TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 1 TMC239/A DATA SHEET High current microstep stepper motor driver with protection, diagnostics and SPI Interface TRINAMIC Motion Control GmbH & Co KG Hamburg, Germany www.trinamic.com Features The TMC239 / TMC239A (1) is a dual full bridge driver IC for bipolar stepper motor control applications. The TMC239 is realized in a HVCMOS technology and directly drives eight external Low- RDS-ON high efficiency MOSFETs. It supports more than 6000mA coil current. The low power dissipation makes the TMC239 an optimum choice for drives, where a high reliability is desired. With additional drivers, motor current and voltage can be increased. The driver transistors can be chosen depending on output current or environment temperature. Internal DACs allow microstepping as well i as smart current control. The device can be controlled by a serial interface (SPI ) or by analog / digital input signals. Short circuit, temperature, undervoltage and overvoltage protection are integrated. More than 6000mA using 8 external MOS transistors (e.g. 4A RMS) Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals Short circuit and over temperature protection integrated Overvoltage protection integrated (A-type) Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage Integrated 4 bit DACs allow up to 16 times microstepping via SPI, any resolution via analog control (for up to 64 microsteps via SPI see last manual page) Mixed decay feature for smooth motor operation Slope control user programmable to reduce electromagnetic emissions Chopper frequency programmable via a single capacitor or external clock Current control allows cool motor and driver operation 7V to 34V motor supply voltage (A-type) up to 58V motor supply voltage using a few additional low cost components External drivers can be added for higher motor voltages and higher currents (e.g. 50V, 5A) Only 4 external PMOS transistors required for unipolar operation 3.3V or 5V operation for digital part Low power dissipation via low RDS-ON power stage Standby and shutdown mode available Choice of SO28 or chip size MLF package (1) The term TMC239 in this datasheet always refers to the TMC239A and the TMC239. The major differences in the older TMC239 are explicitly marked with non-A-type. The TMC239A brings a number of enhancements and is fully backward compatible to the TMC239. Copyright 2005, TRINAMIC Motion Control GmbH & Co KG TMC239 / TMC239A DATA SHEET (V2.12 / 2011-Aug-10) 2 FEATURES ............................................................................................................................................. 1 PINNING .................................................................................................................................................. 5 PACKAGE CODES ................................................................................................................................... 5 SO28 DIMENSIONS ................................................................................................................................ 6 QFN32 DIMENSIONS .............................................................................................................................. 6 APPLICATION CIRCUIT / BLOCK DIAGRAM ....................................................................................... 7 PIN FUNCTIONS ...................................................................................................................................... 7 SELECTING POWER TRANSISTORS ................................................................................................... 8 LIST OF RECOMMENDED TRANSISTORS .................................................................................................... 8 LAYOUT CONSIDERATIONS ................................................................................................................ 9 USING ADDITIONAL POWER DRIVERS ............................................................................................. 10 CONTROL VIA THE SPI INTERFACE ................................................................................................. 11 SERIAL DATA WORD TRANSMITTED TO TMC239 ..................................................................................... 11 SERIAL DATA WORD TRANSMITTED FROM TMC239 ................................................................................ 11 TYPICAL MOTOR COIL CURRENT VALUES ................................................................................................ 12 BASE CURRENT CONTROL VIA INA AND INB IN SPI MODE ....................................................................... 12 CONTROLLING THE POWER DOWN MODE VIA THE SPI INTERFACE ........................................................... 12 OPEN LOAD DETECTION ........................................................................................................................ 13 STANDBY AND SHUTDOWN MODE .......................................................................................................... 13 POWER SAVING .................................................................................................................................... 13 PROTECTION FUNCTIONS ................................................................................................................. 14 OVERCURRENT PROTECTION AND DIAGNOSIS ........................................................................................ 14 OVER TEMPERATURE PROTECTION AND DIAGNOSIS ................................................................................ 14 OVERVOLTAGE PROTECTION AND ENN PIN BEHAVIOR ............................................................................ 14 CHOPPER PRINCIPLE ......................................................................................................................... 15 CHOPPER CYCLE / USING THE MIXED DECAY FEATURE ........................................................................... 15 ADAPTING THE SINE WAVE FOR SMOOTH MOTOR OPERATION .................................................................. 16 BLANK TIME ......................................................................................................................................... 16 BLANK TIME SETTINGS .......................................................................................................................... 16 CLASSICAL NON-SPI CONTROL MODE (STAND ALONE MODE) .................................................. 17 PIN FUNCTIONS IN STAND ALONE MODE ................................................................................................. 17 INPUT SIGNALS FOR MICROSTEP CONTROL IN STAND ALONE MODE .......................................................... 17 UNIPOLAR OPERATION ...................................................................................................................... 18 DIFFERENCES OF SHORT CIRCUIT BEHAVIOR IN UNIPOLAR OPERATION MODE ........................................... 18 DIFFERENCES IN CHOPPER CYCLE IN UNIPOLAR OPERATION MODE .......................................................... 18 CALCULATION OF THE EXTERNAL COMPONENTS ....................................................................... 19 SENSE RESISTOR ................................................................................................................................. 19 EXAMPLES FOR SENSE RESISTOR SETTINGS .......................................................................................... 19 HIGH SIDE OVERCURRENT DETECTION RESISTOR R ............................................................................ 19 SH MAKING THE CIRCUIT SHORT CIRCUIT PROOF ......................................................................................... 20 OSCILLATOR CAPACITOR ...................................................................................................................... 21 TABLE OF OSCILLATOR FREQUENCIES ................................................................................................... 21 PULL-UP RESISTORS ON UNUSED INPUTS ............................................................................................... 21 POWER SUPPLY SEQUENCING CONSIDERATIONS .................................................................................... 21 SLOPE CONTROL RESISTOR ................................................................................................................. 22 ABSOLUTE MAXIMUM RATINGS ....................................................................................................... 23 Copyright 2005, TRINAMIC Motion Control GmbH & Co KG