TMC 423 Datasheet Serial Triple Incremental Encoder Interface

Transcription

1 TMC43 Data Sheet (V. / March 9 th, 7) / TMC 43 Datasheet Serial Triple Incremental Encoder Interface TCK SDO SDI SCK NSCS SDO48 NSCS48 NINT PRA/IO VCCA NC CLK EXT_RES VCCI TDI ENC_A ENC_B COLUMN_PIN() COLUMN_PIN() COLUMN_PIN() COLUMN_PIN(3) ENC_N ENC_A TMS VCCI VKS () VPP (VCCA) ENC_B ENC_N SW_ROW_PIN() TRINAMIC Motion Control GmbH & Co. KG Sternstrasse 67 D 357 Hamburg GERMANY ENC3_A ENC3_B ENC3_N STEP TRST DIR VCCI STEP TMC43 TQFP- Package SW_ROW_PIN() SW_ROW_PIN() SW_ROW_PIN(3) SW_ROW_PIN(4) SW_ROW_PIN(5) LED_ROW_PIN() VCCI VSV (VCCA) LED_ROW_PIN() LED_ROW_PIN() DIR STEP3 DIR3 LED_ROW_PIN(3) LED_ROW_PIN(4) LED_ROW_PIN(5) TMC43 Main Features The TMC43 is a triple incremental encoder input chip, which interfaces to any SPI TM compatible controller. The TMC43 can especially be used in conjunction with the TMC48 triple stepper motor controller to provide position verification or stabilization using some additional software. It integrates 4 bit counters for each encoder to provide a high position resolution without CPU interaction. Further it allows dynamic resolution adaptation to allow direct comparison of encoder counters with motors using different micro step resolution. All encoder counters can be latched synchronously, or whenever a null channel event occurs, providing a position on strobe holding function. The TMC43 also provides a step / direction output with programmable signal shaping for the TMC48 as an optional function. A multiplexer function is also integrated for the TMC48 reference switches. Furthermore control and drive of a LED and switch matrix is implemented. All functions can also be used in conjunction. Applications Stepper Motor Position Verification Position Maintenance Incremental Encoder Interface Readout Step / Direction conversion for TMC48 systems Control of LED 6 x 4 Matrix and Switch 6 x 4 Matrix Features Supports and 3 channel incremental encoders with a wide range of resolutions Allows step / direction signal extraction from TMC48 output data stream Programmable pulse shaping for step / direction interface 4 bit integrated position resolution Programmable prescaler for Incremental Encoder Interface 4-times evaluation of encoder signals Fast 3 bit SPI TM interface Can share SPI TM interface with TMC48 and supplies separate interrupt output Integrates Reference Switch Multiplexers Package: TQ SDO_D SDI_D SCK_D NSCS_D PRB/IO VCCA NC REF() REF() REF() STOPR() VCCI STOPR() STOPR() STOPL() STOPL() TDO STOPL() Note: SPI is Trademark of Motorola, Inc.

2 TMC43 Data Sheet (V. / March 9 th, 7) / Revision History Version Comment Date Name Initial Version November, Technical Department Corrected Array Switching.4 Frequency January 3, 3 Technical Department.5 First Customer Release January 4, 3 Technical Department.6 Minor corrections March, 3 Technical Department.6 Changes concerning new company TRINAMIC Motion October st, 4 Technical Department Corrected Pinning: Position of.7 CLK pin December, 5 th, 4 Technical Department Corrected Reset input in. diagram, added supply spec March, 5 th, 5 Technical Department Added Application. Environment examples March, 9 th, 7 Technical Department. Added encoder timing Apr, 4 th, 7 Dw

3 TMC43 Data Sheet (V. / March 9 th, 7) 3/ Table of Contents Pinout Pin Description Recommended Operating Conditions Electrical Characteristics... 7 Block Diagram Application Environment Application Description Application with TMC36 Stepper Motor Driver Application with Step / Direction Power Stage Application Examples Application with TMC36 Stepper Motor Driver Application with Step / Direction Power Stage... 4 Dynamic Resolution Adaption... 5 Serial Peripheral Interface (SPI) with 3-bit Register Description and Specification bit SPI Datagram Structure SPI 3-bit Datagram Specification Overview Incremental Encoder Configuration Datagrams Encoder Interface Prescaler and Null Event Configuration Encoder Interface Hold Register Operation Timer Logic Step Pulse Length and Delay Control Register and Interrupt Control Switch Matrix Read LED Matrix Write SPI-Protocol for Interface with 6-bit Register Step and Direction Pulse conversion LED and Switch Matrix...9 Package dimensions...

