Trinamic TMC603-EVAL User manual

EVALUATION FOR ICs EVALUATION BOARD
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
www.trinamic.com
Firmware Version V1.47
EVAL BOARD MANUAL
+ + TMC603-EVAL
Evaluation board for TMC603
three phase motor driver
18.8A RMS / 12… 48V DC
RS232 / UART, USB (mini-USB)
back EMF commutation hallFX™
encoder interface
+ +

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Table of contents
2Features........................................................................................................................................................................... 4
3Order codes.................................................................................................................................................................... 4
4Hardware......................................................................................................................................................................... 5
4.1 Mechanical and electrical interfacing............................................................................................................. 5
4.1.1 Size of TMC603-EVAL and mounting holes ............................................................................................ 5
4.1.2 Connectors....................................................................................................................................................... 6
4.1.3 Switches and potentiometer...................................................................................................................... 8
4.1.4 Jumpers ............................................................................................................................................................ 8
4.1.5 LEDs .................................................................................................................................................................10
4.1.6 Measuring points.........................................................................................................................................10
5 ........................................................................................................................................................11
5.1 TMCL-BLDC evaluation tool .............................................................................................................................11
5.1.1 Settings tab ...................................................................................................................................................12
5.1.2 Torque mode tab.........................................................................................................................................13
5.1.3 Velocity mode tab .......................................................................................................................................14
5.1.4 Positioning mode tab ................................................................................................................................15
5.1.5 PWM mode tab.............................................................................................................................................17
5.1.6 TMCL™tab.....................................................................................................................................................18
5.1.7 File menu of TMCL-BLDC ...........................................................................................................................19
5.2 TMCL-IDE...............................................................................................................................................................20
5.2.1 BLDC tool of the TMCL-IDE .......................................................................................................................20
5.3 TMCL™command overview ...........................................................................................................................23
5.3.1 Motion commands ......................................................................................................................................23
5.3.2 Parameter commands ................................................................................................................................23
5.4 Commands...........................................................................................................................................................24
5.4.1 ROR (rotate right).........................................................................................................................................24
5.4.2 ROL (rotate left)............................................................................................................................................25
5.4.3 MST (motor stop).........................................................................................................................................26
5.4.4 MVP (move to position).............................................................................................................................27
5.4.5 SAP (set axis parameter) ...........................................................................................................................28
5.4.6 GAP (get axis parameter)...........................................................................................................................29
5.4.7 STAP (store axis parameter) .....................................................................................................................30
5.4.8 RSAP (restore axis parameter) .................................................................................................................31
5.4.9 SGP (set global parameter).......................................................................................................................32
5.4.10 GGP (get global parameter)......................................................................................................................33
5.4.11 STGP (store global parameter).................................................................................................................34
5.4.12 RSGP (restore global parameter).............................................................................................................35
5.4.13  ................................36
5.4.14 TMCL™control functions ..........................................................................................................................37
6Axis parameter overview (SAP, GAP, STAP, RSAP)............................................................................................38
6.1 Axis parameter sorted by functionality.......................................................................................................44
7Global parameter overview (SGP, GGP, STGP, RSGP) .......................................................................................51
7.1 Bank 0 ...................................................................................................................................................................51
7.2 Bank 1 ...................................................................................................................................................................52
7.3 Bank 2 ...................................................................................................................................................................52
8PID regulation .............................................................................................................................................................53
8.1 Structure of the cascaded motor regulation modes...............................................................................53
8.2 PWM regulation..................................................................................................................................................53
8.3 Current PID regulation .....................................................................................................................................53
8.4 Velocity PID regulation ....................................................................................................................................55
8.5 Velocity ramp generator ..................................................................................................................................56
8.6 Position PID regulation....................................................................................................................................56
8.7 Parameter sets for PID regulation................................................................................................................58
9Temperature calculation ...........................................................................................................................................59
10 I²t monitoring..............................................................................................................................................................59
11 Life support policy .....................................................................................................................................................60
12 Revision history ..........................................................................................................................................................61

