos(7:0)

8 StepMode AccShape StepMode[1:0]

Note: N/A = not applicable

6.8.10 SetOTPParam

This command is provided to the circuit by the Mast er 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 corre sponding 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 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SetOTPParam 1 0 0 1 0 0 0 0

4 OTP Address 1 1 1 1 1 OTPA(2:0)

5 Pbit Pbit(7:0)

Note: N/A = not applicable

6.8.11 SetPosition

This command is provided to the circuit by the Mast er 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 Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SetPosition 1 0 0 0 1 0 1 1

4 Position byte1 TagPos(15:8)

5 Position byte2 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 shutd own threshold.
The Master requests a SoftStop. SoftStop command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SoftStop 1 0 0 0 1 1 1 1

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. X [µsteps] Stop Actual Position unknown Target Position = 3000 Position 0 Figure 22: Positioning Example: Initial situation The following sequence of commands has to be sent t o 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 t he TMC222. Electrical or environmental problems will be reported, furthermore the circuit leaves th e 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 actu al position corresponds to the first target position of the RunInit command. This command is used to read the a ctual 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 in itialization 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 t hen set to zero automatically after the second moti on 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 steppe r motor corresponds to zero, the target position is 3000 µsteps away from the actual position. X [µsteps] Stop Actual Position = 0 Target Position = 3000 Figure 23: Positioning Example: Situation after reference search Now the positioning command SetPosition can be issu ed in order to drive the stepper motor to the desired position.

TMC222 DATASHEET (V. 1.12 / March 7, 2011) 37 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG SetPosition This command will cause the stepper motor to move t o the desired target position. See 6.8.11 SetPosition on page 35. After the motion has been f inished, the situation is as depicted in the figure below. X [µsteps] Stop Actual Position = Target Position = 3000 Figure 24: Positioning Example: Motion finished Afterwards the actual status and position can be ve rified 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.

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. Fir st of all it has to be checked if each device can b e serviced under any circumstances in the maximum all owed time taking the bus speed and the individual real-time requirements of each device in to 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 shi pped 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 SetOTPPar am. 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 d evice and program the desired non-zero address, the n 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 servi ce concept when replacing defective devices in the field: The idea is that all devices are program med to different non-zero physical addresses at production/installation time. Once a defective devi ce is being replaced the replacement part can easil y 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 t o one in case of an overcurrent (coil short) or open load condition (selected coil current is not reache d) 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 ( /barb2right open load)
Connected motor has shorted coils ( /barb2right overcurrent) or broken coils ( /barb2right open load)
Motor coils connected to the wrong device pins
Selected coil current can not be reached ( /barb2right open load) due to high coil impedance or low supply voltage. Solution: Select a lower coil run/h old 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 ef fect 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.

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 inte rrupt 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. T hus 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 g roup as the old one (see Vmax Parameters). Otherwis e 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 design ed 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 t arget 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 p osition range of –32768…+32767 in units of 1/16 micro-steps is covered regardless of the selected s tepping mode (1/2, 1/4, 1/8 or 1/16 micro-stepping). The difference between the stepping modes is the re solution resp. the position of the LSB in the 16-bi t 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-steppin g. The position range can be regarded as a circle since po sition –32768 is just 1/16 micro-step away from position +32767. The device will always take the sh ortest way from the current to the target position, i.e., if the current position is +32767 and the tar get position is –32768 just 1/16 micro-step will be executed. 65535 1/16 micro-steps in the opposite di rection 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 treate d 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.

7.4 Finding the reference position

Q: How do I find a reference position? A: The recommended way is to use the RunInit comman d. Two motions are specified through RunInit. The first motion is to reach the mechanical stop. I ts 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 ta rget position is reached. The second motion then can be used either to drive in the opposite direction o ut 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 agai nst 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 res p. the ESW flag have neither influence on any internal state machine nor on command processing. T he recommended way to find a reference position is to use the RunInit command. Alternative ly one could initiate a long distance motion at ver y low speed using SetPosition and then poll ESW as fr equently as possible to be able to stop the motion using HardStop right in the moment the switch posit ion 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. pul led to VBAT or to GND. ESW is set to zero if SWI is lef t 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 sin ce the ESW flag must be polled and evaluated by software anyway. The state of ESW has neither effec t 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 dif ferent from the current position before sending Run Init and the second target position must be different fr om the first one. Otherwise a deadlock situation ca n occur. During execution of RunInit only Get… comman ds 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 ha ve 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 th e first or second motion of RunInit (or the motion of any other motion command) will be continued unti l 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 o f 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.

