TMC262 DATASHEET (Rev. 2.07 / 2013-FEB-14)
17
SPI Interface Timing
Parameter
SCK valid before or after change
of CSN
CSN high time
AC-Characteristics
clock period is t
CLK
Symbol
t
CC
*)
Conditions
Min
10
Typ
Max
Unit
ns
t
CSH
SCK low time
t
CL
SCK high time
t
CH
SCK frequency using internal
clock
SCK frequency using external
16MHz clock
SDI setup time before rising
edge of SCK
SDI hold time after rising edge
of SCK
Data out valid time after falling
SCK clock edge
SDI, SCK, and CSN filter delay
time
f
SCK
f
SCK
t
DU
t
DH
t
DO
t
FILT
Min time is for
synchronous CLK
with SCK high one
t before CSN high
only
*)
Min time is for
synchronous CLK
only
*)
Min time is for
synchronous CLK
only
Assumes minimum
OSC frequency
CH
t
CLK
>2t
CLK
+10
ns
t
CLK
t
CLK
>t
CLK
+10
>t
CLK
+10
4
8
ns
ns
MHz
MHz
ns
ns
t
FILT
+5
ns
ns
Assumes
synchronous CLK
10
10
No capacitive load
on SDO
Rising and falling
edge
12
20
30
6.3 Bus Architecture
SPI slaves can be chained and used with a single chip select line. If slaves are chained, they behave
like a long shift register. For example, a chain of two motor drivers requires 40 bits to be sent. The
last bits shifted to each register in the chain are loaded into an internal register on the rising edge of
the CSN input. For example, 24 or 32 bits can be sent to a single motor driver, but it latches just the
last 20 bits received before CSN goes high.
Mechanical Feedback
or virtual stop switch
3 x REF_L, REF_R
+V
M
Real time Step/Dir
interface
TMC262
VCC_IO
Step Multiplier
TMC429
triple stepper motor
controller
nSCS_C
SCK_C
SDI_C
SDOZ_C
Reference switch
processing
on
M o ti
ro
cont
l
S1 (SDO_S)
D1 (SCK_S)
S2 (nSCS_S)
D2 (SDI_S)
S3 (nSCS_2)
D3 (nSCS_3)
STEP
DIR
r
M o to
Sine Table
4*256 entry
r
Drive
Gate driver
Gate Driver
HS
S
BM
N
SPI to master
3x linear RAMP
generator
Step &
Direction
pulse
generation
Output select
SPI or
Step & Dir
x
Chopper
Gate driver
Gate Driver
Driver 2
Driver 3
CSN
SCK
SDI
SDO
2 Phase
Stepper
LS
RS
nINT
CLK
Interrupt
controller
Position
comparator
Microstep
table
SPI control,
Config & Diags
coolStep™
Serial driver
interface
Protection
& Diagnostics
stallGuard2™
2 x Current
Comparator
2 x DAC
R
S
R
S
Realtime event trigger
POSCOMP
Virtual stop switch
SG_TST
Second driver and motor
Motion command
SPI
(TM)
Configuration and
diagnostics SPI
(TM)
User CPU
Third driver and motor
System interfacing
ntro
m co
Syste
l
Figure 6.2 Interfaces to a TMC429 motion controller chip and a TMC262 motor driver
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