4 TMC43 Data Sheet (V. / March 9 th, 7) 4/ List of Figures Figure : Pinout TMC43 5 Figure : Block diagram of the TMC43 8 Figure 3: Application Environment 9 Figure 4: Example for Application with TMC36 Stepper Motor Driver Figure 5: Example for Application with Step / Direction Power Stage Figure 6: TMC43 Application Figure 7: Timing diagram of the Serial Interface Figure 8: Structure 3-Bit Interface 3 Figure 9: Overview TMC43 Registers 3 Figure : Encoder Output and Evaluation 4 Figure : Crosstalk on Encoder Wire 4 Figure : Step Direction conversion 8 Figure 3: Connection to the matrix 9 Figure 4: -Pin TQFP Top View Figure 5: -Pin TQFP Side View Figure 6: -Pin TQFP Side View Detail A List of Tables Table : TMC43 Pinout 7 Table : Operating Conditions 7 Table 3: Operating Conditions 7 Table 4: Prescaler factors for different motors and encoders Table 5: Interrupt Flags 3 Table 6: SPI Datagram Prescaler 6 Table 7: SPI Datagram Hold Register 6 Table 8: SPI DatagramTimer logic 7 Table 9: SPI Datagram Control Register 7 Table : Switch Matrix Read 7 Table : LED Matrix Write 7 Table : SPI Datagram Step / Direction Converter 8 Table 3: TMC43 LED Matrix Pins 9 Table 4: TQFP Dimensions

5 TMC43 Data Sheet (V. / March 9 th, 7) 5/ Pinout SDO_D SDI_D SCK_D NSCS_D PRB/IO VCCA NC REF() REF() REF() STOPR() VCCI STOPR() STOPR() STOPL() STOPL() TDO STOPL() TCK SDO SDI SCK NSCS SDO48 NSCS48 NINT PRA/IO VCCA NC CLK EXT_RES VCCI TDI ENC_A ENC_B ENC_N ENC_A TMS VCCI ENC_B ENC_N ENC3_A ENC3_B ENC3_N STEP TRST DIR VCCI STEP DIR STEP3 DIR3 TMC43 TQFP- Package COLUMN_PIN() COLUMN_PIN() COLUMN_PIN() COLUMN_PIN(3) VKS () VPP (VCCA) SW_ROW_PIN() SW_ROW_PIN() SW_ROW_PIN() SW_ROW_PIN(3) SW_ROW_PIN(4) SW_ROW_PIN(5) LED_ROW_PIN() VCCI VSV (VCCA) LED_ROW_PIN() LED_ROW_PIN() LED_ROW_PIN(3) LED_ROW_PIN(4) LED_ROW_PIN(5) Figure : Pinout TMC43