8 Package Outline

8.1 SOIC-20

A max A1 A2 A3 bp c D(1) E(1) e HE L Lp Q v w y Z(1) theta mm 2.65 0.30 0.10 2.45 2.25 0.25 0.49 0.36 0.32 0.23 13.0 12.6 7.6 7.4 1.27 10.65 10.00 1.4 1.1 0.4 1.1 1.0 0.25 0.25 0.1 0.9 0.4 8° inches 0.10 0.012 0.004 0.096 0.089 0.01 0.019 0.014 0.013 0.009 0.51 0.49 0.30 0.29 0.050 0.419 0.394 0.055 0.043 0.016 0.043 0.039 0.01 0.01 0.004 0.035 0.016 Table 16: SOIC-20 Mechanical Data Note: inch dimensions are derived from the original mm dimensions Figure 25: Package Outline SOIC-20

8.2 QFN32

D E 17 24 R 0.2 PIN1 I.D. P (0.2) (1.1016) R e e/2 J K C C L b Bottom view EXPOSED DIE ATTACH PAD Side view A (A3) 0° ~12° Figure 26: Package Outline QFN32 REF A A1 A2 A3 b C D D1 E E1 e J K L P R Unit mm mm mm mm mm mm mm mm mm mm mm mm mm mm deg. 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.

9 Package Thermal Resistance

9.1 SOIC-20 Package

The junction case thermal resistance is 28° C/W, lea ding 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 2 × (10mm × 23mm) Figure 27: Layout consideration

10.1 Absolute Maximum Ratings

Vbat Supply Voltage -0.3 +35 V Tamb Ambient temperature under bias (*) -50 +150 ° C Tst Storage temperature -55 +160 ° C Vesd (**) Electrostatic discharge voltage on pins -2 +2 kV Table 17: Absolute Maximum Ratings (*) The circuit functionality is not guaranteed (**) Human body model (100pF via 1.5 K Ω )

10.2 Operating Ranges

Vbat Supply Voltage (Vbb) +8 +29 V Top Operating temperature range Vbat <= 18V -40 +125 ° C Vbat <= 29V -40 +85 ° C Table 18: Operating Ranges

10.3 DC Parameters

Symbol Pin(s) Parameter Test condition Min Typ Max Unit IMSmax Peak OA1 OA2 OB1 OB2 Max current through motor coil in normal operation 800 mA IMSmax RMS Max RMS current through coil in normal operation 570 mA RDSon On resistance for each pin (including bond wire) To be confirmed by characterization 1 Ω IMSL Leakage current HZ Mode, 0V < V(pin) < Vbb -50 +50 µA Table 19: DC Parameters Motor Driver Thermal Warning and shutdown Symbol Pin(s) Parameter Test condition Min Typ Max Unit Ttw Thermal Warning 138 145 152 ° C Ttsd (*) Thermal Shutdown Ttw + 10 ° C Tlow Low Temperature Warning 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 Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Supply and Voltage regulator Symbol Pin(s) Parameter Test condition Min Typ Max Unit Vbb VBB Nominal operating supply range (*) 6.5 18 V VbbT85 Nominal operating supply range (*) for temperature < 85° C 6.5 29 V VbbOTP Supply Voltage for OTP zapping 8.5 9.5 V UV1 Low voltage high threshold 8.8 9.4 9.8 V UV2 Stop voltage low threshold 8.1 8.5 8.9 V Ibat Total current consumption Unloaded Outputs 10 mA Vdd VDD Internal regulated output () 8V < Vbb < 18V Cload = 1µF (+100nF cer.) 4.75 5 5.25 V IddStop Digital current consumption Vbb < UV2 2 m A VddReset Digital supply reset level (*) 4.4 V IddLim Current limitation Pin shorted to ground 4 0 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 Pin(s) Parameter Test condition Min Typ Max Unit Rt_OFF SWI HW Switch OFF resistance (*) Switch to GND or Vbat 10 kΩ Rt_ON Switch ON resistance (*) 2 kΩ Vbb_sw Vbb range for guaranteed operation of SWI and HW 6 18 V Vmax_sw Maximum Voltage T < 1s 40 V Ilim_sw Current limitation Short to GND or Vbat 30 mA Table 22: DC Parameters Switch Input and hardwired address input (*) External resistance value seen from pin SWI or HW, including 1k Ω series resistor Test pin Symbol Pin(s) Parameter Test condition Min Typ Max Unit Vhigh TST Input level high Input level low 0.7 0.3 Vdd Vdd Vlow HWhyst Hysteresis 0.075 Vdd Table 23: DC Parameters Test pin Charge Pump Symbol Pin(s) Parameter Test condition Min Typ Max Unit Vcp Cbuffer VCP Output Voltage External Buffer Capacitor Vbb > 15V Vbb+10 Vbb+12.5 Vbb+15 V Vbb > 8V Vbb+5.8 220 470 V nF Cpump CPP CPN External pump Capacitor 220 470 nF Table 24: DC Parameters Charge Pump

