TMC6100

TMC6100 TRINAMIC | Alldatasheet

Document overview

• Manufacturer or author: Provided By ALLDATASHEET.COM(FREE DATASHEET DOWNLOAD SITE)
• PDF pages: 41

Technical content

POWER DRIVER FOR BLDC/PMSM MOTORS INTEGRATED CIRCUITS TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany TMC6100 DATASHEET FEATURES AND BENEFITS 3-phase motors up to 100A coil current (external MOSFETs) Voltage Range 8 … 60V DC Gate Drive Programmable 0.5A / 1A / 1.5A Full Protection and Diagnostics via SPI interface Gate Off Drive with 1Ω (LS) / 1.3Ω (HS) safe hold off resistance SPI & Stand-Alone operation Charge Pump for 100% Duty Cycle operation Optional BBM break-before-make logic for single line control Programmable Short and Overload current threshold and retry Programmable Control Interface with 3-line or 6-line drive Full Protection & Diagnostics Compact Size 7x7mm2 QFN package Double Pin Distance for safe operation at high voltage

APPLICATIONS

PMSM FOC drives and BLDC motors Industrial Drives Factory Automation Lab Automation Robotics CNC machines Textile Machines Pumps Surveillance Cameras Home Automation Printers

DESCRIPTION

The TMC6100 is a high-power gate-driver for PMSM servo or BLDC motors. Using six external MOSFETs it controls motors from Watt to Kilowatt. Software controlled drive strength allows in - system EME opti mization. Pro grammable safety features like short detection and overtemperature thre sholds together with an SPI interface for diagnostics allow robust and reliable designs. With the TMC6100, a minimum number of external components is required to build a rugged drive with ful l protection and diagnostics. Universal high voltage BLDC/PMSM/Servo MOSFET 3 -halfbridge gate -driver with up to 1.5A drive current. Tiny QFN package with high creeping distance. External MOSFETs for up to 100A current . BLOCK DIAGRAM

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 2 www.trinamic.com APPLICATION EXAMPLES: PMSM AND BLDC MOTORS The TMC6100 is a compact driver IC for PMSM drivers. Its special package has sufficient creeping distance, even for voltages of 48V. On the control side, it mates with sophisticated FOC TMC467x and TMC867x family controller chips, or with any microcontroller. Its versatile interface matches simple BLDC drives with minimum requirements on the µC PWM , as well as advanced PMSM control algorithms. The small form factor of the TMC6100 keeps costs down and allows for miniaturized layouts. Extensive support at the chip, board, and software levels enables rapid design cycles and fast time -to-market with competitive products. High integration and reliability deliver cost savings in related systems such as power supplies and cooling. CPU TMC6100High-Level Interface Gate CTRL MINIATURIZED CPU BASED DESIGN FOR BLDC OR PMSM HIGH PERFORMANCE FOC SERVO DESIGN FOR PMSM M Encoder / Hall DIAG SPI (optional) ADC PWM Current Sense TMC6100 Gate CTRL M Encoder / Hall SPI Current Sense CPU TMC467x ADC PWM SPIHigh-Level Interface ORDER CODES Order code PN Description Size [mm2] TMC6100-TA 00-0201 Three phase gate-driver for external MOSFETs; QFN 7x7 7 x 7 TMC6100-TA-T 00-0201-T -T denotes tape on reel packed devices TMC6100-EVAL 40-0197 Evaluation board for TMC6100. 85 x 80 LANDUNGSBRÜCKE 40-0167 Baseboard for TMC6100-EVAL and further boards. 85 x 55 ESELSBRÜCKE 40-0098 Connector board for plug-in evaluation board system. 61 x 38 A CPU with internal BLDC or sine wave PWM unit drives the gate control lines based on encoder or hall sensor feedback. External current sensing is required, either using simple Op AMPs for foot point sensing, or series shunt amplifiers. Use of SPI is not required, unless more sophisticated diagnostics is desired. When using one of the TRINAMIC FOC controllers, the CPU is completely offloaded from time -intensive regulation loop tasks, and software design shrinks to initialization and target parameter setting. The TMC6100 optimally complements a TMC467x family controller. The TMC6100-EVAL is part of TRINAMICs universal evaluation board system which provides a convenient handling of the hardware as well as a user -friendly software tool for evaluation. The TMC6100 evaluation board system consists of three parts: LANDUNGSBRÜCKE (base board) , ESELSBRÜCKE (connector board including several test points) , and TMC 6100-EVAL, plus a TMC4671-EVAL FOC controller.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 3 www.trinamic.com Table of Contents

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 4 www.trinamic.com

1 Principles of Operation

The TMC 6100 is a MOSFET gate driver for three phase PMSM and BLDC motors. Ideally suited for applications in the range of 12V to 48V, it supports motor power ratings from 1 Watt to 1kW. It complements with TRINAMICs TMC467x & TMC867x families of three phase motor controll er ICs. Internal break -before-make timing is provided for the ease -of-use in combination with simple microcontrollers for PWM generation. A complete set of protection and diagnostic functions makes the power stage more rugged than a discrete setup. THE TMC6100 OFFERS TWO BASIC MODES OF OPERATION: MODE 1: Stand-alone driver with pin configuration Enable this mode by tying low pin SPE. The interface pins allow a number of different settings for BBM generation. MODE 2: SPI controlled This mode allows detailed control over the protection, diagnostic and control features, e.g. for tuning overcurrent detection. Enable this mode by tying high pin SPE. VCC_IO TMC6100 Configuration interface CSN / IDRV0 SCK / IDRV1 SDO / SINGLE SDI Diagnostics (Short circuit, Temperature) 5V Regulator Charge Pump 22n 100V 100n 16V FAULT +VM 5VOUT VSA 2.2µ+VIO DRV_EN GNDA DIE PAD 3.3V or 5V I/O voltage 100n 100n

3 Phase

B.Dwersteg, © TRINAMIC 2014 LS LSU HSU U HS CU CB +VM CPI CPO VCP VS Gate Voltage Regulator12VOUT 4.7µ 470n pd pd 0: xH/xL individual gate control 1: xH=Polarity, xL=Enable control WL WH VL VH UL UH pd pd pd pd pd N S 12VOUT IT VCP LS LSV HSV V HS CV CB 12VOUT VCP LS LSW HSW W HS CW CB 12VOUT VCP ITIT 24MHz Oscillator OTP memory CLK_IN Chopper Control dual line LS+HS, or single line (HS=polarity, LS=enable) +VIO Diagnostic Output Driver Strength [IDRV1 IDRV0]: RS External Sense amplifier RS External Sense amplifier Figure 1.1 Standalone application

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 5 www.trinamic.com VCC_IO TMC6100 Configuration interface CSN / IDRV0 SCK / IDRV1 SDO / SINGLE SDI Diagnostics (Short circuit, Temperature) 5V Regulator Charge Pump 22n 100V 100n 16V FAULT +VM 5VOUT VSA 2.2µ+VIO DRV_EN GNDA DIE PAD 3.3V or 5V I/O voltage 100n 100n B.Dwersteg, © TRINAMIC 2014 LS LSU HSU U HS CU CB +VM CPI CPO VCP VS Gate Voltage Regulator12VOUT 4.7µ 470n pd pd 0: xH/xL individual gate control 1: xH=Polarity, xL=Enable control WL WH VL VH UL UH pd pd pd pd pd N S 12VOUT IT VCP LS LSV HSV V HS CV CB 12VOUT VCP LS LSW HSW W HS CW CB 12VOUT VCP ITIT 24MHz Oscillator OTP memory CLK_IN Chopper Control dual line LS+HS, or single line (HS=polarity, LS=enable) +VIO Diagnostic Output Driver Strength [IDRV1 IDRV0]: RS R1 R2 5VOUT Use LMV641 or similar Amplification=1+R2/R1 Figure 1.2 Standalone application using single shunt current sensing VCC_IO TMC6100 SPI interface CSN / IDRV0 SCK / IDRV1 SDO / SINGLE SDI Diagnostics (Short circuit, Temperature) 5V Regulator Charge Pump 22n 100V 100n 16V FAULT +VM 5VOUT VSA 2.2µ+VIO DRV_EN GNDA DIE PAD 3.3V or 5V I/O voltage 100n 100n B.Dwersteg, © TRINAMIC 2014 LS USENSE LSU HSU U HS CU CB +VM CPI CPO VCP VS Gate Voltage Regulator12VOUT 4.7µ 470n pd pdWL WH VL VH UL UH pd pd pd pd pd N S 12VOUT IT VCP LS LSV HSV V HS CV CB 12VOUT VCP LS LSW HSW W HS CW CB 12VOUT VCP ITIT IW 24MHz Oscillator OTP memory CLK_IN VOFS +VIO SPI Enable Chopper Control dual line LS+HS, or single line (HS=polarity, LS=enable) RS External Sense amplifier RS External Sense amplifier Figure 1.3 SPI mode configuration

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 6 www.trinamic.com

1.1 Control Interfaces

The TMC6100 supports six control lines for the MOSFET drivers . High-side and low-side outputs can be individually controlled, or by an individual enable pin plus polarity pin, using internal BBM circuitry . An SPI interface or standalone configuration is supported.