6 TMC43 Data Sheet (V. / March 9 th, 7) 6/. Pin Description Pin Location Dir Description, 9, 36, 5, 68, 69, In Ground 9 ENC_A 3 In Incremental Encoder Interface Channel A ENC_B 4 In Incremental Encoder Interface Channel B ENC_N 5 In Incremental Encoder Interface Channel N (Connect to +5V if not used) ENC_A 6 In Incremental Encoder Interface Channel A ENC_B In Incremental Encoder Interface Channel B ENC_N In Incremental Encoder Interface Channel N (Connect to +5V if not used) ENC3_A In Incremental Encoder Interface 3 Channel A ENC3_B 3 In Incremental Encoder Interface 3 Channel B ENC3_N 4 In Incremental Encoder Interface 3 Channel N (Connect to +5V if not used) TDI Connect to Ground TMS 7 Connect to 5 Volt via Pull-Up Resistor TRST 6 Connect to 5 Volt via Pull-Up Resistor TDO 49 To be left open TCK Connect to Ground VCCI 8,, 44, 58, 8 In Positive Power Supply 5 Volt VCCA 35, 57, 67, 9 In Positive Power Supply.5 Volt 39 In Unused input: Connect to Ground CLK 88 In System Clock 6MHz EXT_RES 87 In External Reset Low Active NC 37, 89 In Connect to Ground PRA / IO 9 To be left open PRB / IO 34 To be left open Step 5 Out Step/Direction Interface Step Output Motor Dir 8 Out Step/Direction Interface Direction Output Motor Step Out Step/Direction Interface Step Output Motor Dir Out Step/Direction Interface Direction Output Motor Step 3 4 Out Step/Direction Interface Step Output Motor 3 Dir 3 5 Out Step/Direction Interface Direction Output Motor 3 SDO_D 6 Out Step / Direction SPI MISO SDI_D 7 In Step / Direction SPI MOSI SCK_D 8 In Step / Direction SPI SCK NSCS_D 9 In Step / Direction SPI NSCS REF 4 Out Reference switch output REF 4 Out Reference switch output REF 4 Out Reference switch output 3 STOPR 43 In Right Stop Switch Motor STOPR 45 In Right Stop Switch Motor STOPR 46 In Right Stop Switch Motor 3 STOPL 47 In Left Stop Switch Motor STOPL 48 In Left Stop Switch Motor STOPL 5 In Left Stop Switch Motor 3 COLUMN_PIN 75 Out Column Drive Pin COLUMN_PIN 74 Out Column Drive Pin COLUMN_PIN 73 Out Column Drive Pin COLUMN_PIN3 7 Out Column Drive Pin 3 SW_ROW_PIN 65 In Switch Matrix Pin SW_ROW_PIN 64 In Switch Matrix Pin SW_ROW_PIN 63 In Switch Matrix Pin SW_ROW_PIN3 6 In Switch Matrix Pin 3

7 TMC43 Data Sheet (V. / March 9 th, 7) 7/ SW_ROW_PIN4 6 In Switch Matrix Pin 4 SW_ROW_PIN5 6 In Switch Matrix Pin 5 LED_ROW_PIN 59 Out LED Matrix Drive Pin LED_ROW_PIN 56 Out LED Matrix Drive Pin LED_ROW_PIN 55 Out LED Matrix Drive Pin LED_ROW_PIN3 54 Out LED Matrix Drive Pin 3 LED_ROW_PIN4 53 Out LED Matrix Drive Pin 4 LED_ROW_PIN5 5 Out LED Matrix Drive Pin 5 SDO 99 Out SPI MISO SDI 98 In SPI MOSI SCK 97 In SPI SCK NSCS 96 In SPI NSCS SDO48 95 In SPI MISO Pin of TMC48 NSCS48 94 In SPI NSCS Pin of TMC48 NINT 93 Out Interrupt Output (low active) Table : TMC43 Pinout Note: Pins which are not marked in Figure : Pinout TMC43 on page 5 must be left open.. Recommended Operating Conditions Parameter Value Unit Clock Frequency () 6 MHz Temperature + 7 C.5 V Power Supply.5.75 V CCA 5. V Power Supply V CCI Table : Operating Conditions slower frequencies are also supported. Please take care about the timing information in this datasheet, since they are based on 6MHz Clock Frequency..3 Electrical Characteristics Parameter Min Max Unit Supply Current.5V ma Supply Current 5.V ma (Output current = ) LED driver current per pin ma Input voltage level Low.8 V Input voltage level High.4 V Encoder input pulse length t CLK Encoder count rate Table 3: Operating Conditions f CLK

