OG

2008
TRINAMIC
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.
NO RESPONSIBILITY
IS TAKEN FOR THE
CORRECTNESS OF THIS
INFORMATION
The information in this catalogue has been assembled carefully
and is believed to be correct. However TRINAMIC can take no
responsibility for all data to be correct. Please refer to the cor-
responding data sheets available on www.trinamic.com or on
CD for detailed information.
TRADEMARKS
All product and company names herein may be trademarks of
their registered owners.
COPYRIGHT
04.04.2008 / V4.1, Printed in Germany.
© 2008 TRINAMIC Motion Control GmbH & Co. KG
3 CONTEXT
PRODUCT CATEGORY OVERVIEW
www.trinamic.com for detailed information and datasheets
INTEGRATED CIRCUITS
ICs for motion control
5
MODULES
modules for motion control
22
INTERFACES
bus interface converters
61
PANdrives
mechatronic drives
65
MOTORS
stepper and BLDC motors
73
4 PRODUCT SELECTOR
INTEGRATED CIRCUITS
www.trinamic.com for detailed information and datasheets
Motion Controller
TMC
428
Three axis stepper motor controller with integrated sequencer
7
TMC
454
Stepper motor controller with integrated sequencer and encoder feedback
8
Power Driver for Stepper Motors
TMC
236
Microstep driver for up to 1.5A
11
TMC
246
Microstep driver for up to 1.5A with stallGuard
12
TMC
239
Microstep driver for external MOSFETs for up to 4A
13
TMC
249
Microstep driver for external MOSFETs for up to 4A with stallGuard
14
MOSFETs
TMC
32
NP/NP
2
Complementary 30V MOSFET half bridge / full bridge
15
TMC
34
NP
Complementary 30V MOSFET half bridge
16
Interface Controller
TMC
401
Step-/direction to SPI converter for TMC23x/24x stepper driver family
9
TMC
423
triple incremental encoder interface and companion IC for the TMC428
10
5 PRODUCT SELECTOR
INTEGRATED CIRCUITS
www.trinamic.com for detailed information and datasheets
Integrated Motion Controller and Driver for Stepper Motors
TMC
211
Microstep motor controller & driver for up to 0.8A with LIN interface
17
TMC
222
Microstep motor controller & driver for up to 0.8A with IIC interface
18
TMC
223
Microstep motor controller & driver for up to 0.8A with IIC interface
and sensorless stall detection
19
Evaluation Boards
TMC
428
A
-
EVAL
Evaluation board for TMC428, TMC246A, and TMC249A with stallGuard
20
TMC
249-
HVHR
Evaluation board for TMC249 with high voltage and high resolution
can be used as add on for TMC428A-Eval
21
TMC
211-
Evalboard
Evaluation board for TMC211
17
TMC
222-
Evalboard
Evaluation board for TMC222
18
TMC
223-
EVAL
Evaluation board for TMC223
19
TMC
32NPx-
EVAL
Complementary 30V MOSFET Half Bridge / Full Bridge
10
6 INTEGRATED CIRCUITS
MOTION CONTROLLER
INFO
M A IN CH A R AC T ER IS T ICS
www.trinamic.com for detailed information and datasheets
TMC
428
Three Axis
Stepper Motor Controller
with Integrated Sequencer
The TMC428 is a revolutionary miniaturized low cost and high
performance stepper motor controller for up to three motors.
It integrates all real time critical tasks in reliable, dedicated
hardware: An integrated motion ramp profile generator as well
as an adaptable microstep sequencer with microstep RAM table.
Advanced stop- and reference switch handling allows for precise
and fast referencing as well as on-the-fly position checking.
Automatic motor current control gives high motor dynamics
while saving energy. The interrupt output can generate precise
position pulses. The TMC428 directly connects to SPI drivers
or to step-/direction drivers. A second SPI interface allows
communication with a host microcontroller. The host microcon-
troller just needs to do high-level control tasks, e.g. giving the
command: Drive motor 2 to position 1000. The TMC428 then
automatically calculates the motion ramp based on velocity and
acceleration parameters. The TMC423 adds encoder functionality
to the TMC428. Evaluation Boards, application notes, spread-
sheets for parameter calculation, C code examples and schema-
tics are available in order to support short design-in times.
unique minaturized stepper motor
controller realized as low power 0.35µ
CMOS device
up to three stepper motors
up to 64 times microstepping
full step frequencies up to 20 kHz
alteration of parameters at any time
driver status information
read back for µC
power down mode
ideally suited motor drivers are TMC236,
TMC239, TMC246 and TMC249
INTERFACE
SPI µC interface
easy-to-use protocol for µC
serial 4-wire driver interface (SPI)
step-/direction output
ELECTRICAL
DATA
3.3V or 5V operation
CMOS / TTL compatible IOs
PACKAGE
miniature SSOP16 package
SO24 package available
RoHS compliant ORDER CODE
DESCRIPTION
TMC428-I
3-axis controller SSOP16-package
TMC428-PI24
3-axis controller SOP24-package
TMC428A-EVAL
Evaluation board for TMC428, TMC246 and TMC249 with stallGuard
10 mm
TMC428
RAM
Interrupt
controller
serial
µC
interface
Ramp-
&
Pulse-
generator
serial
Driver
interface
3,3..5V DC
SPI
to µC
CLK
Microstep-
Controller
(incl.
