motionCookie SYSTEM IN A PACKAGE motionCookie TMCC160 DATASHEET Integrated motionCookie microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A gate current with a complete servocontroller software stack. Applications Robotics Pump, Fan Applications Industrial Automation Medical, Lab Automation CNC Machines E-Bikes Battery Powered Devices Features & Benefits Description Integrated BLDC or PMSM Servo Controller The TMCC160 is a ready to use PMSM/ Integrated Gate Driver up to 1A Gate Current BLDC motor controller in a miniaturized Voltage Range 724V 12x17mm system in a package. It Integrated FOC Controller integrates a powerful programmed UART, CAN or SPI Interface microcontroller with efficient state of Hall Interface the art commutation algorithm, gate ABN Incremental Encoder Interface driver, different interface options as well Integrated Switching Regulator as a step down converter which generates the digital power supply, measurement and diagnostic features. Block Diagram Ref. I U, I V Switches Power Bridge VM TMCC160 Motor UART CAN PWM U SPI0 DIAG V Microcontroller Gatedriver SPI1 AIN Current W ABN HALL Power DC/DC (3.3V) Supply I U, I V ABN HALL Figure 1: TMCC160 System Block Diagram 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com TMCC160 motionCookie (Rev. 1.00 / 2015-Nov-16) 1 Table of Contents TMCC160 DATASHEET ......................................... 1 4.5.11 Power Supply Filtering Applications ....................................................... 1 Capacitors .................................................... 21 Features & Benefits .......................................... 1 4.6 Interface ............................................... 21 Description ........................................................ 1 4.6.1 RS232 ............................................... 21 Block Diagram ................................................... 1 4.6.2 RS485 ............................................... 22 1 Table of Contents ......................................... 2 4.6.3 RS485 Bus Structure ...................... 23 PRODUCT DETAILS ....................................... 1 4.6.4 RS485 Bus Termination................. 23 2 Pin Assignments ........................................... 1 4.6.5 No Floating Bus Lines .................... 23 2.1 Package Pin Numbering ....................... 1 4.6.6 CAN 2.0B Interface ........................ 24 2.2 Package Pin Description ....................... 2 4.6.7 CAN Bus Structure ......................... 24 2.3 Wide Range of Control Algorithms ..... 3 4.6.8 CAN Bus Termination .................... 25 3 System Overview .......................................... 5 4.6.9 Number of Nodes .......................... 25 3.1 Block Diagram ....................................... 5 4.6.10 Analog Input ................................... 26 3.2 System Architecture.............................. 5 4.7 EEPROM ................................................ 27 3.3 Hall-Sensor Configuration.................... 6 4.8 Brake Chopper .................................... 28 3.4 Encoder Configuration ......................... 7 4.8.1 Brake resistor selection ................ 28 4 External Components .................................. 8 4.8.2 Brake Chopper Example ............... 29 4.1 Gate Driver Charge Pump (TMC6130) 8 4.9 Absolute Maximum Ratings ............... 30 4.2 DC/DC Converter (3.3V) ...................... 10 5 Operational Ratings ................................... 31 4.3 CORTEX M4 Crystal ............................. 12 6 Mechanical Dimensions ............................. 33 4.4 Supply Filter ......................................... 12 6.1 TMCC160 Package Footprint ............. 33 4.5 Power MOSFET Bridge ........................ 15 6.1.1 Soldering Profile ............................ 35 4.5.1 Direct Coil Current Measurement 15 7 SUPPLEMENTAL DIRECTIVES ..................... 36 4.5.2 Recommended Schematic for Direct 7.1 ESD Sensitive Device ........................... 36 Coil Measurement ...................................... 15 7.2 Disclaimer ............................................ 36 4.5.3 Sense Resistor Selection ............... 16 8 Revision History .......................................... 37 4.5.4 Calculating Power Losses ............. 17 8.1 Document Revision ............................. 37 4.5.5 Current Amplifier ........................... 17 8.2 Hardware Revision .............................. 37 4.5.6 Single Shunt Measurement .......... 17 8.3 Software Revision ............................... 37 4.5.7 Sense Resistor Selection ............... 18 4.5.8 Dead Time Logic............................. 18 4.5.9 Power MOSFET Selection .............. 18 4.5.10 Gate Driver Clamp Diodes ............ 19 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Read entire DATASHEET USER MANUAL before use of product. Terms of delivery and rights to technical change reserved. Download newest version at: www.trinamic.com 2/39