Trinamic TMC262-EVAL User manual

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 1
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC®Motion Control GmbH & Co. KG
Hamburg, GERMANY
www.trinamic.com
1 Features
The TMC262 evaluation board features a TMC262 with external power MOSFETs plus a
microcontroller, which allows interfacing to a PC for visualization and control of all parameters. The
motor can be operated via the step and direction interface both, using an external source, and using
the integrated microcontroller as a step generator.
Highlights
Evaluate all features of the TMC262


Control all parameters from a PC using special software or TMCL-PC
Motor current can be set to up to 1A, 2A or up to 4A (soldering jumper) via on-board sense
resistors
Supply voltage up to 40V (MOSFETs can be exchanged against 60V 2A types)
Access all pins of the TMC262
Motor type
2 phase Stepper
TMC262–EVAL manual
Evaluation board for the TMC262 stepper motor
driver IC with coolStep

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 2
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
2 Table of contents
1FEATURES.......................................................................................................................................... 1
2TABLE OF CONTENTS ........................................................................................................................ 2
3GENERAL DESCRIPTION .................................................................................................................... 3
3.1 POWER DRIVER STAGE ...................................................................................................................... 3
3.2 SENSE RESISTORS AND CURRENT SETTING.............................................................................................. 4
3.3 POWER SUPPLY FILTER CAPACITORS ..................................................................................................... 4
3.4 OPTIONAL COMPONENTS ................................................................................................................... 4
4BOARD PINNING .............................................................................................................................. 5
4.1 CONNECTORS.................................................................................................................................. 5
4.1.1 Power supply connector K1 ................................................................................................ 5
4.1.2 Stepper motor connector K14 (or K13) ............................................................................... 5
4.1.3 Step and direction input K2................................................................................................ 6
4.1.4 JTAG programmer K15 ........................................................................................................ 6
4.1.5 USB (K17) and RS232 (K16) ................................................................................................. 6
4.2 JUMPERS ....................................................................................................................................... 6
4.2.1 Clock selection J1................................................................................................................ 6
4.2.2 VCC_IO J6............................................................................................................................ 6
4.2.3 VSENSE J8, J11 (J15, J16)...................................................................................................... 6
4.2.4 Gate jumpers LA1, HA1, J22, J18, etc................................................................................... 7
4.2.5 Bridge center sense jumpers BRA1, BRA2, BRB1, BRB2, J9, 12, J10, J13 .............................. 7
4.2.6 Erase Jumper J28 ................................................................................................................ 7
5ELECTRICAL CHARACTERISTICS........................................................................................................ 8
5.1 OPERATIONAL RANGE....................................................................................................................... 8
6GETTING STARTED............................................................................................................................ 9
6.1 FIRST STEPS................................................................................................................................... 9
6.1.1 Connecting to the board .................................................................................................... 9
6.1.2 Current setting.................................................................................................................... 9
6.1.3 Starting the motor.............................................................................................................. 9
6.1.4 Clock frequency setting .................................................................................................... 10
6.1.5 Using stallGuard2™ and coolStep™ ................................................................................ 10
6.1.6 Optimizing the chopper settings ...................................................................................... 11
6.2 WRITING THE SETTINGS TO A .C FILE ................................................................................................. 11
7TMCL COMMANDS ........................................................................................................................... 12
8REVISION HISTORY ........................................................................................................................ 14
8.1 DOCUMENTATION REVISION............................................................................................................. 14

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 3
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
3 General Description
+VM
HS
LS
2 phase
stepper
N
S
TMC262



