TMC332 DATA SHEET (V. 2.04 / November 9, 2009)
3
2 Table of Contents
1
2
3
4
5
FEATURES ...................................................................................................................................... 1
TABLE OF CONTENTS................................................................................................................... 3
TABLE OF FIGURES ...................................................................................................................... 4
TABLE OF TABLES ........................................................................................................................ 4
PINNING .......................................................................................................................................... 5
5.1
P
ACKAGE
O
UTLINES AND
D
IMENSIONS
......................................................................................... 7
5.1.1
TMC332-BC - Fine Pitch BGA Package with 144 Balls (FBGA144) ................................. 7
6
GENERAL DESCRIPTION .............................................................................................................. 8
6.1
7
C
HIPSET
C
ONFIGURATION
O
UTLINES
............................................................................................ 9
APPLICATION CIRCUIT NOTES .................................................................................................. 10
7.1
SPI
CHAIN DETAILS
.................................................................................................................... 10
7.2
G
ATE CONTROL OUTPUT POLARITY
(PH, PL
PINS
) ....................................................................... 10
7.3
E
NCODER INPUT PINS
................................................................................................................ 10
7.4
C
URRENT REGULATION PINS
...................................................................................................... 10
7.5
O
VER CURRENT PROTECTION
..................................................................................................... 10
7.6
S
TANDALONE PINS
..................................................................................................................... 11
7.6.1
Configuration input description ........................................................................................ 11
7.7
S
CHEMATICS
............................................................................................................................. 13
7.8
S
ELECTING THE EXTERNAL COMPONENTS
................................................................................... 14
8
REGISTER DESCRIPTION ........................................................................................................... 15
8.1
8.2
SPI
COMMUNICATION EXAMPLES
................................................................................................ 19
F
ULL INITIALIZATION EXAMPLE
.................................................................................................... 19
9
PARAMETERIZING THE TMC332 ................................................................................................ 20
9.1
P
OSITION COUNTER
(A
DDRESS
$00
TO
$02)............................................................................... 20
9.1.1
Additional notes ............................................................................................................... 20
9.1.2
Example ........................................................................................................................... 20
9.2
M
ICRO STEP WIDTH
(A
DDRESS
$03
AND
$04) ............................................................................. 20
9.2.1
Additional notes ............................................................................................................... 20
9.2.2
Examples ......................................................................................................................... 20
9.3
PWM
SETTINGS
(A
DDRESS
$06
AND
$07) .................................................................................. 21
9.3.1
Additional notes ............................................................................................................... 21
9.3.2
Example ........................................................................................................................... 21
9.4
ABN
ENCODER INTERFACE
(A
DDRESS
$09, $0A
AND
$10
TO
$12) .............................................. 22
9.4.1
Additional notes ............................................................................................................... 22
9.4.2
Encoder constant ............................................................................................................. 22
9.4.3
Encoder Clear Mode ........................................................................................................ 22
9.4.4
Encoder compare registers .............................................................................................. 23
9.4.5
Examples ......................................................................................................................... 23
9.5
C
URRENT MEASUREMENT AND CURRENT REGULATOR
(A
DDRESS
$0B
TO
$0D) ............................ 23
9.5.1
Additional notes ............................................................................................................... 25
9.5.2
Example ........................................................................................................................... 26
9.6
A
UTOMATIC MICRO
-/
FULL STEP SWITCHING
(A
DDRESS
$0E) ........................................................ 26
9.6.1
Additional notes ............................................................................................................... 26
9.6.2
Example ........................................................................................................................... 27
9.7
C
ALCULATION OF ROTATIONAL SPEED
......................................................................................... 27
9.7.1
Example for high rotational speeds ................................................................................. 27
10
11
NOTATION OF NUMBER SYSTEMS ........................................................................................ 28
REVISION HISTORY.................................................................................................................. 29
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
