Trinamic TMC5031-EVAL User manual

EVALUATION FOR ICs EVALUATION BOARD
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
Firmware Version V1.00
TMC5031-EVAL EVALUATION BOARD MANUAL
+ + TMC5031-EVAL
+ +
UNIQUE FEATURES:
Evaluation Board for TMC5031
Motor Controller / Driver for
Two Phase Stepper Motors
Up to 2x 0.7A RMS/ +5.5V… 16V DC
USB, RS232, and SPI
2x Ref. Switch Input per Axis

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TABLE OF CONTENTS
1Features........................................................................................................................................................................... 3
2Order Codes ................................................................................................................................................................... 4
3Hardware ........................................................................................................................................................................ 5
3.1 Mechanical and Electrical Interfacing ............................................................................................................ 5
3.1.1 Size of TM5031-EVAL and Mounting Holes ............................................................................................ 5
3.1.2 Overview of Connectors.............................................................................................................................. 6
3.1.3 Push Buttons: Reference Switches of Motor 2 ..................................................................................... 9
3.1.4 LEDs................................................................................................................................................................... 9
4Operational Ratings ................................................................................................................................................... 10
5Getting Started –How to Connect the Board ................................................................................................... 11
5.1 Installing the Virtual Com Port for USB Interface................................................................................... 12
6Evaluation Software .................................................................................................................................................. 13
6.1 Starting the Evaluation Software.................................................................................................................. 13
6.2 Main Dialogues .................................................................................................................................................. 14
6.2.1 The Jog Tab................................................................................................................................................... 14
6.2.2 The Ramp Generator Tab .......................................................................................................................... 14
6.3 Basic Functions .................................................................................................................................................. 15
6.3.1 Load / Save / Export Settings .................................................................................................................. 15
6.3.2 Options Menu ............................................................................................................................................... 15
6.3.3 Get Firmware Version ................................................................................................................................ 15
6.3.4 Reset to Factory Defaults.......................................................................................................................... 15
6.4 Special Dialogues .............................................................................................................................................. 16
6.4.1 Motor Current Settings Dialogue............................................................................................................ 16
6.4.2 Ramp Generator Features Dialogue....................................................................................................... 17
6.4.3 coolStep Dialogue....................................................................................................................................... 21
6.4.4 Chopper Configuration Dialogue............................................................................................................ 22
6.4.5 Driver Status Information......................................................................................................................... 24
6.4.6 Microstep Wave Dialogue ......................................................................................................................... 25
6.4.7 Global Configuration Dialogue................................................................................................................ 28
6.4.8 All Registers Dialogue................................................................................................................................ 29
7Life Support Policy..................................................................................................................................................... 30
8Revision History.......................................................................................................................................................... 31
8.1 Firmware Revision ............................................................................................................................................ 31
8.2 Document Revision ........................................................................................................................................... 31
9References .................................................................................................................................................................... 31

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1Features
The TMC5031 evaluation board is designed for evaluating all features of the TMC5031 controller/driver
IC. The STM32F ARM Cortex-M3 microcontroller is used to control the TMC5031. The FLASH memory of
the microcontroller contains a program which configures the controller/driver chip and controls the
communication with the PC via the USB interface and the RS232 interface.
MAIN CHARACTERISTICS
Integrated motion controller
-Motion profile calculation in real-time
-On the fly alteration of motor parameters (e.g. position, velocity, acceleration)
Integrated motor driver for two motors
-Up to 256 microsteps per full step
-High-efficient operation, low power dissipation
-Dynamic current control
-stallGuard2 feature for stall detection
-coolStep feature for reduced power consumption and heat dissipation
-spreadCycle chopper or classic chopper
Electrical data
-Motor current: up to 2x 0.7A RMS nominal motor current
-Supply voltage: +5.5V… +16V DC operating voltage
Interfaces
-RS232
-USB (type B)
-Native SPI™ of the TMC5031
-2x reference switch inputs per axis
-Access to all signals of the TMC5031
Motor type
-Two phase bipolar stepper motors
Safety features
-Overcurrent
-Short to GND
-Undervoltage protection
-Integrated diagnostics
Software
-PC demonstration software allowing access to all registers
-Graphical view of position counter and motor velocity
-Special tools for stallGuard2, coolStep, and chopper adjustments