BM
RS
STEP
DIR
CSN
SCK
SDO
SDI

ENABLE
SG_TST
CLK
5VOUT
VS
220n
VCC_IO
470n
VHS
A1
A2
B1
B2
Microcontroller
CSN
SCK
SDI
SDO
CLK OUT CLK_ARM
CLK
GND
S
D
G
1K
+VCC
0R15 0R15
Soldering Jumper
ENABLE
STEP
(TRISTATE)
DIR
(TRISTATE)
DIR STEP
+VCC
GND
STEP/DIR input
Motor connector
+VCC
5V
3V3
3V3
I/O voltage
jumper
CLK source
jumper
3.3V regulator
GND +VM
Supply
+VM
3V3
RS232
USB
TMC262-EVAL
figure 1: application block diagram as realized on TMC262-EVAL
The TMC262-EVAL board features the TMC262 plus a microcontroller, which realizes an interface to a
PC.
3.1 Power driver stage
The power MOSFETs on resistance mainly influences the current and voltage capability of the board.
Therefore, a choice of different MOSFETs can be soldered to the board.
Component selection:
The TMC262 driver has powerful 40V MOSFETs FDD8424H for motor currents up to 6A peak.
With these MOSFETs, the supply voltage is limited to 40V.
The MOSFETs can be exchanged against complementary N&P channel SO8 types, e.g. 60V type
SI4559ADY (SO8). These will allow a motor current of max. 3A peak.
Small 60V MOSFETs SI3458BDV and SI3459BDV are also possible for up to 2A peak.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 4
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
3.2 Sense resistors and current setting
There are two pairs of sense resistors on the board (R18 and R40, R23 and R41). As a default, a
150m2510 type resistor is used (330m. A second resistor can be
switched in parallel to double the motor current. For different current ranges, the sense resistors can
be exchanged (see table). The sense resistors should be chosen in a way, that they fit the maximum
required motor current. The current can be scaled down in the TMC262. There also is a half current
setting available (VSENSE=1), which halves the sense resistor power dissipation. At current settings
above 4A, care has to be taken with the MOSFET power stage temperature, as the MOSFET power
dissipation gets higher. On the evaluation board, the distance between MOSFETs and TMC262 is
quite large, so the TMC262 does not directly see MOSFET heating and will not be able to protect the
MOSFETs against overtemperature.
Motor current limit at full current setting via Step/Direction interface (example values):
Sense resistor value
RSENSE
Current (peak)
ICOIL
Current RMS
ICOILRMS
Current (peak)
ICOIL
Current RMS
ICOILRMS
VSENSE=0
VSENSE=1
330m
0.9
0.6
0.5
0.34
330m330m
1.8
1.25
1.0
0.68
270m
1.2
0.8
0.6
0.42
270m0m
2.2
1.5
1.2
0.84