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12.1 Firmware revision..............................................................................................................................................61
12.2 Document revision ............................................................................................................................................61
13 References.....................................................................................................................................................................61

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2Features
The TMC603 evaluation board makes it possible to evaluate the features of the TMC603 three phase BLDC
motor driver with back EMF commutation hallFX      STM32F ARM Cortex-M3
microcontroller is used to control the TMC603. The FLASH memory of the microcontroller contains a program
which configures the TMC603 and controls the communication with the PC via the USB interface and the
RS232 interface. The PC software is based on Windows and allows tuning of all operation parameters for
every three phase BLDC motor.
Application
Evaluation of the features of the TMC603 three phase motor driver
Electrical data
Motor current: up to 18.8A RMS nominal motor current
Supply voltage: 
Interfaces
RS232 (UART)
USB (type B)
Inputs for encoder (ABN)
Three digital hall sensors
Motor type
Three phase BLDC motor
Sine or block commutation
Rotor position feedback: sensorless, encoder or hall sensor
Safety features
Overcurrent / short to GND and undervoltage protection with diagnostics integrated
Software
(TMCL-IDE and TMCL-BLDC)
Firmware update via USB interface and RS232 interface
Highlights
Integrated current measurement using power MOS transistor RDSon
hallFX
Integrated break-before-make logic. No special microcontroller PWM hardware required
EMV optimized current controlled gate drivers
Internal QGD protection supports latest generation of Power MOSFETs
Integrated supply concept with step down switching regulator
Common rail charge pump allows for 100% PWM duty cycle
3Order codes
Order code
Description
Size of unit [mm3]
TMC603-EVAL
Evaluation board for TMC603 three phase motor pre-driver
160 x 100 x 13.5
Table 3.1: Order codes

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4Hardware
4.1 Mechanical and electrical interfacing
4.1.1 Size of TMC603-EVAL and mounting holes
The board dimensions are 160mm x 100mm. Maximum component height (height above PCB level) without
mating connectors is 13.5mm. There are six mounting holes (hole diameter: 3.2mm) suitable for M3 screws.
20
133 3.4
3.4
160
100
3.4
156.6
6x M3
screws for
mounting
3.4
80
Figure 4.1: TMC603-EVAL dimensions

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4.1.2 Connectors
Power
RS232
USB
UART
JTAG
Hall
Motor
Encoder
1
11
1
1
1
1
Figure 4.2: Connectors of TMC603-EVAL
CONNECTORS OF TMC603-EVAL
Label
Connector type
Mating connector type
Power
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
RIA 330-03, 3 pol., 5mm pitch, shrouded
header
RIA 349-3, screw type terminal block,
pluggable, centerline 5 mm / 0.197
inches, wire entry parallel to plug
direction
Encoder
RIA 182-05, 5 pol., 3.5mm pitch, header
RIA 169-05, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
Hall sensor
RIA 182-05, 5 pol., 3.5mm pitch, header
RIA 169-05, screw type terminal block,
pluggable, centerline 3.5 mm / 0.138
inches, wire entry parallel to plug
direction
USB
USB, type B, 4 pol., female
USB, type B, 4 pol., male
UART
Multi-pin-connector, 3 pol., 2.54mm pitch
Female connector with 2.54mm pitch
RS232
DSUB, vertical, 9 pol., male, US-type
DSUB, 9 pol., female
JTAG
Low profile box header without locking
bar, type 8380, 20 pol., DIN 41651,
2.54mm pitch
Low profile IDC socket connector, 20pol.,
DIN41651, 2.54mm pitch
Table 4.1: Connectors

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4.1.2.1 Power connector
Pin
Label
Direction
Description
1
GND
Power (GND)
Power supply and signal ground
2
+UB
Power (Supply input)