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TRINAMICS UNIQUE FEATURES
stallGuard2™stallGuard2 is a high-precision sensorless load measurement using the back EMF on the
coils. It can be used for stall detection as well as other uses at loads below those
which stall the motor. The stallGuard2 measurement value changes linearly over a wide
range of load, velocity, and current settings. At maximum motor load, the value goes to
zero or near to zero. This is the most energy-efficient point of operation for the motor.
Load
[Nm]
stallGuard2
Initial stallGuard2
(SG) value: 100%
Max. load
stallGuard2 (SG) value: 0
Maximum load reached.
Motor close to stall.
Motor stalls
Figure 1.1 stallGuard2 load measurement SG as a function of load
coolStep™coolStep is a load-adaptive automatic current scaling based on the load measurement
via stallGuard2 adapting the required current to the load. Energy consumption can be
reduced by as much as 75%. coolStep allows substantial energy savings, especially for
motors which see varying loads or operate at a high duty cycle. Because a stepper
motor application needs to work with a torque reserve of 30% to 50%, even a constant-
load application allows significant energy savings because coolStep automatically
enables torque reserve when required. Reducing power consumption keeps the system
cooler, increases motor life, and allows reducing cost.
0
0,1
0,2
0,3
0,4
0,5
0,6
0,7
0,8
0,9
0 50 100 150 200 250 300 350
Efficiency
Velocity [RPM]
Efficiency with coolStep
Efficiency with 50% torque reserve
Figure 1.2 Energy efficiency example with coolStep
2Order Codes
Order code
Description
Size of unit [mm3]
TMC5031-EVAL
Evaluation board for TMC5031 two phase motor
controller/driver
85 x 55 x 13.5
Table 2.1 Order codes

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3Hardware
3.1 Mechanical and Electrical Interfacing
3.1.1 Size of TM5031-EVAL and Mounting Holes
The board dimensions are 85mm x 55mm. Maximum component height (above PCB level) without
mating connectors is 13.5mm. There are four mounting holes suitable for M3 screws.
85
55
4
4
Figure 3.1 TMC5031-EVAL dimensions

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3.1.2 Overview of Connectors
1
USB
RS232
Power 1
Power 2
Ref. Switches
Motor 1
Motor 2
SPI retrofit option
1
1
1
1
1
Figure 3.2 Connectors of TMC5031-EVAL
CONNECTORS OF TMC5031-EVAL
Label (Key)
Connector type
Mating connector type
Power 1
(X15)
Switchcraft Power Jack header RAPC722X
Switchcraft two-conductor Power Jack,
e.g. S760K
Power 2 (X3)
RIA 330-02, 2 pol., 5mm pitch, shrouded
header
RIA 349-2, screw type terminal block,
pluggable, centerline 5 mm / 0.197
inches, wire entry parallel to plug
direction
Motor 1 (X2)
Motot 2 (X1)
RIA 182-04, 4 pol., 3.5mm pitch, header
RIA 169-04, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
Reference
switches (X3)
RIA 182-06, 6 pol., 3.5mm pitch, header
RIA 169-06, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
USB (X11)
Mini USB, type B, 4 pol., female
Mini USB, type B, 4 pol., male
RS232 (X12)
RIA 182-03, 3 pol., 3.5mm pitch, header
RIA 169-03, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
Table 3.1 Connectors
3.1.2.1 Power Jack Connector (1)
This jack connector fits for commercially available power supply units for e.g. 12V DC.
Pin
Label
Description
1
GND
Power supply and signal ground
2
GND
Power supply and signal ground
3
+UB
Supply voltage: +5.5V… 18V DC
Table 3.2 Power connector 1