1.4
0.9
0.7
0.51

2.7
1.9
1.5
1.0

2.0
1.4
1.1
0.8

4.0
2.8
2.1
1.5

3.0
2.1
1.5
1.1

5.9
4.2
2.9
2.3
5050
-
-
6.4
4.5
In a practical application, especially with low ohmic sense resistors, trace resistance can significantly
influence the reachable current. Care has to be taken to realize a compact layout with low GND
resistance in order to reach a good microstep performance.
Component selection:
It is important to use low inductivity resistors like Vishay WSL2512.
3.3 Power supply filter capacitors
As a chopper operated motor driver draws current in short intervals, it causes noise on the power
supply. Therefore it is important to filter the power supply using a capacitor, in order to reduce
electromagnetic emission (EME) via power supply cables. Further, the capacitor should be able to
store energy fed back from the motor, when the motor becomes decelerated. This depends on the
application velocity and mechanics.
Component selection:
Due to the high frequent ripple, low ESR capacitors are required for this application. The evaluation
board uses Vishay 150RMI series capacitors. These provide a very long life time even at high
environment temperatures. The required total capacity depends on desired motor current and on the
distance to the power supply.
3.4 Optional components
There are optional filter components designed in on the board. These allow experimenting with EME
filters, e.g. RC and LC filter with RC dampening. Please see the board schematic for sample values.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 5
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
4 Board Pinning
figure 2: component placement on the board
4.1 Connectors
4.1.1 Power supply connector K1
Pin
Number
Level
Description
GND
1
GND
Digital and analog low power GND
VS
2
9V-40V
Supply voltage. Provide sufficient current capability for driving the
motor.
4.1.2 Stepper motor connector K14 (or K13)
Pin
Number
Level
Description
A1
1
VS
Motor coil A connection 1
A2
2
VS
Motor coil A connection 2
B1
3
VS
Motor coil B connection 1
B2
4
VS
Motor coil B connection 2
Attention: Do not pull or plug the motor connector during operation, as inductive spikes could destroy
the driver. First disable the driver (there is a button in the Eval software) or switch off the power
supply.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 6
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
4.1.3 Step and direction input K2
Pin
Number
Level
Description
DIR
1
VIO
Direction input of TMC262. Direction output of microcontroller when
enabled via software (step/dir RUN)
GND
2
GND
Ground reference
STEP
3
VIO
Direction input of TMC262. Step output of microcontroller when
enabled via software (step/dir RUN)
4.1.4 JTAG programmer K15
Pin
Number
Level
Description
NRST
15
3.3V
CPU reset pin. Place a jumper between pin 15 and 16 to disable the
CPU. In this mode, the CPU does not drive the TMC262, and you
can freely access its SPI interface via the header connectors next to
the TMC262.
GND
16
GND
Ground
This connector can be used for debugging of CPU software and for programming via JTAG.
4.1.5 USB (K17) and RS232 (K16)
PC interface for operation with the demonstration software. The USB port is handled as a virtual COM
port.
4.2 Jumpers
4.2.1 Clock selection J1
Setting
Function
Description
1-2
GND
TMC262 uses internal clock
2-3
CLK_ARM
TMC262 uses clock signal provided by the microcontroller.
4.2.2 VCC_IO J6
Selects the VCC_IO voltage source for the TMC262.
Setting
Function
Description
1-2
3V3
3.3V supply of microcontroller
2-3
5V
5V voltage supplied by TMC262 voltage regulator
4.2.3 VSENSE J8, J11 (J15, J16)
J8 and J11 select the source of the sense resistor voltage of the TMC262. Always use position 1-2 for
normal operation.
Setting
Function
Description
1-2
sense
resistor
Normal operation, the TMC262 uses the shunt resistors for current
sensing
2-3
external
input
Sense resistor signals can be supplied via J15 or J16 for testing
purpose

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 7
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
4.2.4 Gate jumpers LA1, HA1, J22, J18, etc
Connects the TMC262 gate driver outputs to the MOSFETs
Setting
Function
Description
1-2
normal
operation
MOSFET gate controlled by TMC262
2-3
external
load
Gate driver signal available at test load output (C24, C20, etc.)
4.2.5 Bridge center sense jumpers BRA1, BRA2, BRB1, BRB2, J9, 12, J10, J13
Connects the bridge outputs to TMC262 BM pins
Setting
Function
Description
1-2
normal
TMC262 sees the bride center points
open
BM open
This setting allows testing of the short to GND condition without
shorting the bridge output.
4.2.6 Erase Jumper J28
Erases the CPU
Setting
Function
Description
1-2
Erase
Attention: Erases the processor. Reprogram it via RS232 using the
SAMBA tool.
open
operation

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 8
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
5 Electrical Characteristics
5.1 Operational Range
Parameter
Symbol
Min
Max
Unit
Ambient temperature
TA
-25
85
°C
Supply voltage (with the original 40V MOSFETs soldered on
the board)
VVS
9
40
V
Supply voltage (with 60V MOSFETs SI4559ADY)
VVS
9
60
V
Step and Direction input voltage high level
(Attention: The maximum high level depends on the VIO
jumper setting)
VVIO
2.40
VIO+0.7
V

