TMC260 and TMC261 DATASHEET (Rev. 2.05 / 2012-NOV-05)
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21 Table of Figures
Figure 1.1 applications block diagram............................................................................................................................4
Figure 2.1 TMC260/261 pin assignments........................................................................................................................6
Figure 3.1 TMC260 and TMC261 block diagram............................................................................................................8
Figure 4.1 stallGuard2 load measurement SG as a function of load....................................................................9
Figure 4.2 Linear interpolation for optimizing SGT with changes in velocity..................................................10
Figure 5.1 Energy efficiency example with coolStep................................................................................................12
Figure 5.2 coolStep adapts motor current to the load............................................................................................13
Figure 6.1 SPI Timing........................................................................................................................................................15
Figure 6.2 Interfaces to a TMC429 motion controller chip and a TMC260 or TMC261 motor driver..........16
Figure 7.1 STEP and DIR timing. ....................................................................................................................................26
Figure 7.2 Internal microstep table showing the first quarter of the sine wave...........................................27
Figure 7.3 microPlyer microstep interpolation with rising STEP frequency......................................................28
Figure 8.1 Sense resistor grounding and protection components......................................................................31
Figure 9.1 Chopper phases. .............................................................................................................................................32
Figure 9.2 spreadCycle chopper mode showing the coil current during a chopper cycle...........................34
Figure 9.3 Constant off-time chopper with offset showing the coil current during two cycles,...............35
Figure 9.4 Zero crossing with correction using sine wave offset........................................................................35
Figure 11.1 Short to GND detection timing................................................................................................................38
Figure 11.2 Undervoltage reset timing.........................................................................................................................40
Figure 15.1 Layout example for TMC260 or TMC261.................................................................................................44
Figure 17.1 One TMC260 operating at 1.4A RMS (2A peak), other TMC260 devices at 1.1A RMS................49
Figure 18.1 Dimensional drawings (PQFP44)..............................................................................................................50
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