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3.1.2.2 RIA Power Connector (2)
Pin
Label
Description
1
GND
Power supply and signal ground
2
+VCC
Operational voltage: +5.5… 18V DC
Table 3.3 Power connector 2
3.1.2.3 Motor Connector Axis 1
Pin
Label
Description
1
O1A1
Motor coil A
2
O1A2
Motor coil A
3
O1B1
Motor coil B
4
O1B2
Motor coil B
Table 3.4 Connector for Step/Dir signals
3.1.2.4 Motor Connector Axis 2
Per default firmware setting, the direction of motor 2 is reversed to compensate for reversed pinning of
the motor connector. The following table shows the real pin assignment on the evaluation board
without reversing the motor direction.
Pin
Label
Description
1
O2B2
Motor coil B
2
O2B1
Motor coil B
3
O2A2
Motor coil A
4
O2A1
Motor coil A
Table 3.5 Connector for Step/Dir signals
3.1.2.5 USB Connector
Pin
Label
Description
1
+5V
+5V supply from host
2
USB-
Differential USB bus
3
USB+
Differential USB bus
4
GND
System and module ground
Table 3.6 USB connector
3.1.2.6 RS232 Connector
Pin
Label
Description
1
GND
RS232 signal and system ground
2
TXD
Transmitted data line
3
RXD
Received data line
Table 3.7 RS232 connector
3.1.2.7 Reference Switch Connector
Pin
Label
Description
1
GND
System and module ground
2
REF_R1
Right reference switch axis 1
3
REF_L1
Left reference switch axis 1
4
REF_R2
Right reference switch axis 2
5
REF_L2
Left reference switch axis 2
6
+5V
+5V output
Table 3.8 Reference Switch connector

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3.1.2.8 SPI and Interrupts (Measurement Points and Retrofit Option)
The SPI connector is not assembled, but can be retrofitted in case an external microcontroller should be
used. Typically, these pins are used for measurements concerning SPI interface and interrupts (INT and
PP).
Figure 3.3 Example for SPI connector assembly (header 2x5)
Pin
Label
Description
1
GND
System and module ground
2
GND
System and module ground
3
CLK
CLK input
4
PP
Tristate position compare output for motor 1 of the TMC5031
5
CS
Chip select input of SPI interface
6
INT
Tristate interrupt output based on ramp generator flags 4, 5, 6 & 7.
7
SCK
Serial clock input of SPI interface
8
SPI_MISO
Serial data input
9
DRV_ENN
Enable (not) input for drivers (tie to GND). Switches off all motor outputs (set high
for disable).
10
SPI_MOSI
Serial data output
Table 3.9 SPI and interrupt signals for measurements or connection of external device
3.1.2.8.1 Connecting an External Microcontroller
To enable communication via SPI for connecting an external microcontroller, it is necessary to first
solder a 0Ω resistor on the board. A 3V3 supply (VCCIO) for the external microcontroller is available.
Solder 0Ω resistor here.
Figure 3.4 Retrofit option: SPI

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3.1.3 Push Buttons: Reference Switches of Motor 2
The TMC5031-EVAL offers two push buttons for the reference switches of motor 2. As long as a button
is pushed the related reference switch of motor 2 is active.
Note that the ramp generator features dialogue of the evaluation software includes a switch mode tab
which shows the status of switches. The flags can be polled continuously.
REF_L2 REF_R2
Figure 3.5 Push buttons
Label
Description
REF L M2
This button is connected to pin 26 (REF_L2) of the TMC5031.
REF R M2
This button is connected to pin 25 (REF_R2) of the TMC5031.
Table 3.10 Push buttons
3.1.4 LEDs
The TMC5031-EVAL has three LEDs. Two of them indicate the normal operation of the board: the green
LED1 glows to show that the +5V supply is available. LED2 flashes constantly to indicate the 16MHz
heartbeat of the board. LED3 does not have a specific function and can be used customer specific.
LED2 LED3
LED1
Figure 3.6 LEDs
LEDS OF TMC5031-EVAL
Label
Color
Description
LED1
green
Glows, if +5V is available.
LED2
red
Heartbeat of the module. Flashes constantly per default.
LED3
red
Can be used customer specific.
Table 3.11 LEDs