1.1.1 Standalone Configuration

Standalone configuration covers the most important settings like driver current and current amplifier amplification factor and the selection of internal or external BBM operation using four pins. Additional settings like BBM time and sensitivity of short detection can be modified using pre -programming via OTP memory, e.g. via an initial programming during product testing. This way, the driver can be fully operated and all protection mechanisms are in place. The fault output signals any critical driver error. It becomes cleared by disabling / re-enabling the driver. However, no advanced debugging is possible, like individual testing of failure mechanisms or setting a more sensitive temperature threshold. Hint Standalone configuration is recommended for low -cost applications with small motors (e.g. motor current up to 10A RMS), where advanced debugging is not required or not possible. In case a sensitive overtemperature threshold must be set, the SPI interface should be used.

1.1.2 SPI Interface

The SPI interface is a bit -serial interface synchronous to a bus clock. For every bit sent from the bus master to the bus slave another bit is sent si multaneously from the slave to the master. Communication between an SPI master and the TMC 6100 slave always consists of sending one 40 -bit command word and receiving one 40-bit status word. The SPI command rate typically is a few commands for initialization or for diagnostic feedback. Attention When operating in SPI mode, set drive mode (single line or individual control signals) first. For safety reasons, the driver starts up in single line mode. Note, that t his setting will prevent operation if a controller operates the IC using individual control signals. Therefore, initialize the control mode first.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 7 www.trinamic.com

2 Pin Assignments

2.1 Package Outline

DRV_EN WH UH VCC_IO SDO_SINGLE SDI SCK_IDRV1 FAULT GNDA VSA VH 5VOUT PAD = GNDP, GNDD9 VL CLK SPE TMC6100-LA QFN7x7 UL HSW U CV HSV V W HSU LSV LSW 12VOUT LSU VCP VS CPI TEST WL CPO CU CW Bernhard Dwersteg, TRINAMIC 10CSN_IDRV0 Figure 2.1 TMC6100-LA pinning QFN 37 special (7x7mm²)

2.2 Signal Descriptions

CU 1 Bootstrap capacitor positive connection. Tie to U terminal using 470nF to 1µF, 16V or 25V ceramic capacitor. - 2 N.C. Unused pin (may be tied to GND) LSW 3 Low side gate driver output. LSV 4 Low side gate driver output. LSU 5 Low side gate driver output.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 8 www.trinamic.com Pin QFN Type Function 12VOUT 6 Output of internal 11.5V gate voltage regulator and supply pin of low side gate drivers. Attach 2.2µF to 22µF ceramic capacitor to GND plane near to pin for best performance. Use at least 5-10 times more capacity than for bootstrap capacitors. In case an e xternal gate voltage supply is available, tie VSA and 12VOUT to the external supply. 5VOUT 7 Output of internal 5V regulator. Attach 2.2µF to 10µF ceramic capacitor to GNDA near to pin for best performance. GNDA 8 Analog GND. Connect to GND plane near pin. TEST 9 AI leave open CSN_IDRV0 10 DI SPI chip select input (negative active) (SPE=1) or Configuration input for gate driver current LSB (SPE=0) SCK_IDRV1 11 DI SPI serial clock input (SPE=1) or Configuration input for gate driver current MSB (SPE=0) SDI 12 DI SPI data input SDO_SINGLE 13 DIO SPI data output (tristate) (SPE=1) or Configuration input for internal bridge control mode (0: dual line, 1: xH=phase polarity, xL=phase enable) (SPE=0) UH 14 DI (pd) High side control input (or bridge polarity in single mode) UL 15 DI (pd) Low side control input (or bridge enable in single mode) VCC_IO 16 3.3V to 5V IO supply voltage for all digital pins. VH 17 DI (pd) High side control input (or bridge polarity in single mode) VL 18 DI (pd) Low side control input (or bridge enable in single mode) WH 19 DI (pd) High side control input (or bridge polarity in single mode) WL 20 DI (pd) Low side control input (or bridge enable in single mode) CLK 21 DI CLK input. Tie to GND using short wire for internal clock or supply external clock. Internal clock -fail over circuit protects against loss of external clock signal. SPE 22 DI (pd) Mode selection input. When tied low, the chip is in standalone mode and SPI pins have their configuration pin functions. When tied high, the SPI interface is enabled. Integrated pull down resistor. FAULT 23 DO Diagnostics output. High upon driver error condition. Clear by cycling EN. DRV_EN 24 DI Positive active enable input. The power stage becomes switched off (all motor outputs floating) when this pin becomes driven to a low level. Cycle low to clear FAULT. VSA 25 Analog supply voltage for 11.5V and 5V regulator. Normally tied to VS. Provide a 100nF filtering capacitor to GND. CPO 26 Charge pump capacitor output. CPI 27 Charge pump capacitor input. Tie to CPO using 22nF 100V capacitor. In case ringing of the power supply leads to considerable supply ripple, add a 10-22Ohm series resistor. VS 28 Motor supply voltage. Provide filtering capacity near pin with short loop to GND plane. Must be tied to the positive bridge supply voltage. Severe ringing must be avoided. VCP 29 Charge pump voltage. Tie to VS using 100nF capacitor.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 9 www.trinamic.com Pin QFN Type Function CW 30 Bootstrap capacitor positive connection. Tie to W terminal using 470nF to 1µF, 16V or 25V ceramic capacitor. HSW 31 High side gate driver output. W 32 Bridge center and bootstrap capacitor negative connection. Connect to source pin of HS-MOSFET. V 33 Bridge center and bootstrap capacitor negative connection. Connect to source pin of HS-MOSFET. HSV 34 High side gate driver output. CV 35 Bootstrap capacitor positive connection. Tie to V terminal using 470nF to 1µF, 16V or 25V ceramic capacitor. U 36 Bridge center and bootstrap capacitor negative connection. Connect to source pin of HS-MOSFET. HSU 37 High side gate driver output. Exposed die pad - Connect the exposed die pad to a GND plane. Provide as many as possible vias for heat transfer to GND plane. Serves as GND pin for the low side gate drivers and for digital logic . Ensure low loop inductivity to bridge GND. *(pd) denominates a pin with pulldown resistor

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 10 www.trinamic.com

3 Sample Circuits

The following sample circuits show the required external components in different operation and supply modes. The connection of the external current amplifier, bus interface and further digital signals are left out for clarity.

