Trinamic TMC389-EVAL User manual

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 1
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
TRINAMIC®Motion Control GmbH & Co. KG
Hamburg, GERMANY
www.trinamic.com
1 Features
The TMC389 evaluation board features a TMC389 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, using either an external source, or using
the integrated microcontroller as a step pulse generator.
Highlights
Evaluate all features of the TMC389
Use stallGuard2™ with your motor
Use coolStep™ with your motor
Control all parameters from a PC
Motor current can be set to up 6A depending on sense resistor selection.
Supply voltage up to 40V (MOSFETs can be exchanged against 60V 2A types)
Access all pins of the TMC389
Motor type
3 phase Stepper
TMC389-EVAL manual
Evaluation board for the TMC389 three phase
stepper motor driver IC with coolStep

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 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 K13 (or K10) ............................................................................... 5
4.1.3 Step and direction input K2................................................................................................ 6
4.1.4 JTAG programmer K14 ........................................................................................................ 6
4.1.5 USB (K15) and RS232 (K16) ................................................................................................. 6
4.2 JUMPERS ....................................................................................................................................... 6
4.2.1 Clock selection J15.............................................................................................................. 6
4.2.2 VCC_IO J16 .......................................................................................................................... 6
4.2.3 VSENSE J5, (J6) .................................................................................................................... 6
4.2.4 Gate jumpers LU, HU, J10, J7, etc ........................................................................................ 7
4.2.5 Bridge center sense jumpers BMU, BMV, BMW, J1, 2, J4 ..................................................... 7
4.2.6 Erase Jumper J14 ................................................................................................................ 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 MORE SCREEN SHOTS ..................................................................................................................... 12
6.3 WRITING THE SETTINGS TO A .C FILE ................................................................................................. 12
7REVISION HISTORY ........................................................................................................................ 14
7.1 DOCUMENTATION REVISION............................................................................................................. 14

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 3
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
3 General Description
+VM
HS
LS
TMC389
BM
RS
STEP
DIR
CSN
SCK
SDO
SDI
ENABLE
SG_TST
CLK
5VOUT
VS
220n
VCC_IO
470n
VHS
Microcontroller
CSN
SCK
SDI
SDO
CLK OUT CLK_ARM
CLK
GND
S
D
G
1K
+VCC
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
TMC389-EVAL
3phase
stepper
N
S
U
V
W
figure 1: application block diagram as realized on TMC389-EVAL
The TMC389-EVAL board features the TMC389 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 TMC389 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.

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 4
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
3.2 Sense resistors and current setting
There is one foot point sense resistor on the board which is realized using two resistors (R15 and
R16). The second resistor can be paralleled using a soldering jumper in order to lower the effective
value and to increase current. As a default, a 150mΩ2510 type resistor is used. The second 150mΩ
resistor can be switched in parallel to double the motor current. For different current requirements, 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 TMC389, but
scaling down the current too much reduces effective microstep resolution. There also is a half current
setting available (VSENSE=1), which does not affect the microstep resolution. Its main purpose is to
halve the sense resistor power dissipation. At current settings above 5A, take care not to exceed
maximum MOSFET power stage temperature, as the MOSFET power dissipation increases with the
square of the current. On the evaluation board, the distance between MOSFETs and TMC389 is quite
large, so the TMC389 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, CS=28
VSENSE=1, CS=28
330mΩ
0.44
0.31
0.81
0.57
330mΩ || 330mΩ
0.88
0.62
1.62
1.15
220mΩ
0.66
0.47
1.22
0.86
220mΩ || 220mΩ
1.32
0.93
2.43
1.72
150mΩ
0.97
0.68
1.79
1.26
150mΩ || 150mΩ
1.93
1.37
3.57
2.52
100mΩ
1.45
1.02
2.68
1.89
100mΩ || 100mΩ
2.9
2.05
5.36
3.79
75mΩ || 75mΩ
4.46
3.15
8.24
5.83
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.

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 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 K13 (or K10)
Pin
Number
Level
Description
A1
1
VS
Motor coil U
A2
2
VS
Motor coil V
A3
3
VS
Motor coil W
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.