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4Operational Ratings
The operational ratings shown below should be used as design values. The maximum power supply
current depends on the used motors and the supply voltage.
Do not exceed the maximum values during operation! Otherwise the driver will be damaged!
Symbol
Parameter
Min
Typ
Max
Unit
VCC
Power supply voltage for operation
-0.5
12
18
V
VCCIO
Digital power supply (for external
microcontroller)
3.3
V
+5V
Output of internal switch regulator
5
5.1
V
ISUPPLY
Power supply current
0.2… 0.7
1.1
A
TENV
Environment temperature at rated
current (no forced cooling required)
20°C
°C
Table 4.1 General operational ratings of the module

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5Getting Started –How to Connect the Board
YOU NEED
-Evaluation board with stepper motor (e.g.
QSH4218)
-USB interface or RS232 interface
-Nominal supply voltage +12V DC (+5.5… +16V DC)
-TMC50xx-EVAL software and PC
-Cables for interface, motor, and power
PRECAUTIONS
-Do not mix up connections or short-circuit pins.
-Avoid bounding I/O wires with motor wires.
-Do not exceed the maximum power supply of
+18V DC!
-Do not connect or disconnect the motor while
powered!
-START WITH POWER SUPPLY OFF!
11
1
1
1
Motor 2 Motor 1
USBRS232
Power 2Power 1 Ref. Switches
SPI, Interrupts
Stepper
Motor
1
Power
supply
Pin 1 GND
Pin 2 +5V… 16V DC
or use power jack connector
Serial USB
interface
RS232
Pin 1 GND
Pin 2 TXD
Pin 3 RXD
Figure 5.1 Getting started
STARTING UP
1. USB interface: the evaluation board software TMC50xx-EVAL is designed to guide you through the
installation of a virtual com port for the USB interface. Refer to chapter 5.1 for further information.
RS232 interface: connect RS232 interface to interface converter and afterwards to your PC or
connect it directly to your PC, if the RS232 interface is provided.
2. Connect one or two motors to the specific connectors.
3. Connect the power supply of module.
4. Turn power ON. The red LED for heartbeat flashes and the green LED for power glows. The motor
is powered but in standstill now. If this does not occur, turn power OFF and check your
connections and power supply!
5. Download and open the file TMC50xx-EVAL. Now you can start examinations. Note: if you are using
the USB interface, the software will do the installation of the virtual comport configuration file
now.

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5.1 Installing the Virtual Com Port for USB Interface
1. Start the TMC50xx-EVAL.exe application with a double click.
2. First, you will be asked, which module you like to connect. Choose the TMC5031-EVAL.
3. Then, a hint will appear on the screen. If the module is not already connected, plug it, power it
on, and click OK.
4. Now, the software will search and install the configuration file.
Figure 5.3 Install USB driver
5. You will be asked if you really like to install the unknown file. Answer yes to install it.
6. As soon as the installation of the virtual com port is completed, start your tests.
In case this does not work, install the file using the system control of your PC.
Figure 5.2 Hint related to device driver installation

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6Evaluation Software
The evaluation software TMC50xx-EVAL.exe is intended for customers who design own PCBs with the
TMC5031. In order to understand the settings, the TMC5031 datasheet needs to be referenced. The
software is designed for adjusting and testing all settings of the TMC5031 by allowing direct register
access. Optimized settings can be stored and exported.
6.1 Starting the Evaluation Software
-Download the file TMC50xx-EVAL.exe from our website www.trinamic.com. The software is a PC
application running under Windows XP, Vista, Windows 7, and Windows 8 (Windows 3.x is not
supported).
-Double-click the file TMC50xx-EVAL.exe.
-If you are testing just one module type, click Remember me. This way, the software will skip
this part of the program next time.
-Choose your module type.
-Plug the evaluation board, if it is not connected yet.
Figure 6.1 Choose module
-Click Connection to connect your board. Now, you can start your tests.
Figure 6.2 Connect module
Figure 6.3 Jog tab