3.1 Standard Application Circuit

VCC_IO TMC6100 SPI interface CSN / IDRV0 SCK / IDRV1 SDO / SINGLE SDI Diagnostics (Short circuit, Temperature) 5V Regulator Charge Pump 22n 100V 100n 16V FAULT +VM 5VOUT VSA 2.2µ+VIO DRV_EN GNDA DIE PAD 3.3V or 5V I/O voltage 100n 100n type resistors! SPE Driver Enable (positive active) B.Dwersteg, © TRINAMIC 2014 LS LSU HSU U HS CU CB +VM GND: Stand alone, VIO: SPI interface mode CPI CPO VCP VS Gate Voltage Regulator12VOUT 4.7µ Bootstrap capacitors CB: For MOSFETs with QG<40nC: min. 470nF, 16V 1µF for larger QG - use minimum 4.7µF on 12VOUT pin 470n Keep inductivity of the fat interconnections as small as possible to avoid undershoot of U/V/W < -5V! RG RG Optional slope control resistors RG: In case of MOSFETs <20nC, adapt to MOSFET to yield slopes of roughly 50ns. Slope must be slower than bulk diode recovery time. 1Ohm to 2.2Ohm recommended for larger MOSFETs. May be left away with compact, low inducivity routing of power stage. +VIO pd pd +VIO Driver Strength [IDRV1 IDRV0]: Settings in Standalone mode (SPE=0) 0: xH/xL individual gate control 1: xH=Polarity, xL=Enable control WL WH VL VH UL UH pd pd pd pd pd N S 12VOUT IT VCP LS LSV HSV V HS CV CB RG RG 12VOUT VCP LS LSW HSW W HS CW CB RG RG 12VOUT VCP ITIT 24MHz Oscillator OTP memory CLK_IN SPI interface (SPE=1) RS External Sense amplifier RS External Sense amplifier Figure 3.1 Standard application circuit The standard application circuit uses a minimum set of additional components. Six MOSFETs are selected for the desired current, voltage and package type. Two or three sense resistors are matched to the maximum motor coil current , and to the desired external current amplifier output swing and amplification setting. Use low ESR capacitors for filtering the power supply. A minimum capacity of 100µF per ampere of coil current near to the power bridge is recommended for keeping power supply ripple low. The capacitors need to cope with the current ripple cause d by chopper operation. Current ripple in the supply capacitors also depends on the power supply internal resistance and cable length. Supply VCC_IO from 5VOUT, or from an external source, e.g. a 3.3V re gulator. In order to minimize linear voltage regulator power dissipation of the internal 5V and 11.5V voltage regulator s in applications where VM is high, a different (lower) supply voltage should be used for VSA , when available (see chapter 3.2). Important layout hints Place all filter capacitors as close as possible to the power MOSFETs. Place the TMC 6100 near to the MOSFETs and use short interconnection lines in order to minimize parasitic trace induct ance. Use a solid common GND for all GND and GNDA connections. Connect 5VOUT filtering capacitor directly to 5VOUT and GNDA pin. See layout hints for more details. Low ESR electrolytic capacitors are recommended for VS filtering.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 11 www.trinamic.com Attention In case VSA is supplied by a different voltage source, make sur e that VSA does not drop out during motor operation. The motor driver should be disabled in case VSA becomes switched off before VS. Hard switching edges on VSA might result in bridge cross -conduction otherwise. It is safest to derive VSA voltage from VS supply. VS power slope also should be limited to 0.5V/µs or less. Attention Make sure, that VCC_IO does not drop out during operation of the motor. Disable the drive when a falling supply voltage is detected. It is safest to use the same source for VCC_IO as for the controller driving the motor. Hint VCC_IO undervoltage detection disable s the MOSFET drivers. This will avoid motor overcurrent due to instable input levels during power -up / power -down for most cases. However, it is best practice to disable the motor prior to switching off power supply, and to make sure, that the motor power supply does come up without or not remain with missing VCC_IO supply.

3.2 External Gate Voltage Regulator

At high supply voltages like 48V , the internal gate voltage regulator and the internal 5V regulator have considerable power dissipation , especially with high MOSFET gate charges or high chopper frequency. A good thermal coupling of the heat slug to the system PCB GND plane is required to dissipate heat. Still, the thermal thresholds will be lowered significantly by self -heating. To reduce power dissipation, supply a n external gate driver voltage to the TMC 6100. Figure 3.2 shows the required connection. The internal gate voltage regulator becomes disabled in this constellation. 12V +/-1V is recommended for best results. 12V Gate Voltage Supply 5V Regulator +VG 5VOUT VSA 2.2µ 100n Gate Voltage Regulator12VOUT Figure 3.2 External gate voltage supply Hint With MOSFETs above 50nC of total gate charge or chopper frequency >40kHz, it is recommended to use a VSA supply not higher than 40V in order to keep reasonable power dissipation.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 12 www.trinamic.com

3.3 Zero Standby Current

Battery powered applications often require low current standby, while keeping the supply switched on. The TMC6100 can support these applications by completely powering down the control side, VSA, and with this also the charge pump and 5V supply. See Figure 3.3 for an example using a P -MOSFET as high-side switch. Gate charge / discharge is limited to avoid too st eep slopes and excess current. VCC_IO may remain active during standby operation. Make sure that the motor becomes disabled before switching off the power supply! 5V Regulator Gate Voltage Regulator 5VOUT NSTANDBY 0V=standby 3-5V for operation 2.2µ 100n 12VOUT 4.7µ +VM BC546 100n22k 10k BSS84 VSA Figure 3.3 Standby Switch Hint Realize zero standby current by switching off VSA in standby mode . VCC_IO may remain active. Ensure a slope-controlled power-up of 1V/µs or less to avoid excess current into VSA. Attention Test your circuit thoroughly in order to ensure a safe and clean power -up and standby power-up and power-down event! When powering down the control side of the MOSFET drivers, MOSFET gate -off is only ensured by high -resistive resistors within the TMC6 100. This makes the circuit more susceptible to injection of charge from MOSFET drain to gate , e.g. to high supply voltage slopes . Any spurious cross-conduction could lead to destructive currents through the power MOSFETs.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 13 www.trinamic.com

3.4 MOSFETs and Slope Control

The selection of power MOSFETs depend s on a number of factors , like package size, on-resistance, voltage rating and supplier. It is not true, that larger, lower RDSon MOSFETs will always be better, as a larger device also has higher capacitances and may add more ringing in trace inductance and power dissipation in the gate drive circuitry. Adapt the MOSFETs to the required motor voltage (adding 5-10V of reserve to the peak supply voltage) and to the desired maximum current, in a way that resistive power dissipation still is low for the chosen MOSFET package. The TMC6100 drives the MOSFET gates with roughly 10V, so normal, 10V specified types are sufficient. Logic level FETs (4.5V specified RDSon) will also work but may be more critical with regard to bridge cross-conduction due to lower VGS(th). The gate -drive current and MOSFET gate resistors R G (optional) should basically be adapted to the MOSFET gate-drain charge (Miller charge ) in order to yield reasonable slope times . Figure 3.4 shows the influence of the Miller charge on the switching event . Figure 3.5 additionally shows the switching events in different load situations (load pulling the output up or down), and the re quired bridge brake-before-make time. The following table shall serve as a thumb rule for programming the MOSFET driver current (DRVSTRENGTH setting) and the selection of gate resistors: MOSFET MILLER CHARGE VS. DRVSTRENGTH AND RG Miller Charge [nC] (typ.) DRVSTRENGTH setting Value of RG [Ω] <10 0 or 1 ≤ 10 (recommended) 10…20 0 to 2 ≤ 5 (optional) 20…80 1 to 3 ≤ 2.5 (optional) >80 3 ≤ 1 (optional) The TMC6100 provides increased gate -off drive current to avoid bridge cross-conduction induced by high dV/dt. This protection will be less efficient with gate resistors exceeding the values given in the table. For larger values of R G, a parallel diode may be required to ensure keeping the MOSFET safely off during switching events of the opposite MOSFET. MOSFET gate charge vs. switching event QG – Total gate charge (nC) VGS – Gate to source voltage (V) 0 5 10 15 20 25 VDS – Drain to source voltage (V) VM QMILLER Figure 3.4 Miller charge determines switching slope Hints - Choose modern MOSFETs with fast and soft recovery bulk diode and low reverse recovery charge. - A small, SMD MOSFET package allows compacter routing and reduces parasitic inductance effects.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 14 www.trinamic.com MOSFET drivers Lx BMx Hx V12VOUT VVM VVM+V12VOUT VVM Load pulling BMx down Load pulling BMx up tBBM tBBM Miller plateau Hx- BMx 0V VCX-VBMx Miller plateau Effective break-before-make time -1.2V Output slope Output slope tBBM Figure 3.5 Slopes, Miller plateau and blank time (BMx=U V or W output) The following DRV_CONF parameters allow adapting the driver to the MOSFET bridge: Parameter Description Setting Comment BBMCLKS Break-before-make time setting to ensure non- overlapping switching of high -side and low -side MOSFETs. Digital BBM time in clock cycles (typ. 42ns/CLK). BBMCLKS is used in combination with singleline=1. It is not applicable with individual LS and HS signals. Additionally, a minimum BBM time of 75ns is enforced by analog circuitry even with individual control signals. This prevents short -circuiting of the bridge 0…15 time[ns] 42ns*BBMCLKS Ensure ~30% headroom Reset Default: OTP 1..4 4, when not programmed DRV_ STRENGTH Selection of gate driver current. Adapts the gate driver current to the gate charge of the external MOSFETs. 0…3 Reset Default = 2 in SPI mode DRV_CONF Parameters Use the lowest gate driver strength setting DRV_STRENGTH giving favorable switching slopes, before increasing the value of the gate series resistors. A slope time of nominal 40ns to 80ns is absolutely sufficient and will normally be covered by a Break-Before-Make time setting of 1 to 4 (4 is default). In case slower slopes have to be used, e.g. with large MOSFETs, ensure that the break-before-make time sufficiently covers the switching event, in order to avoid bridge cross conduction. The shortest break-before-make time, safely covering the switching event, gives best results. Add roughly 30% of reserve, to cover production stray of MOSFETs and driver.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 15 www.trinamic.com