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 9
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
6 Getting started
Connect a stepper motor to the board, connect the PC via RS232 or USB and use a laboratory power
supply to power the board with for example 24V.
Now, copy the software to your PC and install USB driver, if necessary.
6.1 First steps
Start the evaluation kit software.
6.1.1 Connecting to the board
Select the appropriate port and select Interface / Open. For USB connection, the board uses a virtual
COM port. You need to select the .inf file from the installation directory to set it up.
6.1.2 Current setting
As a first step, you should set the appropriate current setting for your motor: Go to the tab SGCSConf
and select the correct value for the sense resistor, to see the actual current setting. The current scale
can be selected from 7 (default) to 31. You get the best motor performance with a high value between
16 and 31. If your calculation shows, that you need a value below 16, please go to the tab DRVCONF
and select VREF=1/36 instead of 1/18. If you cannot reach the desired motor current, please change
the sense resistor to a lower value. Please refer chapter 3.2 for sense resistor selection.
Please be careful to not select a too high current value, as a too high current setting could destroy the
motor by overheating.
figure 3: Evaluation software: Current setting
Now, please check the DRVSTATUS tab. The indicators should give a reading and show stable
values.
6.1.3 Starting the motor
To move the motor using the internal step and direction source, select acceleration and velocity
(signed) setting and press the Run button. Press the get button in any of the tabs, to read out actual
settings. In case you want faster motion, stop the motor, go to the tab DRVCTRL and reduce
microstep resolution. Best performance is achieved in 256 times microstepping, or in 16 times
microstepping with step interpolation active (please check INTPOL).

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 10
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
figure 4: Evaluation software: Starting the motor
6.1.4 Clock frequency setting
You can modify the TMC262 clock frequency delivered from the CPU to the TMC262. As also the SPI
and Step signal input synchronization are affected by this setting, we advise working with 16MHz or
with the internal clock frequency (Jumper setting for internal or external CLK should be done before
board power up). Default is 16MHz.
6.1.5 Using stallGuard2™ and coolStep™
In order to use the stallGuard2
sensitivity. 
figure 5: Evaluation software: coolStep setting
Therefore, operate the motor at a reasonable velocity (taking into account your application) and look at
 or watch the stallGuard value in the Graph tab.

value reaches zero, go to the SGSCONF tab and decrease the stallGuard threshold value (SGT). A
good starting value is zero. You can apply negative values and positive values. If the values leave a
range outside +/-10, probably your velocity setting is too high or too low. If the SG value reaches zero
far before the motor stalls, increase the SGT value.
The optimum setting is reached, when the stallGuard2
before the motor stalls due to overload.