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6.2 Main Dialogues
The evaluation software offers two main dialogues: the jog dialogue and the ramp generator dialogue
on the next tab. Both dialogues offer separate data input fields for motor 1 and motor 2.
6.2.1 The Jog Tab
Use the rotary control switches with the left key or the small wheel of your computer mouse. Thus,
velocity and acceleration for each motor can be set and/or changed. Both values increase/decrease
according to a logarithmic function.
There are five keys for each motor. The keys with just one arrow are push-buttons. A motor moves as
long as one of these is pressed (using the left mouse key). Acceleration and deceleration will always be
adequate to your settings (or default settings), which can be read out using the all registers dialogue.
Rotate left
constantly
Stop
Rotate left
if pressed
Rotate right
if pressed
Rotate right
constantly
Figure 6.4 Jog tab keys for moving a motor
6.2.2 The Ramp Generator Tab
The design of the ramp generator tab correlates to the jog tab. Ramp generator settings for each motor
can be done independently from the other motor. With this, comparisons of different settings are quite
easy. The two motors can be driven simultaneously using the buttons for both below the diagram. All
values can be calibrated on the fly while a drive is still active.
Figure 6.5 Ramp generator tab
A complete set of ramp generator values can be copied to the input data area of the other motor by
clicking the buttons with two arrows. Afterwards the value sets can be adjusted individually for each
motor.
Copy to motor 2
Copy to motor 1
Figure 6.6 Copy value set

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6.3 Basic Functions
6.3.1 Load / Save / Export Settings
Module settings can be loaded, saved, and exported. Click File on top menu and choose the desired
action. Note that it is not possible to store settings permanently on the board.
Figure 6.7 Load / save / export settings.
6.3.2 Options Menu
There are two special options related to the handling of this software tool:
-If you choose Extra Style,the software surface will be colored differently.
-Remember Module can be set, if you are always working with the same module. If you intend
to test another IC evaluation board, it is necessary to remove the remember module command!
Table 6.1 Options menu
6.3.3 Get Firmware Version
To read out the firmware version, click Help on top menu and afterwards About. Now, the TMC50xx-
EVAL software shows the version number and the build-ID.
Figure 6.8 Firmware Version
6.3.4 Reset to Factory Defaults
Each time, the evaluation board is powered off and on again it will be reset to factory defaults.

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6.4 Special Dialogues
Click view on top menu or the specific fields on the left side of the main window to open up dialogues
for special settings. Note that dcStep and encoder are not provided by the TMC5031.
THE FOLLOWING SPECIAL DIALOGUES ARE PROVIDED:
-Motor current settings
-Ramp generator features
-coolStep
-Chopper
-Motor driver
-Microstep waves
-Global configuration
-All registers
Figure 6.9 View dialogues
6.4.1 Motor Current Settings Dialogue
This dialogue makes the evaluation of the TMC5031 more comfortable. Motor current settings can be
tried out by using rotary control switches.
Figure 6.10 Motor current settings
NOTE
Exact values can be read out and changed using
the all registers dialogue.

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6.4.2 Ramp Generator Features Dialogue
This dialogue offers two tabs: the ramp status tab and the switch mode tab. These tabs correlate with
each other.
6.4.2.1 Ramp Status Tab
Ramp status flags can be polled continuously or
on demand. This status tab is designed to read
out the RAMP_STAT register of the TMC5031
Blue marked flags are set.
If you use the push buttons for the reference
switches of motor 2 on the evaluation board, the
status can be read out here.
0X35, 0X55: RAMP_STAT –RAMP AND REFERENCE SWITCH STATUS REGISTER OF TMC5031
R/W
Bit
Name
Comment
R
13
status_sg
1: Signals an active stallGuard2 input from the coolStep driver, if
enabled.
Hint: When polling this flag, stall events may be missed –activate
sg_stop to be sure not to miss the stall event.
R+C
12
second_move
1: Signals that the automatic ramp requires moving back in the
opposite direction, e.g. due to on-the-fly parameter change
(Flag is cleared upon reading)
R
11
t_zerowait_
active
1: Signals, that T_ZEROWAIT is active after a motor stop. During this
time, the motor is in standstill.
R
10
vzero
1: Signals, that the actual velocity is 0.
R
9
position_
reached
1: Signals, that the target position is reached.
This flag becomes set while X_ACTUAL and X_TARGET match.
R
8
velocity_
reached
1: Signals, that the target velocity is reached.
This flag becomes set while V_ACTUAL and VMAX match.
R+C
7
event_pos_
reached
1: Signals, that the target position has been reached (pos_reached
becoming active).
This bit is ORed to the interrupt output signal.
(Flag is cleared upon reading)
R+C
6
event_stop_
sg
1: Signals an active StallGuard2 stop event.
(Flag is cleared upon reading)
This bit is ORed to the interrupt output signal.
R
5
event_stop_r
Signals an active stop right condition due to stop switch.
This bit is ORed to the interrupt output signal.
Figure 6.11 Ramp and reference switch status flags