3.5 Tuning the MOSFET Bridge

A clean switching event is favorable to ensure low power dissipation and good EMC behavior. Unsuitable layout or components endanger stable operation of the circuit. Therefore, it is important to understand the effect of parasitic trace inductivity and MOSFET reverse recovery. Stray inductance in power routing will cause ringing whenever the opposite MOSFET is in diode conduction prior to switching on a low -side or high -side MOSFET. Diode conduction occur s during break-before make time when ever the load current is inverse to the following bridge polarity. The MOSFET bulk diode has a certain, type specific reverse recovery time and charge. This time typically is in the range of a few 10ns. During reverse recovery time, the bulk diode will cause high current flow across the bridge. This current is taken from the power supply filter capacitors (see thick lines Figure 3.6). Once the diode opens , parasitic inductance tries to keep the current flowing. A high, fast slope results and leads to ringing in all parasitic inducti vities (see Figure 3.7). This may lead to bridge voltage undershooting the GND level as well as fast pulses on VS and all MOSFET connections . It must be ensured, that the driver IC does not see spikes on its BM pins to GND going below -5V. Severe VS ripple might overload the charge -pump circuitry. Measure the voltage directly at the driver pins to driver GND. The amount of under shooting depends on energy stored in parasitic inductivities from low side drain to low side source and via the sense resistor RS to GND. When using relatively small MOSFETs, a soft slope control requires a high gate series resistance. This endangers safe MOSFET switch off. Add additional diodes to ensure safe MOSFET off conditions with slow switch-on slopes (Figure 3.10). GNDA DIE PAD LS LSV HSV V HS CV CB +VM RG: Reduce slope and protect the driver against ringing in the interconnections between MOSFET and driver 4.7µF RG RG Coil out RG Decide use and value of the additional components based on measurements of the actual circuit using the final layout! 1n, 100V 470pF to a few nF output capacitors close to bridge and / or output reduce ringing and improve EMC Additional 1A type Schottky Diodes (selected for full VM range) in combination with RG to 1 Ohm) eliminate undershooting of BM. RS LOW- ESR Place filtering capacitors near to the bridge to avoid severe overshooting and ringing. Use sufficient capacitance with regard to motor current. VS 220nF 1R Optional RC filter against VS ringing Figure 3.6 Bridge protection options for power routing inductivity

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 17 www.trinamic.com BRIDGE OPTIMIZATION EXAMPLE A driver for 15A, 60V has been designed using the MOSFET BSC037N08NS (3.7mΩ, 80V, QG=56nC, tRR=41ns) in the standard schematic. The MOSFETs offer roughly 20ns slope time at the lowest driver strength setting. Switching quality is good and signals are clean (Figure 3.7, ff. ). At double drive strength, the slope time halves, and switching events still are clean . When increasing to full gate drive strength faster slopes lead to increased ringing on all signals. Low or medium slope setting is best. Additional gate resistors or 1nF output capacitors do not bring any additional improvement. The layout already proves to be good. No additional components were required! GNDA DIE PAD LS LSV HSV V HS CV CB +VM 4.7µF RG RG Coil out Additional 1A type Schottky Diodes (20V type sufficient) in combination with high resistance gate resistors >10Ohm RS LOW- ESR VS 220nF Figure 3.10 Diodes for safe off condition with high gate series resistance BRIDGE LAYOUT CONSIDERATIONS - Tune the bridge layout for minimum loop inductivity. A compact layout is best. - Keep MOSFET gate connections short and straight and avoid loop inductivity be tween bridge feedback (U,V,W) and corresponding HS driver pin. Loop inductance is minimized with parallel traces, or adjacent traces on adjacent layers. A wider trace reduces inductivity (don’t use minimum trace width). - Place the TMC6100 near the low side MOSFETs GND connections, with its GND connections directly connected to the same GND plane. - Optimize switching behavior by using lowest acceptable gate current setting. - Check influence of optional components shown in Figure 3.6. - Measure the performance of the bridge by probing BM pins directly at the bridge or at the TMC6100 using a short GND tip on the scope probe rather than a GND cable, if available.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 18 www.trinamic.com

4 SPI Interface

4.1 SPI Datagram Structure

The TMC6100 uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are typically able to communicate using integer multiples of 8 bit. The N CS line of the device must be handled in a way, that it stays active (low) for the complete duration of the datagram transmission. Each datagram sent to the device is composed of an address byte followed by four data bytes. This allows direct 32 bit data word communication with the register set . Each register is accessed via 32 data bits even if it uses less than 32 data bits. For simplification, each register is specified by a one-byte address: - For a read access the most significant bit of the address byte is 0. - For a write access the most significant bit of the address byte is 1. Read and write functionality of the individual registers may differ.

4.1.1 Selection of Write / Read (WRITE_notREAD)

The read and write selection is controlled by the MSB of the address byte (bit 39 of the SPI datagram). This bit is 0 for read access and 1 for write access. So, the bit named W is a WRITE_notREAD control bit. The active high write bit is the MSB of the ad dress byte. So, 0x80 has to be added to the address for a write access. The SPI interface always delivers data back to the master, independent of the W bit. Read data coming back in a write access should be ignored. Read data is transferred back to the master directly in the read access. Internal read access occurs during the transmission in the moment when the address bits have been received. Example: For a read access to the register ( GSTAT) with the address 0x 00, the address byte has to be set to 0x 00. For a write access to the register ( GCONF), the address byte has to be set to 0x80 + 0x01 = 0x81. For read access, the data bits don’t care. So, one can set them to 0. action data sent to TMC6100 data received from TMC6100 read GSTAT → 0x0100000000  AA & GSTAT write GCONF:= 0x00000010 → 0x8000000010  0x01 & unused *)AA: is a placeholder for the address byte used in the previous access SPI DATAGRAM STRUCTURE MSB (transmitted first) 40 bit LSB (transmitted last) → 8 bit address  8 bit SPI status  → 32 bit data → to TMC6100 RW + 7 bit address  from TMC6100 unused 8 bit data 8 bit data 8 bit data 8 bit data 0 9 8 7 6 5 4 3 2 1 0

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 19 www.trinamic.com

4.1.2 Data Alignment

All data are right aligned. Some registers represent unsigned (positive) values, some represent integer values (signed) as two’s complement numbers, single bits or groups of bits are represented as single bits respectively as integer groups.