Table 4.2: Power connector
4.1.2.2 Motor connector
Pin
Label
Direction
Description
1
W
Output
Motor coil connection W
2
V
Output
Motor coil connection V
3
U
Output
Motor coil connection U
Table 4.3: Motor connector
4.1.2.3 Hall sensor connector
Pin
Label
Direction
Description
1
+5V
Output
Power supply output for hall sensor, nom. +5V DC
2
GND
GND
Power supply and signal ground
3
HALL1
Input (5V TTL)
Hall sensor 1
4
HALL2
Input (5V TTL)
Hall sensor 2
5
HALL3
Input (5V TTL)
Hall sensor 3
Table 4.4: Hall sensor connector
4.1.2.4 Encoder connector
Pin
Label
Direction
Description
1
+5V
Output
Power supply output for hall sensor, nom. +5V DC
2
GND
GND
Power supply and signal ground
3
ENC_A
Input
Encoder signal A
4
ENC_B
Input
Encoder signal B
5
ENC_N
Input
Encoder signal N
Table 4.5: Encoder connector
4.1.2.5 USB connector
Pin
Label
Description
1
+5V
Board is self-powered just use to detect availability of attached host system
(e.g. PC)
2
USB-
Differential USB bus
3
USB+
Differential USB bus
4
GND
System and module ground
Table 4.6: USB connector
4.1.2.6 RS232 connector
Pin
Label
Description
2
RXD
Received data line
3
TXD
Transmitted data line
5
GND
RS232 signal and system ground
Table 4.7: RS232 connector

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4.1.2.7 UART connector
Pin
Label
Description
1
RXD
Received data line
2
TXD
Transmitted data line
3
GND
Signal and system ground
Table 4.8: UART connector
4.1.3 Switches and potentiometer
Reset Switch1 Switch2Potentiometer
Figure 4.3: Switches and potentiometer
Label
Description
Reset
The reset switch is connected to the NRST pin of the µC. Press it to reset the
module.
Potentiometer
The potentiometer is connected to pin PC5 of the µC (ADC_IN15/PC5). It can be
used customer specific by GAP 22.
Switch1
Switch1 is connected to pin PB1 of the µC (PB1/ADC_IN9/T3_CH4). The switch can
be used customer specific by GAP 21.
Switch2
Switch2 is connected to pin PB0 of the µC (PB0/ADC_IN8/T3_CH3). The switch can
be used customer specific by GAP 20.
Table 4.9: Switches and potentiometer
4.1.4 Jumpers
Jumper
Label
Description
Select +3.3V supply
+3.3V_SEL
Jumper pins
Result
1, 2
+5V supply voltage of additional switching
regulator (default). Precondition: +5V_SEL
jumper on pin 1 and 2.
2, 3
+12V low side driver supply voltage of
TMC603.
Select +5V supply
+5V_SEL
Jumper pins
Result
1, 2
+5V supply voltage of additional switching
regulator (default)
2, 3
+5V Internal supply voltage of TMC603
Short to GND control
resistor
RS2G
The short to GND control resister controls the delay time between
switching on the high side MOSFET and the short to GND check.
Jumper plugged RS2G = 470kΩ(tS2G = 2µs)
Jumper unplugged RS2G = 1.47MΩ(tS2G = 6µs) default
Slope control resistor
RSLP
The slope control resistor sets output current for MOSFET drivers.
Jumper plugged RSLP = 100kΩ(Igate = 100mA)
Jumper unplugged RSLP = 147kΩ(Igate = 68mA) default
Error enable
ERR-EN
Jumper plugged In case of error (e.g. short circuit on
output) the TMC603 turns off
itself by hardware.
Jumper unplugged Without jumper the shutdown has to
be realized by the processor.