8 TMC43 Data Sheet (V. / March 9 th, 7) 8/ Block Diagram LED 5: SW 5: COL 3: EXT RES ENC A ENC B ENC N Prescaler factor bit: /6..4/6 + prescaler+ Matrix Control Power On Reset NSCS ENC A ENC B Encoder signal decoder Encoder Counter 4+4 bit SPI Interface with 3 bit Reg SCK SDI ENC N ENC3 A ENC3 B Flag register *Clear on N event *Hold on N *N polarity Encoder Hold 4 bit Control register *Common Hold command *Interrupt enable M U X SDO SDO 48 NSCS 48 ENC3 N STEP 3 x Encoder Interface INT Logik+ Latch NINT DIR STEP DIR STEP 3 Timer logic SPI Interface with 6 Bit reg Step pulse length 8 bit Step pulse delay after dir change bit NSCS _D SCK _D SDI _D SDO _D DIR3 3 x Step / Direction converter REF MUX CLK VCC STOP R3 STOP R STOP R STOP L3 STOP L STOP L REF3 REF REF Figure : Block diagram of the TMC43

9 TMC43 Data Sheet (V. / March 9 th, 7) 9/ 3 Application Environment TMC43 as Incremental Encoder Interface TMC43 as Step / Direction converter and Incremental Encoder Interface TMC 36 Motor Incremental Encoder Step/ Dir Power Stage Motor Incremental Encoder TMC 36 TMC 36 Motor Motor Incremental Encoder Incremental Encoder Step/ Dir Power Stage Step/ Dir Power Stage Step / Direction Interface for up to three power stages Motor Motor Incremental Encoder Incremental Encoder SPI-Interface TMC 48 SPI-Interface TMC 43 TMC 48 TMC 43 SPI-Interface SPI-Interface µc µc Figure 3: Application Environment 3. Application Description 3.. Application with TMC36 Stepper Motor Driver A complete close-loop motion control system consists of the TMC48 three-axis motion controller, the powerful TMC36 stepper motor driver and the TMC43 Encoder Interface. The system is controlled by an inexpensive microcontroller. The main advantage of the system is that time critical communication to the TMC36 driver is performed by the TMC48. The main purpose of the inexpensive microcontroller is to parameterize the TMC48 and TMC43 and to send motion parameters like maximum speed or target position to the TMC48. Position validation is done by reading the actual position of the TMC48 and the TMC Application with Step / Direction Power Stage Another possibility to built a close loop motion control system is to use the TMC43 as encoder interface and also as a step direction converter. Thereto the TMC43 converts the SPI TM datagrams sent by the TMC48 into parameterizeable step and direction pulses. For parameterizing both the TMC48 and TMC43 have to be connected via SPI TM interface to an inexpensive microcontroller.

10 TMC43 Data Sheet (V. / March 9 th, 7) / 3. Application Examples 3.. Application with TMC36 Stepper Motor Driver This example illustrates the encoder connection and the use of reference switches with the TMC43 and additionally the SPI interface connections between TMC43, TMC48 and a microcontroller. The communication to the drivers (e.g. TMC36) is performed via SPI by the TMC48 motion control chip. +5V Connect to encoders +5V 6MHz k each +5V +.5V > CLKB RESET CLK ENC_A ENC_B ENC_N ENC_A ENC_B ENC_N ENC3_A ENC3_B ENC3_N VCCI - VCCI5 VCCA - VCCA4 TMC43 REF REF REF3 SDI SCK SDO NSCS SDO48 NSCS48 TRST TMS V k 6MHz SS43 SS48 MISO SCK MOSI µc CLK REF REF REF3 TMC48 SDI_C SCK_C SDO_C nscs_c V5 V33 Test SDI_S SCK_S SDO_S nscs_s 47nF SPI to Drivers 6x Reference Switch Inputs (active high) k k SDI_D SCK_D NSCS_D STOPR - STOPR STOPL - STOPL SW_ROW - SW_ROW5 NC NC TCK TDI Notes:. Application without LED and Switch matrix.. If the NSCS48 pin is not in use it has to be tied to +5V. 3. NSCS_D activates the reference switches (inputs STOPRx/STOPLx and outputs REFx). Figure 4: Example for Application with TMC36 Stepper Motor Driver 3.. Application with Step / Direction Power Stage Additionally to the previous example the use of the TMC43 as step/direction converter is shown. The reference switches can be used as above. µc Connect to encoders +5V 6MHz k each +5V +.5V +5V k CLKB RESET CLK ENC_A ENC_B ENC_N ENC_A ENC_B ENC_N ENC3_A ENC3_B ENC3_N VCCI - VCCI5 VCCA - VCCA4 SDI_D SCK_D NSCS_D TRST TMS STOPR - STOPR STOPL - STOPL TMC43 NSCS SDO SCK SDI SDO48 NSCS48 SDI_D SCK_D SDO_D NSCS_D STEP DIR STEP DIR STEP3 DIR3-7 SW_ROW3 - SW_ROW5 NC NC TCK TDI SS43 MISO SS48 SCK MOSI SCK_S SDI_S TMC48 SDO_S nscs_s SDI_C SCK_C SDO_C nscs_c Step/DIR to Drivers V5 CLK V33 Test +5V 6MHz 47nF Notes:. Application without LED/switch matrix and reference switches.. If the NSCS48 pin is not in use, it has to be tied to +5V. Figure 5: Example for Application with Step / Direction Power Stage