4.2 SPI Signals

The SPI bus on the TMC6100 has four signals: - SCK – bus clock input - SDI – serial data input - SDO – serial data output - CSN – chip select input (active low) The slave is enabled for an SPI transaction by a low on the chip select input CSN. Bit transfer is synchronous to the bus clock SCK, with the slave latching the data from SDI on the rising edge of SCK and driving data to SDO following the falling edge. The most significant bit is sent first. A minimum of 40 SCK clock cycles is required for a bus transaction with the TMC6100. The TMC6100 does not allow cascading of SPI slaves. Use individual CSN lines for each device. CSN must be low during the whole bus transaction. When CSN goes high, the contents of the internal shift register are latched into the internal control register and recognized as a command from the master to the slave.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 20 www.trinamic.com

4.3 Timing

The SPI interface is synchro nized to the internal system clock, which limits the SPI bus clock SCK to 1/4 of the system clock frequency. If the system clock is based on the on -chip oscillator, an additional 10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.1 shows the timing parameters of an SPI bus transaction, and the table below specifies their values. CSN SCK SDI SDO tCC tCCtCL tCH bit39 bit38 bit0 bit39 bit38 bit0 tDO tZC tDU tDH tCH Figure 4.1 SPI timing Hint Usually this SPI timing is referred to as SPI MODE 3 SPI interface timing AC-Characteristics clock period: tCLK Parameter Symbol Conditions Min Typ Max Unit SCK valid before or after change of CSN tCC 10 ns CSN high time tCSH *) Min time is for synchronous CLK with SCK high one tCH before CSN high only tCLK*) >2tCLK+10 ns SCK low time tCL *) Min time is for synchronous CLK only tCLK*) >tCLK+10 ns SCK high time tCH *) Min time is for synchronous CLK only tCLK*) >tCLK+10 ns SCK frequency using internal clock fSCK assumes minimum OSC frequency 3.5 MHz SCK frequency using external clock fSCK assumes synchronous CLK fCLK/6 MHz SDI setup time before rising edge of SCK tDU 10 ns SDI hold time after rising edge of SCK tDH 10 ns Data out valid time after falling SCK clock edge tDO no capacitive load on SDO tCLK+10 ns SDI, SCK and CSN filter delay time tFILT rising and falling edge 12 20 30 ns

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 21 www.trinamic.com

5 Register Mapping

This chapter gives an overview of the complete register set. Some of the registers bundling a number of single bits are detailed in extra tables. The functional practical application of the settings is detailed in dedicated chapters. Note - All registers become reset to 0 upon power up, unless otherwise noted. - Add 0x80 to the address Addr for a write access! NOTATION OF HEXADECIMAL AND BINARY NUMBERS 0x precedes a hexadecimal number, e.g. 0x04 % precedes a multi-bit binary number, e.g. %100 NOTATION OF R/W FIELD R Read only W Write only R/W Read- and writable register R+WC Clear upon write back with ‘1’ OVERVIEW REGISTER MAPPING REGISTER DESCRIPTION General Configuration Registers These registers contain - global configuration - global status flags - interface configuration - driver configuration - OTP programming

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 22 www.trinamic.com

5.1 General Configuration Registers

GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names RW 0x00 17 GCONF Bit GCONF – Global configuration flags 0 disable: Driver Disable 1: Disable driver (e.g. for Resetting of short condition) 1 singleline: Interface mode (reset default = 1) 0: Individual signals L+H 1: H-Input is control signal, L-Input is Enable 2 faultdirect 0: Fault output active when at least one bridge is shut down continuously due to overcurrent or overtemperature 1: Fault output shows each protective action of the overcurrent shutdown 5:3 unused 6 1: Normal operation - set upon write access for reduced power consumption 7 test_mode 0: Normal operation 1: Enable analog test output on pin DRV_EN. BBM_CLKS[1..0] selects the function of DRV_EN: 0…2: T120, DAC, VDDH Attention: Not for user, set to 0 for normal operation! 31:8 unused WC 0x01 15 GSTAT Bit GSTAT – Global status flags (Re-Write with ‘1’ bit to clear respective flags , or cycle DRV_EN to clear all bits except for reset and drv_otpw) Attention: Switch off t he affected MOSFET by its HS/LS input in order to clear a pending short condition. Just resetting the flag will not switch it on again. 0 reset 1: Indicates that the IC has been reset. All registers have been cleared to reset values. Attention: DRV_EN must be high to allow clearing reset 1 drv_otpw 1: Indicates, that the driver temperature has exceeded overtemperature prewarning -level. No action is taken. This flag is latched. 2 drv_ot 1: Indicates, that the driver has been shut down due to overtemperature . This flag can only be cleared when the temperature is below the limit again. It is latched for information. ORed to STATUS output. 3 uv_cp 1: Indicates an undervoltage on the charge pump. The driver is disabled during undervoltage. This flag is latched for information. ORed to STATUS output. 4 shortdet_u 1: U short counter has triggered at least once. ORed to STATUS output.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 23 www.trinamic.com GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names 5 s2gu 1: Short to GND detected on phase U. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. 6 s2vsu 1: Short to VS detected on phase U. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. 7 - 8 shortdet_v 1: V short counter has triggered at least once. ORed to STATUS output. 9 s2gv 1: Short to GND detected on phase V. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. 10 s2vsv 1: Short to VS detected on phase V. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. 11 - 12 shortdet_w 1: short counter has triggered at least once. ORed to STATUS output. 13 s2gw 1: Short to GND detected on phase W. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. 14 s2vsw 1: Short to VS detected on phase W. The driver becomes disabled until flag becomes cleared. ORed to STATUS output. R 0x04 IOIN Bit INPUT Reads the state of all input pins available 0 UL 1 UH 2 VL 3 VH 4 WL 5 WH

6 DRV_EN

8 OTPW

9 OT136°C

10 OT143°C

11 OT150°C

31.. VERSION: 0x10=first version of the IC Identical numbers mean full digital compatibility. W 0x06 OTP_PROG Bit OTP_PROGRAM – OTP programming Write access programs OTP memory (one bit at a time),

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 24 www.trinamic.com GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names Read access refreshes read data from OTP after a write 2..0 OTPBIT Selection of OTP bit to be programmed to the selected byte location (n=0..7: programs bit n to a logic 1) 5..4 OTPBYTE Set to 00 15..8 OTPMAGIC Set to 0xbd to enable programming. A programming time of minimum 10ms per bit is recommended (check by reading OTP_READ). R 0x07 OTP_READ Bit OTP_READ (Access to OTP memory result and update) See table 5.1.1! 7..0 OTP0 byte 0 read data RW 0x08 5 FACTORY_ CONF 4..0 FCLKTRIM (Reset default: OTP) 0…31: Lowest to highest clock frequency. Check at charge pump output. The frequency span is not guaranteed, but it is tested, that tuning to 12MHz internal clock is possible. The devices come preset to 12MHz clock frequency by OTP programming. (Reset Default: OTP) RW 0x09 19 SHORT_ CONF Bit SHORT_CONF 3..0 S2VS_LEVEL: Short to VS detector level for lowside FETs. Checks for voltage drop in LS MOSFET and bottom shunt resistor. 1 (highest sensitivity) … 15 (lowest sensitivity) (Reset Default: OTP 6 or 12) 11..8 S2G_LEVEL: Short to GND detector level for highside FETs. Checks for voltage drop on high side MOSFET 2 (highest sensitivity) … 15 (lowest sensitivity) Hint: Use high setting. Tune S2VS level for more sensitive overcurrent detection. (Reset Default: OTP 6 or 12) 17..16 SHORTFILTER: Spike filtering bandwidth for short detection 0 (lowest, 100ns), 1 (1µs), 2 (2µs) 3 (3µs) Hint: Increase value, if erroneous short detection occurs. (Reset Default = %01) 20 shortdelay: Short detection delay 0=750ns: normal, 1=1500ns: high The short detection delay shall cover the bridge switching time. 0 will work for most applications. (Reset Default = 0) 25..24 RETRY: Number of retries for short detection 0: Half bridge disabled after first short detection 1..3: Half bridge re -enabled in next chopper cycles 1 time to 3 times. With retry, the short-counter is decreased once each 256 chopper cycles per coil, unless the upper limit has been reached. (Reset Default = 3)