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Jumper
Label
Description
Enable/disable shunt
resistors for current
measurement
ENRS
Set this jumper together with the three jumpers Filter/Ext_Shunt.
There are two possibilities.
-Set ENRS jumper together with three jumpers
Filter/Ext_Shunt on pin position 2-3 (extern shunt). Now,
the measurement of the motor current will be done with
the shunt resistors on the board.
-If the ENRS jumper is not set and the three jumpers
Filter/Ext_Shunt are set on pin position 1-2 (filter
position), there will be the filtered, measured motor
voltages on the measuring points F1, F2, and F3.
Spike suppression
time control
capacitor
SP_SUP
An external capacitor on this pin controls the commutation spike
suppression time for hallFX™. This pin charges the capacitor via
an internal current source.
All jumpers unplugged CSP_SUP = 470pF (tSP_SUP = 47µs)
Jumper 1nF plugged CSP_SUP = 1.47nF (tSP_SUP = 147µs)
Jumper 2.2nF plugged CSP_SUP = 2.67nF (tSP_SUP = 267µs)
Jumper 1nF and 2.2nF CSP_SUP = 3.67nF (tSP_SUP = 367µs)
Jumper 4.7nF plugged CSP_SUP = 5.17nF (tSP_SUP = 517µs) Default
Jumper 1nF and 4.7nF CSP_SUP = 6.17nF (tSP_SUP = 617µs)
Jumper 2.2nF and 4.7nF CSP_SUP = 7,37nF (tSP_SUP = 737µs)
All jumpers plugged CSP_SUP = 8,37nF (tSP_SUP = 837µs)
Filter output /
external sense
resistor input
Filter/Ext.Shunt
Selects output signal of internal switched capacitor filters or input
for external sense resistor (default).
When the internal RDSon of optional MOSFETs in TO-220 package
are used to measure the actual motor current, set the jumper to
pin 1 and 2. In that case, the filter outputs of TMC603 are
connected to the measuring points Fx (refer
chapter 10). In addition, set the axis parameter
225 to zero (refer chapter 6), to select the current
measurement by using the internal RDSon of
optional MOSFETs.
When the external sense resistors are used to measure the actual
motor current, set the jumpers to pin 2 and 3 (default). In that
case, the external sense resistors are connected to the analog
inputs RSx of TMC603 (refer TMC603 datasheet).
In addition, set the axis parameter 225 to one
(refer chapter 6), to select the current
measurement by using the external sense
resistor.
RS232 select
RS232_SEL
Both jumpers plugged RS232 usable on D-sub connector
Both jumper unplugged UART TTL usable on D-sub connector
Table 4.10: Jumpers

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4.1.5 LEDs
LEDS OF THE TMC603-EVAL
Status
Label
Description
Error signal
ERROR
This red LED lights up upon an error is occurred by
undervoltage of VLS or VCP as well as by short to ground of
the power MOS half bridge.
Power on
POWER
This green LED lights up upon the power supply is working.
Temperature warning
OVER TEMP
This red LED flashes upon the power state has exceeded a
critical temperature of 100°C (prewarning). This red LED lights
up upon the power stage has exceeded a critical temperature
of 120°C. The motor becomes switched off, until temperature
falls below 110°C.
Current limit
OVER CURRENT
This red LED lights up upon the motor current has exceeded
the current limit.
LED without defined
function
LED1
This yellow LED is applicable and can be used customer
specific.
Table 4.11: LEDs
4.1.6 Measuring points
MEASURING POINTS OF THE TMC603-EVAL
Measuring point
Label
Description
Charge pump supply
voltage
VCP
Charge pump supply voltage. Provides high side driver supply.
Low side driver supply
voltage
VLS
Low side driver supply voltage for driving low side gates.
Power supply +5V DC
+5V
Power supply, nom. +5V DC
Power supply +3.3V DC
+3.3V
Power supply, nom. +3.3V DC
Ground
GND
Power supply and signal ground. There are two ground pins
for the oscilloscope.
Error output
ERROR
Error output (open drain). The TMC603 has three different
sources for signaling an error:
-Undervoltage of the low side supply
-Undervoltage of the charge pump
-Short to GND detection
Upon any of these events the error output is pulled low.
Current output
CUR1/2/3
Output of current measurement amplifier (for phase 1 to 3).
The output signal is centered to 1.65V.
Filter output
F1/2/3
Output of internal switched capacitor filter (for phase 1 to 3).
This signal is available only if filter outputs of TMC603 are
selected (refer chapter 8).
High side output
HS1/2/3
High side MOSFET driver output (for phase 1 to 3)
Bridge output
BM1/2/3
Sensing input for bridge output. Used for MOSFET control and
current measurement. (for phase 1 to 3)
Low side output
LS1/2/3
Low side MOSFET driver output (for phase 1 to 3)
Table 4.12: Measuring points