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0X35, 0X55: RAMP_STAT –RAMP AND REFERENCE SWITCH STATUS REGISTER OF TMC5031
R/W
Bit
Name
Comment
4
event_stop_l
1: Signals an active stop left condition due to stop switch.
This bit is ORed to the interrupt output signal.
R+C
3
status_latch_r
1: Latch right ready
(enable position latching using SWITCH_MODE settings
latch_r_active or latch_r_inactive)
This bit is ORed to the interrupt output signal.
(Flag is cleared upon reading)
2
status_latch_l
1: Latch left ready
(enable position latching using SWITCH_MODE settings
latch_l_active or latch_l_inactive)
This bit is ORed to the interrupt output signal.
(Flag is cleared upon reading)
R
1
status_stop_r
Reference switch right status (1=active)
0
status_stop_l
Reference switch left status (1=active)
Table 6.2 RAMP_STAT register

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6.4.2.2 Switch Mode Tab
With this tab, the SW_MODE register of the
TMC5031 can be adjusted. Just tick the desired
function to set it.
0X34, 0X54: SW_MODE –REFERENCE SWITCH AND STALLGUARD2EVENT CONFIGURATION REGISTER
Bit
Name
Comment
11
en_softstop
0: Hard stop
1: Soft stop
The soft stop mode always uses the deceleration ramp settings DMAX, V1,
D1, VSTOP and TZEROWAIT for stopping the motor. A stop occurs when
the velocity sign matches the reference switch position (REFL for negative
velocities, REFR for positive velocities) and the respective switch stop
function is enabled.
A hard stop also uses TZEROWAIT before the motor becomes released.
Attention: Do not use soft stop in combination with stallGuard2.
10
sg_stop
1: Enable stop by stallGuard2. Disable to release motor after stop event.
Attention: Do not enable during motor spin-up, wait until the motor
velocity exceeds a certain value, where stallGuard2 delivers a stable result.
9
-
Reserved, set to 0
8
latch_r_inactive
1: Activates latching of the position to XLATCH upon an inactive going
edge on the right reference switch input REFR.
7
latch_r_active
1: Activates latching of the position to XLATCH upon an active going edge
on the right reference switch input REFR.
Hint: Activate latch_r_active to detect any spurious stop event by reading
status_latch_r.
6
latch_l_inactive
1: Activates latching of the position to XLATCH upon an inactive going
edge on the left reference switch input REFL.
5
latch_l_active
1: Activates latching of the position to XLATCH upon an active going edge
on the left reference switch input REFL.
Hint: Activate latch_l_active to detect any spurious stop event by reading
status_latch_l.
4
swap_lr
1: Swap the left and the right reference switch input
Figure 6.12 SW_MODE register
NOTE
If stallGuard stop is active and the motor stalls,
deactivate the stallGuard event before going on
with your tests. Otherwise the motor will not
rotate.
For a further stallGuard test activate the
stallGuard event again.

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0X34, 0X54: SW_MODE –REFERENCE SWITCH AND STALLGUARD2EVENT CONFIGURATION REGISTER
Bit
Name
Comment
3
pol_stop_r
Sets the polarity of the right reference switch input (0=neg., 1=pos.)
2
pol_stop_l
Sets the polarity of the left reference switch input (0=neg., 1=pos.)
1
stop_r_enable
1: Enables automatic motor stop during active right reference switch input
Hint: The motor restarts in case the stop switch becomes released.
0
stop_l_enable
1: Enables automatic motor stop during active left reference switch input
Hint: The motor restarts in case the stop switch becomes released.
Table 6.3 SW_MODE register