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 25 www.trinamic.com GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names 28 protect_parallel 0: Only the detected half bridge driver becomes shut down upon final short detection 1: All half bridge drivers become shut down upon final short detection (Reset Default = 1) 29 disable_S2G 0: Short to GND (HS) protection enabled 1: No short to GND protection (Reset Default = 0) 30 disable_S2VS 0: Short to VS (LS) protection enabled 1: No short to VS protection (Reset Default = 0) RW 0x0A 22 DRV_CONF Bit DRV_CONF 4..0 BBMCLKS: 0..15: Digital BBM time in clock cycles (typ. 42ns/CLK). BBMCLKS is used in combination with singleline=1. It is not applicable with individual LS and HS signals. (Reset Default: OTP 1..4) 15:5 unused 17..16 OTSELECT: Selection of over temperature level for bridge disable, switch on after cool down to 120°C / OTPW level. 00: 150°C (default) 01: 143°C 10: 136°C 11: 120°C (not recommended, no hysteresis) Hint: Adapt overtemperature threshold as required to protect the MOSFETs or other components on the PCB. (Reset Default = %00) 19..18 DRVSTRENGTH: Selection of gate driver current. Adapts the gate driver current to the gate charge of the external MOSFETs. 00: weak 01: weak+TC (medium above OTPW level) 10: medium 11: strong Hint: Choose the lowest setting giving slopes <100ns. (Reset Default = %10) 31:20 unused

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 26 www.trinamic.com

5.1.1 OTP_READ – OTP configuration memory

The OTP memory holds power up defaults for certain registers. All OTP memory bits are cleared to 0 by default. Programming only can set bits, clearing bits is not possible. Factory tuning of the clock frequency affects otp0.0 to otp0.4. The state of these bits therefore may differ between individual ICs. 0X05: OTP_READ – OTP MEMORY MAP Bit Name Function Comment 7 otp0.7 otp_BBM Reset default for BBM 0: 4 clocks 1: 1 clocks 2: 2 clocks 3: 3 clocks 6 otp0.6 5 otp0.5 otp_S2_LEVEL Reset default for Short detection Levels: 0: S2G_LEVEL = S2VS_LEVEL = 6 1: S2G_LEVEL = S2VS_LEVEL = 12 4 otp0.4 OTP_FCLKTRIM Reset default for FCLKTRIM 0: lowest frequency setting 31: highest frequency setting Attention: This value is pre-programmed by factory clock trimming to the default clock frequency of 24MHz and differs between individual ICs! It should not be altered. 3 otp0.3 2 otp0.2 1 otp0.1 0 otp0.0

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 27 www.trinamic.com

6 Diagnostics and Protection

The TMC 6100 supplies a complete set of diagnostic and protection capabilities, like short circuit protection and undervoltage detection. See the DRV_STATUS table for details.

6.1 Temperature Sensors

The driver integrates a four-level temperature sensor (120°C pre-warning and selectable 136°C / 143°C / 150°C thermal shutdown) for diagnostics and for protection of the IC and the power MOSFETs and adjacent components against excess heat. Choose the overtemperature level to safely cover e rror conditions like missing heat convection. Heat is mainly generated by the power MOSFETs , and, at increased voltage, by the internal voltage regulator s. For many applications, already the overtemperature pre-warning will indicate an abnormal operation situation and can be used to initiate user warning or power reduction measures like motor current reduction. The thermal shutdown is just an emergency measure and temperature rising to the shutdown level should be prevented by design. After triggering the overtemperature sensor (ot flag), the driver remains switched off until the system temperature falls below the pre -warning level ( otpw) to avoid continuous heating to the shutdown level.

6.2 Short Protection

The TMC 6100 protects the MOSFET power stages against a short circuit or overload condition by monitoring the voltage drop in the high-side MOSFETs, as well as the voltage drop in the low-side MOSFETs (Figure 6.1). A programmable short detection delay (shortdelay) allows adjusting the detector to work with very slow switching slopes. Additionally, the short detector allows filtering of the signal. This helps to prevent spurious triggering caused by effects of PCB layout, or long, adjacent motor cables (SHORTFILTER). All control bits are available via register SHORT_CONF. Additionally, the short detection is protected against single events, e.g. caused by ESD discharges, by retrying up to three times before switching off the motor continuously (program in SHORT_CONF.RETRY). Parameter Description Setting Comment S2VS_LEVEL Short or overcurrent detector level for lowside FETs. Checks for voltage drop in LS MOSFET and optional bottom shunt sense resistor. Hint: May be tuned for sensitive detection. 4…15 1 (highest sensitivity) … 15 (lowest sensitivity) (Reset Default: OTP 6 / 12) S2G_LEVEL Short to GND detector level for highside FETs. Checks for voltage drop on high side MOSFET . Hint: Use high setting to avoid false detection. 2…15 2 (highest sensitivity) … 15 (lowest sensitivity) (Reset Default: OTP 6 / 12) SHORT_ FILTER Spike filtering bandwidth for short detection Hint: Increase value, if erroneous short detection occurs. 0…3 0 (lowest, 100ns), 1 (1µs) (Reset Default), 2 (2µs), 3 (3µs) RETRY Number of retries after short detection until permanent brigde shutdown 0…3 (Reset Default = 3) shortdelay shortdelay: Short detection delay The delay shall cover the bridge switching time. 0/1 0=750ns: normal, 1=1500ns: high disable_S2VS 1: Disable short to VS protection. 0/1 Leave detection enabled for normal use (0). disable_S2G 1: Disable short to GND protection. 0/1 Leave detection enabled for normal use (0). protectparallel 0: Individual half bridge protection 1: Disable all bridges upon single half bridge short condition 0/1 (Reset Default = 1)

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 28 www.trinamic.com LS short detection (S2VS) No-short area HS short detection (S2G) No-short area BMx (coil output voltage) Internal high-side driver enable VS-VBM S2G level VS tSD detection activeShort to GND monitor phase Internal Error Flag tSD Short detectedshort delay short delayinactive Short to GND detected Driver disable Output floating S2VS level VBM Short to VS monitor phase short delayinactive detection active inactive inactive tSD Internal low-side driver enable 0 Figure 6.1 Short detection (U, V or W output) As the low-side short detection includes a bottom shunt sense resistor (if applied), it can be set to a high sensitivity and provides good precision of current detection. This way, it will safely cover most overcurrent conditions, i.e. when the motor stalls, or is abruptly stopped in stealthChop mode. Once a short condition is safely d etected, the corresponding driver bridge ( U, V or W ) becomes switched off, and the corresponding s2gu, s2gv or s2gw flag, respectively s2vsu, s2vsv or s2vsw becomes set. Optionally, the complete bridge becomes switched off (set protect_parallel). To restart the motor, disable and re-enable the driver. Attention: Short protection cannot protect the system and the power stages for all possible short events, as a short event is rather undefined and a complex network of external components may be involved. Therefore, short circuits should basically be avoided. Hint Fine tune low -side short detection threshold, in order to provide a sensitive overcurrent protection, e.g. to protect motor and power stage. The reproducibility mainly depends on production stray of the MOSFETs and is typically within + -30%. To see any overcurrent pulse at the FAULT output, set flag short_direct. Set a high value for high -side short protection, because detection is more subject to stray and inductive voltage drop on interconnections.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 29 www.trinamic.com

7 External Reset

The chip is loaded with default values during power on via its internal power -on reset. In order to reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry (VSA, +5VOUT or VCC_IO) must be cycled. As +5VOUT is the output of the internal voltage regulator, it cannot be cycled via an external sourc e except by cycling VSA. It is easiest and safest to cycle VCC_IO in order to completely reset the chip . Also, current consumed from VCC_IO is low and therefore it has simple driving requirements. Due to the input protection diodes not allowing the digital inputs to rise above VCC_IO level, all inputs must be driven low during this reset operation. When this is not possible, an input protection resistor may be used to limit current flowing into the related inputs.