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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 TMC389. Direction output of microcontroller when
enabled via software (step/dir RUN)
GND
2
GND
Ground reference
STEP
3
VIO
Direction input of TMC389. Step output of microcontroller when
enabled via software (step/dir RUN)
4.1.4 JTAG programmer K14
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 TMC389, and you
can freely access its SPI interface via the header connectors next to
the TMC389.
GND
16
GND
Ground
This connector can be used for debugging of CPU software and for programming via JTAG.
4.1.5 USB (K15) 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 J15
Setting
Function
Description
1-2
GND
TMC389 uses internal clock
2-3
CLK_ARM
TMC389 uses clock signal provided by the microcontroller.
4.2.2 VCC_IO J16
Selects the VCC_IO voltage source for the TMC389.
Setting
Function
Description
1-2
3V3
3.3V supply of microcontroller
2-3
5V
5V voltage supplied by TMC389 voltage regulator
4.2.3 VSENSE J5, (J6)
J5 selects the source of the sense resistor voltage of the TMC389. Always use position 1-2 for normal
operation.
Setting
Function
Description
1-2
sense
resistor
Normal operation, the TMC389 uses the shunt resistors for current
sensing
2-3
external
input
Sense resistor signals can be supplied via J6 for testing purpose

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 7
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
4.2.4 Gate jumpers LU, HU, J10, J7, etc
Connects the TMC389 gate driver outputs to the MOSFETs
Setting
Function
Description
1-2
normal
operation
MOSFET gate controlled by TMC389
2-3
external
load
Gate driver signal available at test load output (C12, C15, etc.)
4.2.5 Bridge center sense jumpers BMU, BMV, BMW, J1, 2, J4
Connects the bridge outputs to TMC389 BR pins
Setting
Function
Description
1-2
normal
TMC389 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 J14
Erases the CPU
Setting
Function
Description
1-2
Erase
Attention: Erases the processor. Reprogram it via RS232 using the
SAMBA tool.
open
operation

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 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

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 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 28 (settings 29 to 31 are possible, if a low hysteresis fits the motor, only). 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).

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 10
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
figure 4: Evaluation software: Microstep resolution setting
figure 5: 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™ functionality and coolStep™, you should first tune the stallGuard2™
sensitivity. As a first step, you should enable the stallGuard™ filter bit SFILT in the tab SGCSCONF.
figure 6: Evaluation software: coolStep setting
Therefore, operate the motor at a reasonable velocity (taking into account your application) and look at
the stallGuard™ value (SG) in the DRVSTATUS tab or watch the stallGuard value in the Graph tab.
Now, apply slowly increasing mechanical load to the motor. If the motor stalls before the stallGuard™
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

TMC389-EVAL MANUAL (V. 1.10 / 2011-Mar-01) 11
Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
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™ value reaches zero at increasing load shortly
before the motor stalls due to overload.
Now, you are ready to enable coolStep™! Go to the SMARTEN tab and set SEMAX and SEMIN to a
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 TMC389 data sheet.
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. Start
the motor at the desired velocity, e.g. a medium velocity to tune const toff mode fast decay time, or a
low velocity to tune chopper hysteresis setting or sine wave offset in const toff mode. Go to the tab
CHOPCONF. There is no need to modify the blank time, unless you change the MOSFETs on the
board. For most motors, you can work without chopper off time (NOSD box checked). You can check
motor microstep behavior and chopper noise (should not come into the audible range) for different
HYST settings to improve motor behavior. Chopper synchronization (CSYNC) will improve behavior at
higher motor velocity.
figure 7: Evaluation software: Chopper settings

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Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
6.2 More screen shots
6.3 Writing the settings to a .C file
You can load and store all settings made in the evaluation board. They are stored in a .389 text file,
which is user readable.
figure 8: .389 or .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.

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Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
figure 9: .c file opened in text editor

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Copyright © 2010 TRINAMIC Motion Control GmbH & Co. KG
7 Revision History
7.1 Documentation Revision
Version
Author
Description
0.10
LL
Initial version of documentation, based on TMC262 eval board docu
1.1
BD
Initial documentation adapted to final TMC389 evaluation board
Table 1: Documentation Revisions