11 TMC43 Data Sheet (V. / March 9 th, 7) / 4 Dynamic Resolution Adaptation The dynamic resolution adaptation is needed to link stepper motors and encoders with different resolutions. The characteristics of the connected hardware must provided to the TMC43 by sending the corresponding SPI telegram. (See 5.3. Overview on page 3 in this issue). The TMC43 multiplies the encoder counter by a user selectable value in the range..4, and then divides it by 6. When using incremental encoders with N channel it is also possible to select between different behaviors when the N channel is triggered. Encoder: Resolution: e.g.: steps / rotation Stepper motor TMC43 SPI Interface Stepper Motor: Resolution: e.g.: 8 steps / rotation TMC43: Prescaler = 3. -> * 4 * 3. = 8 Figure 6: TMC43 Application Table 4 shows the prescaler factors for possible combinations of micro step resolution and encoder resolution. Note: The given number of pulses have to be multiplied by four since 4-times encoder signal evaluation is used. (See Figure : Encoder Output and Evaluation on page 4). Microstep Encoder Resolution [Pulses / Rotation] s Table 4: Prescaler factors for different motors and encoders

12 TMC43 Data Sheet (V. / March 9 th, 7) / 5 Serial Peripheral Interface (SPI) with 3-bit Register 5. Description and Specification Four pins named nscs, SCK, SDI and SDO form the serial peripheral interface from a microcontroller to the TMC43. The communication between the microcontroller and the TMC43 takes place via datagrams with a fixed length of 3 bit. The microcontroller acts always as master and the TMC43 as slave. The SPI TM of the TMC43 behaves like a simple 3-bit shift register. Incoming serial data at pin SDI is shifted with the rising edge of the clock signal SCK into the 3-bit register. The content of this register is copied after 3-bits with the rising edge of the selection signal nscs into a buffer register of 3-bit length. The SPI TM of the TMC43 sends back data read from registers immediately via the SDO signal. It processes serial data synchronously to the clock signal CLK. Because of on-the-fly processing of the input data stream, the serial microcontroller interface of the TMC43 requires the serial data clock signal SCK to have a minimum low / high time of three clock cycles. The data signal SDI driven by the microcontroller has to be valid at the rising edge of the serial data clock input SCK. The maximum duration of the serial data clock period is unlimited. A complete serial datagram frame has a fixed length of 3 bit. While the data transmission from the microcontroller to the TMC43 is idle, the low active serial chip select input nscs and also the serial data clock signal SCK are set to high. The serial data input SDI of the TMC48 has to be driven by the microcontroller. Like other SPI compatible devices, the SDO signal of the TMC43 is high impedance Z as long as nscs is high. The signal nscs has to be high for at least three clock cycles before starting a datagram transmission. To initiate a transmission, the signal nscs has to be set to low. Three clock cycles later the serial data clock may go low. The most significant bit (MSB) of a 3 bit wide datagram comes first and the least significant bit (LSB) is transmitted as the last one. A data transmission is finished by setting nscs high for three or more CLK cycles after the last rising SCK slope. nscs and SCK change in opposite order from low to high at the end of a transmission as these signals change from high to low at the beginning. The timing of the serial microcontroller interface is outlined in Figure 7: Timing diagram of the Serial Interface. tclk tdatagramuc tsucsc thdcsc tsckcl tsckch thdcsc tsucsc CLK nscs SCK tsd tsd tsd SDI SDO tis sdi_bit#3 sdi_bit#3... sdi_bit# sdi_bit# tpd sdo_bit#3 sdo_bit#3... sdo_bit# sdo_bit# tsi x SDI_C sampled 3 x sampled SDI_C one full 3 bit datagram x SDI_C sampled Figure 7: Timing diagram of the Serial Interface