8 Clock Oscillator and Input

The clock is th e timing reference for the internal BBM time generator and is used to operate the SPI interface. The factory-trimmed on-chip clock oscillator provides timing which is sufficient for most use cases.

8.1 Using the Internal Clock

Directly tie the CLK input to GN D near to the IC if the internal clock oscillator is to be used. It provides a precision of roughly +-4%, which is precise enough for BBM operation.

8.2 Using an External Clock

When an external clock is available, a frequency of 4 MHz to 13.4 MHz is possible (max. 16MHz with 50% dutycycle). Especially with low clock frequency, make sure, that the SPI timing is kept in order to ensure proper SPI operation. Make sure, that the clock source supplies clean CMOS output logic levels and steep slopes when using a high clock frequency. The external clock input is enabled with the second positive polarity seen on the CLK input. Attention Switching off the external clock frequency prevents the driver from operating normally. Therefore , an internal watchdog switches back to internal clock in case the external signal is missing for more than roughly 32 internal clock cycles.

8.2.1 Considerations on the Frequency

A higher frequency allows more precise BBM timing and faster SPI operation. A lower frequency will reduce power consumption of the IC, which especially at high VSA supply voltages reduces overall power consumption by a few 100mW. However, the internal timing should be sufficient for most applications. Take into account, that the input s ignals are synchronized to the clock, in case internal BBM generation becomes used.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 30 www.trinamic.com

9 Absolute Maximum Ratings

The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for exte nded periods shall be avoided by application design. Parameter Symbol Min Max Unit Supply voltage operating with inductive load VVS, VVSA -0.5 65 V Supply and bridge voltage short time peak (limited by peak voltage on charge pump output and Cxx pins*) VVSMAX 70 V VSA supply voltage VVSAMAX -0.5 65 V Peak voltages on Cxx bootstrap pins and VCP VCxCP 85 V Supply voltage V12 V12VOUT -0.5 15 V Peak voltages on U/V/W pins (due to stray inductivity) VX -6 VVS+6 V Peak voltages on Cxx bootstrap pins relative to BM VCxx -0.5 16 V I/O supply voltage VVIO -0.5 5.5 V Supply voltage (5VOUT) V5VOUT -0.5 5.5 V Logic input voltage VI -0.5 VVIO+0.5 V Maximum current to / from digital pins and low voltage I/Os (short time peak current) IIO +/-500 mA 5V regulator output current (internal plus external load) I5VOUT 30 mA 5V regulator continuous power dissipation (VVSA-5V) * I5VOUT P5VOUT 1 W 12V regulator output current (internal plus external load) I12VOUT 20 mA 12V regulator continuous power dissipation (VVM-5V) * I5VOUT P12VOUT 0.5 W Junction temperature TJ -50 150 °C Storage temperature TSTG -55 150 °C ESD-Protection for interface pins (Human body model, HBM) VESDAP 4 kV ESD-Protection for handling (Human body model, HBM) VESD 1 kV *) Stray inductivity of power routing will lead to ringing of the supply voltage when driving an inductive load. This ringing results from the fast switching slopes of the driver outputs in combination with reverse recovery of the body diodes of the output driver MOSFETs. Even small trace inductivities as well as stray inductivity can easily generate a few volts of ringing leading to temporary voltage overshoot. This should be considered when working near the maximum voltage.

10.1 Operational Range

Parameter Symbol Min Max Unit Junction temperature TJ -40 125 °C Supply voltage for motor and bridge VVS 10 60 V Supply voltage VSA VVSA 10 60 V Supply voltage for VSA and 12OUT (internal gate voltage regulator bridged) V12VOUT, VVSA 10 13 V Lower Supply voltage (reduced spec, short to GND protection not functional ), lower limit depending on MOSFETs gate threshold voltage and load current VVS 8 V I/O supply voltage VVIO 3.00 5.25 V

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 31 www.trinamic.com

10.2 DC and Timing Characteristics

DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typical values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. Power Supply Current DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit Total supply current, driver disabled IVS + IVSA IS internal clock 10 15 mA VSA supply current (VS and VSA separated) IVSA fCLK=24MHz / internal clock, driver disabled GCONF.6=’1’ 7 mA Internal current consumption from 5V supply on VCC pin IVCC 5 mA IO supply current (typ. at 5V) IVIO no load on outputs, inputs at VIO or GND Excludes pullup / pull-down resistors 15 30 µA Motor Driver DC- and Timing-Characteristics VVS = 24.0V; Tj=50°C Parameter Symbol Conditions Min Typ Max Unit RDSON lowside off driver RONL Gate off 1.0 1.6 Ω RDSON highside off driver RONH Gate off 1.3 2.0 Ω Gate drive current low side MOSFET turning on at 2V VGS ISLPON0 DRIVESTRENGTH=0 400 mA ISLPON2 DRIVESTRENGTH=2 800 mA ISLPON3 DRIVESTRENGTH=3 1200 mA Gate drive current high side MOSFET turning on at 2V VGS ISLPON0 DRIVESTRENGTH=0 400 mA ISLPON2 DRIVESTRENGTH=2 800 mA ISLPON3 DRIVESTRENGTH=3 1200 mA Gate drive current low side MOSFET turning off at 4V VGS ISLPOFF0 DRIVESTRENGTH=0 600 mA ISLPOFF2 DRIVESTRENGTH=2 1200 mA ISLPOFF3 DRIVESTRENGTH=3 1800 mA Gate drive current high side MOSFET turning on at 4V VGS ISLPOFF0 DRIVESTRENGTH=0 600 mA ISLPOFF2 DRIVESTRENGTH=2 1200 mA ISLPOFFN3 DRIVESTRENGTH=3 1800 mA Minimum effective BBM time enforced in individual or singleline mode tBBM0 Individual LS and HS signals (singleline=0) 30 50 70 ns Reaction delay time LS/HS input signal change to start of gate driver output change tDLY Individual LS and HS signals (singleline=0) 65 85 110 ns Matching difference of gate driver reaction delay times tDLYMATCH Individual LS and HS signals (singleline=0) 10 ns

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 32 www.trinamic.com Charge Pump DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit Charge pump output voltage VVCP-VVS operating V12VOUT - V12VOUT - V Charge pump voltage threshold for undervoltage detection VVCP-VVS rising, using internal 5V regulator voltage 4.5 5.5 6.5 V Charge pump frequency fCP 1/32 fCLKOSC Linear Regulator DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit Output voltage V5VOUT TJ = 25°C 4.80 5.0 5.20 V Deviation of output voltage over the full temperature range V5VOUT(DEV) drivers disabled TJ = full range +/-5 +/-50 mV Deviation of output voltage over the supply voltage V5VOUT(DEV) drivers disabled, internal clock TA = 25°C VVSA = 10V to 30V +/-20 mV / 10V Output voltage V12VOUT operating, internal clock TJ = 25°C 10.8 11.5 12.2 V Clock Oscillator and Input Timing-Characteristics Parameter Symbol Conditions Min Typ Max Unit Clock oscillator frequency (factory calibrated) fCLKOSC tJ=-50°C 23.4 MHz fCLKOSC tJ=50°C 23 24.0 25 MHz fCLKOSC tJ=150°C 24.2 MHz External clock frequency (operating) fCLK 40%..60% dutycycle for typ. 50% for max. 4 10-13.4 16 MHz External clock high / low level time tCLKH / tCLKL CLK driven to 0.1 VVIO / 0.9 VVIO 10 ns External clock timeout detection in cycles of internal fCLKOSC tCLKH1 CLK driven high 32 48 cycles fCLKOSC