10.4 AC Parameters

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 Pin(s) Parameter Test condition Min Typ Max Unit Tsw SWI HW Scan Pulse Period 921 1024 1127 µs Tsw_on Scan Pulse Duration 1/16 Tsw Table 26: AC Parameters Switch Input and hardwired address input Motor Driver Symbol Pin(s) Parameter Test condition Min Typ Max Unit Fpwm OA1 OA2 OB1 OB2 PWM frequency 18 20 22 kHz Tbrise Turn-On transient time Between 10% and 90% 350 ns Tbfall Turn-Off transient time 250 ns Table 27: AC Parameters Motor Driver

Revision History

Version Date (Initials) Comments up to 0.90p July 9, 2003 before v. 0.90 changes on unpublished internal vers ions only 0.91p September 18, 2003 pins renamed according to TRINAMIC conventions; corr ections concerning cross references, drawings in PDF 0.92p January 28, 2004 Order Code Update (Table 2: Ordering Information, page 7) 0.93p April 23, 2004 New TRINAMIC logo; Table 5: Acc Parameter, page 11: co mbined cells with same value; ESW is zero when switch is open (sec tion 5.1.9, page 12); Table 9 : OTP Memory Structure on page 21: corre ctions concerning bit mappings (exchanged locations of SecPos10… SecPos8 and StepMode1… StepMode 0); corrected command descriptions

1.01 August 24, 2004 velocity groups integrated into Vmax table; correcte d and enhanced Vmin

table; corrected meaning of Shaft bit; FAQ included

1.02 September 15, 2004 Updated Ordering Information; improved description of 2 nd motion of

RunInit in Reference Search / Position initialization ; combined tables for Irun and Ihold; some corrections to DC Parameters; a dded final travel to secure position during RunInit; reworked Internal h andling of commands and flags

1.03 October 1, 2004 New company address

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

GetFullStatus1 (section 6.8.1, page 30) byte 1 (addr ess) 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 concer ning N/A added and hint concerning slave address (byte 0) vs. slave ad dress (byte) of response datagrams added (section 6.8, page 30); hi nts added concerning the SWI switch input and its ESW flag (sect ion 5.1.9, page 12); hints concerning physical address (section 6.3 , page 26); GetFullStatus1 command (Response) Byte 1 Structure cor rected (section 6.8.1, page 30); GetFullStatus2 command (Response) By te 1 Structure corrected (section 6.8.2, page 31); explanations an d cross reference for OTP from section 6.8.10, page 34 to section 5.2.3 pa ge 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 descr iption to section

2.6 page 6, Ordering information to 4 page 7, Packag e Outline information to 8 page 41; Comment to 5.1.11, page 14: positions of Pos1 and Pos 2; orientation of marking outline for TMC222 symbols referring to the SOIC package adapted to real marking (p. 1, p. 6) 1.07 August 8, 2007 QFN pinning on page 1 corrected, was bottom view before.

1.08 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 ou t 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 July 17, 2008 references to Table 9 : OTP Memory Structure correct ed; color of fixed

MSBs of GetFullStatus1/2 corrected (were green); numbe ring of tables corrected (#10 was missing)

1.10 March 2 nd , 2009 (LL) GetActualPos (part of GetFullStatus2) corrected in Tab le 8: Priority

Encoder, page 18 (GetActualPos => GetFullStatus2)

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

8.2, page 42); operating supply voltage range (VbbT8 5 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 Swi tch SWI, page 12; section 6.3 Physical Address of the circuit, page 26;

48 TMC222 DATASHEET (V. 1.12 / March 7, 2011) Copyright © 2004-2011 TRINAMIC Motion Control GmbH & Co. KG Please refer to www.trinamic.com for updated data sheets and application notes on t his product and on other products. The TMCtechLIB CD-ROM including data sheets, applic ation notes, schematics of evaluation boards, software of evaluation boards, source code examples, parameter calculation spreadsheets, tools, and more is available from TRI NAMIC Motion Control GmbH & Co. KG by request to tmc_info@trinamic.com

Product Information

TMC222 specifications and overview.

Summary

Micro Stepping Stepper Motor Controller

Description

Micro Stepping Stepper Motor Controller

Source title TMC222 Datasheet(PDF) - TRINAMIC Motion Control GmbH & Co. KG.

Related Parts

More parts from the same family.

Browse manufacturer