13 TMC43 Data Sheet (V. / March 9 th, 7) 3/ 5. 3-bit SPI Datagram Structure Datagram from TMC43 send to µc INT Data Datagram from µc to TMC Address R W Data Figure 8: Structure 3-Bit Interface Interrupt Flags [Bit] Name Description 3 INT_ext external Interrupt, e.g. TMC48 3 INT_enc N Signal of Encoder Interface detected 9 INT_enc N Signal of Encoder Interface detected 8 INT_enc3 N Signal of Encoder Interface 3 detected Table 5: Interrupt Flags 5.3 SPI 3-bit Datagram Specification 5.3. Overview Byte # Bit # Byte 3 Byte Byte Byte Address R W Control Encoder Prescaler Reserved Encoder Prescaler Encoder 3 Prescaler Encoder,, 3 Prescaler - set all commonly N Polarity N Hold N Clear N Trigger Direction Reserved Reserved Reserved Data Encoder Position Register Encoder Position Register Encoder 3 Position Register Step /Dir Step Pulse Length Step Pulse Delay Reserved INT Reg Hold INT EN Clear Flags Reserved Matrix Switch Row 3 Switch Row Switch Row Switch Row LED Row 3 LED Row LED Row LED Row Figure 9: Overview TMC43 Registers

14 TMC43 Data Sheet (V. / March 9 th, 7) 4/ 6 Incremental Encoder Incremental Encoders are translating the rotary motion of a shaft into a two-channel digital quadrature output. The light emitted from a LED is focused onto a reflective code wheel. As the shaft moves, the code wheel rotates, reflecting light from an alternating bright and dark pattern. The TMC43 samples the incoming signals ENCx_a and ENCx_B from the incremental encoder. A internal algorithm block counts the amount of edges generated by the encoder. A prescaler value can be used to adapt the incremental encoder resolution to the stepper motor resolution. For high resolution the TMC43 evaluates the encoder signals 4-times during each encoder step. This has to kept in mind when choosing the prescaler value. Step Channel A Channel B Channel N Evaluation Figure : Encoder Output and Evaluation Note: It is possible that the encoder signals ENCx_A, ENCx_B and ENCx_N are polluted with crosstalk noise. Crosstalk could influence the internal logic, to overcome this problem internal filters are applied to ensure correct functionality. Furthermore is saves the need for external analog filters. e.g.: Figure : Crosstalk on Encoder Wire shows crosstalk from channel A to channel B. Figure : Crosstalk on Encoder Wire