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5TMCL™ overview
As with most TRINAMIC modules the software running on the STM32F ARM Cortex-M3 processor of the
TMC603-EVAL consists of two parts, a boot loader and the firmware itself. Whereas the boot loader is
installed during production and testing at TRINAMIC and remains normally untouched throughout the
whole lifetime, the firmware can be updated by the user. The firmware shipped with this evaluation board

and commands. There are two software tools: the TMCL-BLDC and the TMCL-IDE. Whereas the TMCL-BLDC is
used for testing different configurations in all modes of operation the TMCL-IDE is mainly designed for
conceiving programs and firmware updates. New versions of the TMCL-BLDC and the TMCL-IDE can be
downloaded free of charge from the TRINAMIC website (http://www.trinamic.com).
5.1 TMCL-BLDC evaluation tool
The TMCL-BLDC is a special tool for adjusting and testing settings of the TMC603-EVAL in all modes of
operation. Use this software tool for finding initial settings. For a better understanding of the PID regulation
and its backgrounds we recommend the study of chapter 8.
Figure 5.1: Connection tab of TMCL-BLDC
The first step is to connect the module. The structure of tabs of the TMCL-BLDC shows clearly how to
proceed with the program. On the right side of the window the status and the error flags are shown. Below
the input area are diagrams for velocity, position and current/PWM. These diagrams and the status/error
information can be used for controlling new settings visually in order to identify best results as well as
deficient settings. It is possible to scale each X-axis and Y-axis to get a comfortable report. These parts of
the program are for diagnostic tasks and remain independent from the chosen tab, but the input area on
top can be chosen by selecting a specific tab.
Please note that the status/error information and the curves have to be activated by starting the trace
controller on the settings tab.
The settings tab is needed for general settings of the evaluation board. The next four
tabs are designed for testing the four modes of operation (torque mode, velocity mode,
positioning mode, PWM mode). On the tabs for torque mode, velocity mode, and
positioning mode is a block for the PID control of the operation mode. Here are fields
for filling in values of PID parameter set 1 and set 2. Set 1 is intended for lower
velocities, set 2 for higher velocities. Below them is a value field for filling in the
threshold between both PID sets. The TMC603-EVAL manages the switch-over between
set 1 and set 2 smoothly avoiding disruptive factors. The last tab is used for controlling
the evaluation board with TMCL™direct mode. You can enter all TMCL™commands as
usually. The TMCL™commands are explained in detail in chapter 0.
TMCL-BLDC tabs:
Settings
Torque mode
Velocity mode
Positioning
mode
PWM mode
TMCL™

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5.1.1 Settings tab
After connecting the module with the connect button you can choose the settings tab and fill in basic
values: motor settings, encoder settings and commutation mode. All settings correspond to specific axis
parameters, which are described in detail in chapter 6.
The trace controller has to be started for displaying the curves on the diagrams below. Clicking the start
button of the trace controller enables the status/error flags, too.
Figure 5.2: Settings tab of TMCL-BLDC

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5.1.2 Torque mode tab
The torque mode tab offers the possibility to test different current settings and to evaluate the current PID
control by choosing values for the P, I, and D parameters of set 1 and set 2. Further the I clipping value for
each set can be chosen and the threshold for the switch-over between set 1 and set 2 can be set.
The drive can be started (in positive and negative direction) and stopped with the buttons in the current
control field. The values can be calibrated on the fly while the drive is still active. The results will be shown
immediately on the diagrams below.
Figure 5.3: Torque mode tab of TMCL-BLDC

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5.1.3 Velocity mode tab
The input area of the velocity tab has three parts: the velocity ramp control, the velocity control and the
velocity PID control. In the middle of the input area is the velocity control, which is used to start the drive
(positive and negative direction) in velocity mode with a chosen speed [rpm] or stop it. The velocity ramp
control is needed for setting the maximum velocity [rpm] and the acceleration [rpm/s]. Further, the velocity
ramp can be enabled by ticking the appropriate field. Disabling the velocity ramp leads to a hard stop.
On the right side is the velocity PID control. Here, the P, I, D, and I clipping parameter values for set 1 and
set 2 as well as the threshold value for the switch-over between set 1 and set 2 can be set. The values can
be calibrated on the fly while the drive is still active. The results will be shown immediately on the
diagrams.
Figure 5.4: Velocity mode tab of TMCL-BLDC