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 33 www.trinamic.com Short Detection DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit Short to GND / Short to VS detector delay (Start of gate switch on to short detected) Including 100ns filtering time tSD0 FILT_ISENSE=0 S2xx_LEVEL=6 shortdelay=0 0.5 0.85 1.1 µs tSD1 shortdelay=1 1.1 1.6 2.2 µs Short detector level S2VS (measurement includes drop in bottom shunt) VBM S2VS_LEVEL=15 1.4 1.56 1.72 V S2VS_LEVEL=6 0.55 0.625 0.70 V Short detector level S2G VS - VBM S2G_LEVEL=15 VS<52V 1.3 1.56 1.85 V S2G_LEVEL=15 VS<60V 1.0 V S2G_LEVEL=6 VS<52V 0.46 0.625 0.85 V S2G_LEVEL=6 VS<60V 0.20 V Detector Levels DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit VVSA undervoltage threshold for RESET VUV_VSA VVSA rising 3.8 4.2 4.6 V V5VOUT undervoltage threshold for RESET VUV_5VOUT V5VOUT rising 3.5 V VVCC_IO undervoltage threshold for RESET VUV_VIO VVCC_IO rising (delay typ. 10µs) 2.0 2.2 3.0 V VVCC_IO undervoltage detector hysteresis VUV_VIOHYST 0.3 V Overtemperature prewarning 120°C TOTPW Temperature rising 100 120 140 °C Overtemperature shutdown 136 °C TOT136 Temperature rising 136 °C Overtemperature shutdown 143 °C TOT143 Temperature rising 143 °C Overtemperature shutdown 150 °C TOT150 Temperature rising 135 150 170 °C

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 34 www.trinamic.com Digital pins DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit Input voltage low level VINLO -0.3 0.3 VVIO V Input voltage high level VINHI 0.7 VVIO VVIO+0.3 V Input Schmitt trigger hysteresis VINHYST 0.12 VVIO V Output voltage low level VOUTLO IOUTLO = 2mA 0.2 V Output voltage high level VOUTHI IOUTHI = -2mA VVIO-0.2 V Input leakage current IILEAK -10 10 µA Pullup / pull-down resistors RPU/RPD 132 166 200 kΩ Digital pin capacitance C 3.5 pF

10.3 Thermal Characteristics

The following table shall give an idea on the thermal resistance of the package. The thermal resistance for a four -layer board will provide a good idea on a typical application. Actual thermal characteristics will depend on the PCB layout, PCB type and PCB size. The thermal resistance will benefit from thicker CU (inner) layers for spreading heat horizontally within the PCB. Also, air flow will reduce thermal resistance. Parameter Symbol Conditions Typ Unit Typical power dissipation PD 20kHz chopper, 24V supply, internal supply regulators <0.5 W Thermal resistance junction to ambient on a multilayer board RTMJA Dual signal and two internal power plane board (2s2p) as defined in JEDEC EIA JESD51-5 and JESD51-7 (FR4, 35µm CU, 70mm x 133mm, d=1.5mm)

21 K/W

Thermal resistance junction to board RTJB PCB temperature measured within 1mm distance to the package leads

8 K/W

Thermal resistance junction to case RTJC Junction temperature to heat slug of package

3 K/W

Table 10.1 Thermal characteristics QFN7x7-EP The thermal resistance in an actual layout can be tested by checking for the heat up caused by the standby power consumption of the chip. When no motor is attached, all power seen on the power supply is dissipated within the chip.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 35 www.trinamic.com

11 Layout Considerations

11.1 Exposed Die Pad

The TMC6100 uses its die attach pad to dissipate heat from the gate drivers and the linear regulator to the board. For best electrical and thermal performance, use a reasonable amount of solid, thermally conducting vias between the die attach pad and the ground plane. The printed circuit boa rd should have a solid ground plane spreading heat into the board and providing for a stable GND reference.

11.2 Wiring GND

All signals of the TMC6100 are referenced to their respective GND. Directly connect all GND pins under the device to a common ground are a (GND, GNDP, GNDA and die attach pad). The GND plane right below the die attach pad should be treated as a virtual star point. For thermal reasons, the PCB top layer shall be connected to a large PCB GND plane spreading heat within the PCB. Attention Place the TMC6100 near to the MOSFET bridge in order to avoid ringing leading to GND differences.

11.3 Wiring Bridge Supply

The power bridge will draw the full coil current in pulses with extremely high dI/dt . Thus, any inductivity between VS supply filtering and the MOSFETs can lead to severe voltage spikes. This has to be avoided. Avoid any bend in the supply traces between filtering capacitors and MOSFET switches, and keep distance as small as possible. Especially for high current, use a separate plane for t he supply voltage, and a sufficient number and capacity for supply filtering. Use an additional capacitor for the IC VS pin, as additional ripple voltage would cause severe current spikes on the charge pump capacitor. A tiny series resistor can be added to avoid this. Attention Keep supply voltage ripple low, by using sufficient filtering capacity close to the MOSFET bridge.

11.4 Supply Filtering

The 5VOUT output voltage ceramic filtering capacitor ( 2.2 to 4.7 µF recommended) should be placed as close as possible to the 5VOUT pin, with its GND return going directly to the GNDA pin . This ground connection shall not be shared with other loads or additional vias to the GND plan e. Use as short and as thick connections as possible. A 100 nF or larger filtering capacitor should be placed as close ly as possible to the VSA pin to ground plane . Provide sufficient filtering capacity near the power bridge MOSFETs, in order to avoid ringing following each switching event. Make sure, that VS does not see excessive voltage spikes caused by bridge operation and place a 100 nF or larger filter capacitor to GND close to the VS pin. Please carefully read chapters 3.4 and 3.5 to understand the special considerations with regard to layout and component selection for the external MOSFET power bridges.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 36 www.trinamic.com

11.5 Layout Example

Schematic extract of TMC6100-EVAL (TMC6100+MOSFETs+Current Sense amplifiers shown) 1- Top Layer (assembly side) 2- Inner Layer (GND)

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 37 www.trinamic.com 3- Inner Layer (supply VS) 4- Bottom Layer Components Figure 11.1 Layout example Please refer www.trinamic.com for complete schematic and layout data of the evaluation board.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 38 www.trinamic.com

12.1 Dimensional Drawings QFN7x7-EP

Attention: Drawings not to scale. Figure 12.1 Dimensional drawings QFN7x7

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 39 www.trinamic.com Parameter Ref Min Nom Max total thickness A 0.8 0.85 0.9 stand off A1 0 0.035 0.05 mold thickness A2 - 0.65 - L/F thickness A3 0.203 REF lead width b 0.2 0.25 0.3 body size X D 7.0 BSC body size Y E 7.0 BSC lead pitch e 0.5 BSC lead pitch (wide) e1 1.0 BSC exposed die pad size X J 3.9 4 4.1 exposed die pad size Y K 3.9 4 4.1 lead length L 0.35 0.4 0.45 package edge tolerance aaa 0.1 mold flatness bbb 0.1 coplanarity ccc 0.08 lead offset ddd 0.1 exposed pad offset eee 0.1

12.2 Package Codes

Code & marking MSL level TMC6100-LA QFN7x7-EP (RoHS) -40°C ... +125°C TMC6100LA MSL 3 / 160h TMC6100-LA-T Tape on reel packed products

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 40 www.trinamic.com

13 Disclaimer

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 from its use. Specifications are subject to change without notice. All trademarks used are property of their respective owners.

14 ESD Sensitive Device

The TMC6100 is an ESD sensitive CMOS device sensitive to electrostatic discharge. Take special care to use adequate grounding of personnel and machines in manual handling. After soldering the devices to the board, ESD requirements are more relaxed. Failure to do so c an result in defect or decreased reliability.

15 Designed for Sustainability

Sustainable growth is one of the most important and urgent challenges today. We at Trinamic try to contribute by designing highly efficient IC products, to minimize energy consumption, ensure best customer experience and long -term satisfaction by smooth an d silent run, while minimizing the demand for external resources, e.g. for power supply, cooling infrastructure, reduced motor size and magnet material by intelligent control interfaces and advanced algorithms. Please help and design efficient and durable products made for a sustainable world.

TMC6100 DATASHEET (Rev. 1.00 / 2019-NOV-14) 41 www.trinamic.com

16 Table of Figures

BD= Bernhard Dwersteg V1.00 2019-NOV-14 BD First version of Datasheet Table 17.1 Document Revisions