15 TMC43 Data Sheet (V. / March 9 th, 7) 5/ 7 Configuration Datagrams 7. Encoder Interface Prescaler and Null Event Configuration The Encoder Interface Initialization datagram is mainly used for the parameterizeable encoder prescaler to adapt the TMC43 for different incremental encoders. Furthermore the TMC43 behavior concerning the N channel can be selected. Example: A steps per rotation encoder is to connect at a stepper motor with 8 microsteps per rotation. When the next event at the high active N channel is found, the position register must set to zero. Only Encoder Interface is connected. The following datagram performs this task: Bits 3 down to 4 have to be set to HEX to select encoder interface The prescaler value has to set to 8 / (*4) = 3.. Therefore bits 3 down to must set to 83 HEX. The N channel is set up correctly when bits down to are set to A HEX. Bit Encoder Interface Initialization 3 8 Register Address 7 5 Interface Selection = Interface = Interface = Interface 3 = Interface, and External Encoder Resolution and Corresponding Prescaler Factor Encoder: 4 (3) h for 8 micro steps (prescaler 3.5) (9) h for 64 micro steps (prescaler.565) Encoder: (83) h for 8 micro steps (prescaler 3.) (83) h for 64 micro steps (prescaler.6) Encoder: 5 (64) h for 8 micro steps (prescaler 6.5) (3) h for 64 micro steps (prescaler 3.5) (9) h for 3 micro steps (prescaler.565) Encoder: 5 (86) h for 8 micro steps (prescaler 6.4) (83) h for 64 micro steps (prescaler 3.) (83) h for 3 micro steps (prescaler.6) Encoder: 56 (C8) h for 8 micro steps (prescaler.5) (64) h for 64 micro steps (prescaler 6.5) (3) h for 3 micro steps (prescaler 3.5) (9) h for 6 micro steps (prescaler.565) Encoder: 5 (8C4) h for 8 micro steps (prescaler.8) (86) h for 64 micro steps (prescaler 6.4) (83) h for 3 micro steps (prescaler 3.) (83) h for 6 micro steps (prescaler.6) Encoder: () h for 8 micro steps (prescaler 6) (8) h for 64 micro steps (prescaler 8) (4) h for 3 micro steps (prescaler 4)

16 TMC43 Data Sheet (V. / March 9 th, 7) 6/ () h for 6 micro steps (prescaler ) () h for 8 micro steps (prescaler ) Encoder: 5 (993) h for 8 micro steps (prescaler 5.6) (8C4) h for 64 micro steps (prescaler.8) (86) h for 3 micro steps (prescaler 6.4) (83) h for 6 micro steps (prescaler 3.) (83) h for 8 micro steps (prescaler.6) Encoder: 5 (4) h for 8 micro steps (prescaler 64) () h for 64 micro steps (prescaler 3) () h for 3 micro steps (prescaler 6) (8) h for 6 micro steps (prescaler 8) (4) h for 8 micro steps (prescaler 4) () h for 4 micro steps (prescaler ) Encoder: 5 (4) h for 64 micro steps (prescaler 64) () h for 3 micro steps (prescaler 3) () h for 6 micro steps (prescaler 6) (8) h for 8 micro steps (prescaler 8) (4) h for 4 micro steps (prescaler 4) () h for micro steps (prescaler ) () h for micro steps (prescaler ) (default value after PON) N Polarity for Selected Interface (can be ignored if not used) = active low (default) = active high Hold on N for Selected Interface (can be ignored if not used) = no hold (default) = active 9 Clear on N Event for Selected Interface (can be ignored if not used) = no clear (default) = active 8 N Trigger Selection (can be ignored if not used) = only at next N signal (default) = always at N signal 7 add or sub register for each step (CW = looking onto the axis) = add for CW, sub for CCW (default) = add for CCW, sub for CW 6 Reserved Table 6: SPI Datagram Prescaler 7. Encoder Interface Hold Register Operation To read the actual contents of the position register to preset the position register the following command is to be used: Bit Encoder Interface Control (Read/Preload Encoder Hold Register) 3 8 Register Address 7 5 Select Encoder Hold Register = Hold register in encoder interface = Hold register in encoder interface = Hold register in encoder interface 3 4 Read or Preload Selection = Read encoder hold register = Preload encoder hold register 3 Encoder Hold Register Data Table 7: SPI Datagram Hold Register