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5.1.4 Positioning mode tab
The input area of the positioning mode tab has three parts: the velocity ramp control, the positioning
control, and the positioning PID control.
The velocity ramp control is the same as on the velocity mode tab. Maximum velocity and acceleration can
be chosen and the velocity ramp can be enabled or disabled. In the middle of the positioning mode input
area is the positioning control field. This is adequate designed to the TMCL™command MVP (move to
position). There are two possibilities to move in positive or negative direction: move absolutely or relatively
to the actual position. The unit of the target position is encoder steps per rotation (operation with encoder,
only). The unit for positioning with hall sensors is 
steps per motor rotation.
The button clear sets the counter for positioning to zero. Clear on NULL is used with encoder. The actual
position is set to zero when crossing the next N channel.
On the right side of the positioning mode tab input area is the position PID control. Here, values of the P, I,
D, and I clipping parameters (set 1 and set 2) for the position PID control can be filled in and the specific
threshold between both sets can be set. The values can be calibrated on the fly while the drive is still
active. The results will be shown immediately on the diagrams.

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Figure 5.5: Positioning mode tab of TMCL-BLDC

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5.1.5 PWM mode tab
On the PWM mode tab is the PWM control field, where a target PWM can be chosen. The drive can be
started and stopped as on the other tabs with the appropriate buttons below the value field of the target
PWM. The target PWM value can be changed on the fly while the drive is still active. The results will be
shown immediately on the diagrams.
Figure 5.6: PWM mode tab of TMCL-BLDC

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5.1.6 TMCL™tab
The input area of the TMCL™tab has the same structure as the appropriate window for TMCL™direct mode
of the TMCL-IDE. Command number, type, motor/bank and a chosen value can be set. By clicking the Send
button the request will be sent to the evaluation board. Immediately the reply of the TMC603-EVAL will be
displayed in the Reply field.
An overview of all TMCL™commands is given in the following paragraphs. Please refer to the complete lists
of axis parameters and global parameters in chapter 6, too.
Figure 5.7: TMCL™tab

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5.1.7 File menu of TMCL-BLDC
The file menu of the TMCL-BLDC offers the possibility to import and to export settings. This is useful for
transferring settings from one module to another. Settings can be exported (Export settings to *.ini) and
afterwards imported to another module with the command Import settings from *.ini.
Further, it is useful to export evaluated adjustments of the TMCL-BLDC program to a TMCL script used later in
the TMCL-IDE. Therefore choose Export settings to TMCL.
Certainly actual values can be stored and restored.
Figure 5.8: File menu of TMCL-BLDC
TRINAMIC offers different scripts (www.trinamic.com) for testing block hall, hallFX™, encoder, switches and
the rotary switch:
-Block_Hall_torque_velocity_rotary_switch.tmc
-HallFXTest.tmc
-Sinus_Encoder_Limit_Switch_Test.tmc

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5.2 TMCL-IDE
The TMCL-IDE is an integrated development environment mainly for developing stand 
applications, but it -IDE is
a PC application running under Windows 95/98/NT/2000/XP/Vista/Windows 7.
For the TMC603-EVAL in particular the dialogue for configuring BLDC modules is important. Most other
functions can be used, too. Please refer to the TMCL-IDE User Manual (www.trinamic.com) for detailed
information about this.
Please be sure to always use the latest version of the TMCL-IDE as its functionality is being extended
and improved constantly.
5.2.1 BLDC tool of the TMCL-IDE
The BLDC tool of the TMCL-IDE consists mainly of two parts: the left for adjusting axis parameters and
testing them directly in praxis and the right for reporting generated values.
Figure 5.9: Configuration tool of the TMCL-IDE