value different from 0. This enables coolStep. A good value for both is 1 or 2 for most motors. Now,
coolStep is enabled and you should see the current scale SE decreasing when the motor does not see
any load (see tab Graph). You can modify current increase and current reduction speed by changing
SEUP and SEDN. You can select, if the current becomes scaled down to ½ of CS or to ¼ of CS, using
SEIMIN setting.
For details and sample traces, please see the TMC262 data sheet.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 11
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
Hint:
For first tests, we recommend setting SEIMIN to ½, as the ¼ setting might not work stable with
increasing load without adapting the SGT value to the actual motor current.
6.1.6 Optimizing the chopper settings
In principle, you can run the motor with default settings, but you might want to try improving or
modifying the chopper setting for smoothest performance of the motor and for low chopper noise. You
can try both chopper modes over your full velocity range and decide afterwards, which one fits best. In
order to tune the chopper settings, you can follow the following instructions which are based on your
evaluation of motor behavior:
1. Start the motor at the desired velocity: For tuning of const tOFF mode fast decay time, a
medium velocity is preferred, e.g. 1-2 rotations per second. In order to tune chopper
hysteresis setting for standard chopper mode (spreadCycle), or sine wave offset in const tOFF
mode, a low velocity should be preferred, e.g. 0.1-1 rotations per second.
2. Go to the tab CHOPCONF to choose the chopper mode and its settings. Now, you can select
standard chopper (spreadCycle) or classical const tOFF chopper.
3. For both modes, the off time tOFF is a major component. A setting between 2 and 7 fits most
motors for spread cycle, choose 4 to 15 for const tOFF chopper. A lower setting increases the
chopper frequency.
4. Now, you can tune the zero crossing behavior:
In the standard chopper mode, you can check behavior for different HSTART settings to
improve motor behavior: Start with a low HSTART setting and increase HSTART, until the
motor turns smoothest. If you reach maximum HSTART value, you might need to increase
HEND also. Further increasing the value will not bring further benefit.
In constant tOFF mode, a positive sine wave offset improves zero transition performance and
fast decay time influences motor resonance. You might try pure slow decay operation if fastest
motor velocity is desired. First, optimize fast decay time, starting from a low value, until the
motor turns smoothest. Further increasing fast decay time might be necessary for higher
velocity settings. As a second step, increase the sine wave offset starting from 0, until
smoothest motor operation is yielded. There will be an optimum setting at a certain value. A
higher setting causes a jump in the coil current sine wave zero crossing, a lower value causes
a flattening.
5. There is no need to modify the blank time, unless you change the MOSFETs on the board.
6.2 Writing the settings to a .C file
You can load and store all settings made in the evaluation board. They are stored in a .262 text file,
which is user readable.
figure 6: .262 file opened in text editor
In order to transfer the settings into your own software, there is a C language export function. This will
write out the initialization values for the TMC262 in a C syntax form, which allows easy sending via a
microcontroller SPI interface.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 12
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
figure 7: .c file opened in text editor
7 TMCL commands
The board does not support stand-alone TMCL operation, but its PC interface uses a subset of TMCL
commands for parameterization. You can use the direct mode of the TMCL-IDE to explore it, or
remote control the module with TMCL-PC in order to drive sequences.
The address of the TMC262-EVAL is always fixed 1.
The board supports a number of SAP and GAP commands in order to set parameters.
Movements can be started using MVP and ROL/ROR commands. The unit of Position is in
microsteps, velocity in steps/second and acceleration in steps/s².
0: target position (normally set via MVP)
1: actual position
2: target velocity (normally set via ROL/ROR/MST commands)
3: actual velocity
4: maximum velocity with positioning
5: acceleration
181: stop On Stall Velocity
6: current (Register SGSCONF Bits CS4..CS0)
140: micro step resolution (Register DRVCTRL, Bits MRES3..MRES0, but reversed (8-x), for TMCL-
compatibility)
160: DRVCTRL.INTPOL
161: DRVCTRL.DEDGE
162: CHOPCONF.[TBL1..TBL0]
163: CHOPCONF.CHM
184: RNDTF
164: CHOPCONF.[HDEC1..HDEC0]
165: CHOPCONF.[HEND3..HEND0]
166: CHOPCONF.[HSTRT2..HSTRT0]
167: CHOPCONF.[TOFF3..TOFF0]
168: SMARTEN.SEIMIN
169: SMARTEN.[SEDN1..SEDN0]
170: SMARTEN.[SEMAX3..SEMAX0]
171: SMARTEN.[SEUP1..SEUP0]
172: SMARTEN.[SEMIN3..SEMIN0]
173: SGSCONF.SFILT
174: SGSCONF.[SGT6..SGT0]

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 13
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
185: DRVCONF.TST
175: DRVCONF.[SLPH1..SLPH0]
176: DRVCONF.[SLPL1..SLPL0]
177: DRVCONF.DISS2G
178: DRVCONF.[TS2G1..TS2G0]
183: DRVCONF.SDOFF
179: DRVCONF.VSENSE
further parameters, which can be read, only (only used with GAP):
180: actual current setting (Bits RD9..RD0 of TMC262 read back data, with RDSEL=10)
182: actual microstep position (Bits RD9..RD0 of read back data, with RDSEL=00)
206: actual load value (Bits RD9..RD0 of read back data, with RDSEL=01)
207: state of SGTEST-Pins
208: error bits of read back data
8: 1=target position reached, 0=target position not reached.
Parameters 0,1,2,3,4,5,8 and 181 are not directly coupled to TMC262 but are connected to the
software ramp generator in the microcontroller.

TMC262-EVAL MANUAL (V. 1.0 / 2011-Sep-07) 14
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
8 Revision History
8.1 Documentation Revision
Version
Author
BD=Bernhard Dwersteg
Description
0.10
BD
Initial version of documentation
0.12
BD
Added notes on first hand labeled TMC262 prototypes
0.13
BD
Comments on power supply components
0.14
BD
New sense resistor value 150m, new photo, more details in getting
started
0.15
BD
New software with export function, some hints
0.16
BD
Adapted sense resistor dependent current table to new V2 ICs.
1.0
BD
minor changes
1.1
BD
added TMCL command information, new description for parameter
optimization
Table 1: Documentation Revisions