17 TMC43 Data Sheet (V. / March 9 th, 7) 7/ 7.3 Timer Logic Step Pulse Length and Delay To parameterize the step length and delay the next datagram is to be used: Bit Write Step Pulse Length / Delay 3 5 Register Address Step Pulse Length (default value = 48 () after PON) 5 6 Step Pulse Delay after Direction Change (default value = 6 () after PON) 5 Reserved Table 8: SPI Datagram Step-/Dir logic 7.4 Control Register and Interrupt Control This datagram configures the interrupt control of the TMC43. When enable the N channel pulse is fed to the NINT pin. Bit Control Register 3 5 Register Address 4 3 Set Common Hold for Encoder Hold Registers = no hold (default) = freeze encoder hold registers Encoder Interrupt Enable, if Null signal = interrupt disable (default) = interrupt enable Clear Interrupt Flags = no clear (default) = clear flags Reserved 7.5 Switch Matrix Read Bit Control Register 3 5 Register Address Switch Matrix Register Row 3 7 Switch Matrix Register Row 6 Switch Matrix Register Row 5 Switch Matrix Register Row 7.6 LED Matrix Write Bit Control Register 3 5 Register Address LED Matrix Register Row 3 7 LED Matrix Register Row 6 LED Matrix Register Row 5 LED Matrix Register Row Table : LED Matrix Write Table 9: SPI Datagram Control Register Table : Switch Matrix Read

18 TMC43 Data Sheet (V. / March 9 th, 7) 8/ 8 SPI-Protocol for Interface with 6-bit Register The 6-bit SPI Interface is used to receive step / direction information from the TMC48. The TMC43 processes the data and issues the corresponding step / direction signals via the step / direction pins. Bit (Pulse ) have to be sent first to the TMC43. Bit Step / Direction Converter Pulse Direction Pulse 3 Direction 4 Pulse 3 5 Direction 3 Table : SPI Datagram Step / Direction Converter 8. Step and Direction Pulse conversion Step pulses can be modified in their pulse width and delayed after an direction change was done. The corresponding datagram (See 7.3) on page 7) is used to parameterize the Step / Dir interface. step_in step pulse length step_out step pulse delay t dir t t Figure : Step Direction conversion

19 TMC43 Data Sheet (V. / March 9 th, 7) 9/ 9 LED and Switch Matrix The TMC43 can be used to drive a LED matrix or to get information from a switch matrix, whether the switches are on or off. LEDs or switches are only active when the corresponding column is selected by setting it to zero. The switch frequency of the column pins is fixed to 5 Hz. The LEDs are driven with a maximum current of ma. The following Table 3: TMC43 LED Matrix Pins shows how the LED Matrix Write register is mapped to the corresponding TMC43 pins to drive the LEDs. TMC43 Pin: COLUMN_PIN [3:] TMC43 Pin: LED_ROW_PIN [5:] Bit 3 Bit Bit Bit LED_Matrix_Write [3:] Table 3: TMC43 LED Matrix Pins For correct external connection of the matrix please refer to the following Figure 3: Connection to the matrix. If distortions causes by long PCB traces are to expect, then filter capacitors C filter of pf have to be added. TMC43 Column Pin [3:] 5V k 747 LED_ROW_PIN[5:] SW_ROW_PIN [5:] 8 C filter (opt.) Figure 3: Connection to the matrix

20 TMC43 Data Sheet (V. / March 9 th, 7) / Package dimensions Figure 4: -Pin TQFP Top View Figure 5: -Pin TQFP Side View Figure 6: -Pin TQFP Side View Detail A

21 TMC43 Data Sheet (V. / March 9 th, 7) / Notes : - all dimensions are in millimeters - BSC Basic Spacing between Centers JEDEC Equivalent TQFP MS-6 VAR BED Dimension Min Nom Max A A A b c D/E D/E 6. BSC 4. BSC e.5 BSC L ccc.8 Theta 3.5 deg 7 deg Table 4: TQFP Dimensions

22 TMC43 Data Sheet (V. / March 9 th, 7) / 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. 4 TRINAMIC Motion Control GmbH & Co. KG 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.