參數(shù)資料
型號(hào)： TMC428
廠商： Electronic Theatre Controls, Inc.
英文描述： Intelligent Triple Stepper Motor Controller with Serial Peripheral Interfaces
中文描述： 三步進(jìn)電機(jī)智能控制器的串行外圍接口
文件頁(yè)數(shù)： 4/50頁(yè)
文件大?。?/td> 378K
代理商： TMC428
TMC428 DATA SHEET (V. 1.00 / February 12, 2001)
4
Copyright 2000, TRINAMIC Microchips GmbH
M I C R O C H I P S
4
10K
SCK_S
SDO_S
SDI_S
nSCS_S
nSCS
Driver
w/o SDO
SDI
SCK
nSCS
Driver
w/o SDO
SDI
SCK
nSCS
SDI
SCK
Driver
REF2
REF3
REF1
TEST
GND
μC
SCK
MOSI
MISO
SS
SDI_C
nSCS_C
SCK_C
SDO_C
CLK
CLK
V5
V33
470 nF
+5 V
CLK
CLK
CLK
SM#3
SM#2
SM#1
TMC428-PI24
nSCS2
nSCS3
SDO
V5
GND
Figure 2 – Usage of Drivers without Serial Data Output (SDO) with TMC428 in SOIC24 Package
The maximum SPI
on the total length of the datagrams send to the SPI
16 MHz, with a daisy chain of three SPI
maximum
full step
frequency is 16 MHz / 16 / ( 3 * 16 ) which is approximately 20 kHz. But, the micro
step rate may be higher, even if the stepper motor driver loses micro steps due to SPI
long as the number of skipped micro steps is less then a full step. In this respect, one should remember,
that at high step rates– respectively pulse rates –the differences between micro stepping and full step
excitation vanishes.
TM
data rate is the clock frequency divided by 16. The maximum step frequency depends
TM
stepper motor driver chain. At a clock frequency of
TM
stepper motor drivers of 16 bit datagram length each, the
TM
data rate limit, as
The TMC428 has four different modes of motion, programmable individually for each stepper motor,
named RAMPMODE, SOFTMODE, VELOCITYMODE, and HOLDMODE. For positioning applications the
RAMPMODE is most suitable, whereas for constant velocity applications the VELOCITYMODE is. In
RAMPMODE, the user just sets the position and the TMC428 calculates a trapezoid velocity profile and
drives autonomously to the target position. During motion, the position may be altered arbitrarily. The
SOFTMODE is similar to the RAMPMODE, but the decrease of the amount of velocity during deceleration
is done with a soft, exponentially shaped velocity profile. In VELOCITYMODE, a target velocity is set by the
user and the TMC428 takes into account user defined limits of velocity and acceleration. In HOLDMODE,
the user sets target velocities, but the TMC428 ignores any limits of velocity and acceleration, to realize
arbitrary velocity profiles, controlled completely by the user.
The TMC428 has capabilities to generate interrupts depending on different stepper motor conditions
chosen by an interrupt mask. However, status bits send back automatically to the micro controller each
time it sends data to the TMC428 are sufficient for polling techniques. Error condition handling of stepper
motor drivers can be handled by read out option of data bits– up to 48 bits, which is sufficient for most
stepper motor drivers – send back from the drivers to the TMC428.
Without any additional logic, in the default reference switch mode, the three reference switch inputs are
defined as left side reference switches, one for each stepper motor. In another mode, the 1
input is defined as left reference switch input of motor number one, the 2
left reference switch input of motor number two, and the 3
switch of stepper motor number one. In that mode, there is no reference switch input available for
stepper motor three. With an external multiplexer 74HC157 any stepper motor may have a left and a right
reference switch.
st
reference
nd
reference input is defined as
rd
reference input is defined as right reference
Serial stepper motor drivers provide different status bits (driver active, in-active, ...) and error bits (short to
ground, wire open, ...). To have access to those error bits, datagrams with a total length up to 48 bits
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