sequencer)
SPI
to driver
SPI
to driver
SPI
to driver
REF 1,2,3
7 INTEGRATED CIRCUITS
MOTION CONTROLLER
INFO
M A IN CH A R AC T ER IS T ICS
www.trinamic.com for detailed information and datasheets
ORDER CODE
DESCRIPTION
TMC454-BC
1-axis motion controller with encoder feedback
TMC
454
Stepper Motor Controller
with Integrated Sequencer
and Encoder Inf.
The TMC454 is a high-end motion controller for all common 2-,
3-, and 5-phase stepper motors. It provides encoder feedback for
high reliability or high position resolution drives. A large set of
motion control features is included on this IC. The various func-
tion blocks are hardwired and ready-to-use. All processes can
be serialized using the instruction based interface. A complete
linear & S-shaped ramp generation unit is integrated within the
TMC454. All dynamic parameters can be adjusted for a given
application in a very broad range. The CPU is relieved from all
time critical tasks like ramp calculation or microstep generation.
Thus CPU and software engineer can focus on higher level mo-
tion control jobs. In many applications, the TMC454 reduces the
time time-to-market, and it saves costs for software develop-
ment and hardware engineering. The TMC454 turns stepper
motors into easy to use peripherals!
The TMC454 is upwards function compatible to its predecessor
TMC453.
upwards function and software
compatible to TMC453
controls 2-, 3-, and 5-phase stepper motors
full step, half step, sine-step
relieves CPU from all time critical tasks
incremental encoder interface
pulse generation from mHz to MHz
S-shaped and linear ramp generation
PID controller for holding the position
synchronization of multiple TMC454
direct SPI interface
for TMC246/TMC249 stepper driver IC family
high resolution microstep drive
using external SPI DACs
interrupt controller
ELECTRICAL
DATA
3.3V / 1.5V supply INTERFACE
parallel interface (3.3V), with additional
control output for optional 5V level shifter
serial IIC bus interface
PACKAGE
FBGA144 (1 mm fine pitch, 11 mm * 11 mm)
RoHS compliant
TMC454
1.5V DC
CLK
REF
Encoder
Step/Dir
RAM
Interrupt
controller
Ramp-
generator
Microstep-
controller
(incl.
sequencer)
Encoder
Interface
PID
controller
ABN
IIC
8-bit
Parallel
analog
motor
control
appropriate
Driver
step/dir
SPI DAC
interface
10-bit
digital
Command
FIFO
3.3V DC
TMC249
interface
PWM
DAC
8 INTEGRATED CIRCUITS
INTERFACE CONTROLLER
INFO
M A IN CH A R AC T ER IS T ICS
www.trinamic.com for detailed information and datasheets
TMC
401
Step / Direction
to SPI converter
The TMC401 converts step/direction signals into SPI datagrams
that can be used to drive a TMC236, TMC239, TMC246 or TMC249
stepper motor driver chip directly. It provides five different
microstep resolutions (from 1/32 to 1/2) as well as two full step
resolution modes. The stallGuard bits of a TMC246 or TMC249
motor driver are output on three pins, in order to allow an easy
usage of the stallGuard feature. Also the overtemperature
pre-warning bit is output on one extra pin (and can be used to
shut off the driver when there is an overtemperature pre-warn-
ing condition).
The TMC401 also provides a feature that reduces the motor current
to 25% when there have not been any step pulses for at least
one second. This features can be enabled or disabled. Mixed
Decay can also be enabled or disabled using a dedicated pin.
The evaluation board contains the TMC401 and different driver
configurations of the TMC249 wit external MOSFETs.
step / directon signal to SPI converter
allow step-/direction control for TMC236,
TMC246, TMC239, TMC249 drivers
outputs for stallGuard value and driver
OTPW flag
resolution control from fullstep
up to 1/32 microsteps
optional power down control
mixed decay selectable
INTERFACE
step-/direction input up to 245kHz
SPI output
ELECTRICAL
DATA
5V supply
5V CMOS / TTL compatible IOs
PACKAGE
TQFP32 package
RoHS compliant
ORDER CODE
DESCRIPTION
TMC401-PI
Step / direction to SPI converter in TQFP-32 package
TMC32NPx-EVAL
Evaluation board for TMC401-PI, TMC249A-LA & TMC32NP-MLP,
TMC249A-SA & TMC32NP2-SM8 and TMC249A-LA & TMC34NP-PSO
10 mm
TMC401
+5V DC
StallGuard
and
Error Bit
Dec