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TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 1 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg tmc 42 4 C datasheet serial t riple incremental encoder interface trinamic motion control gmbh & co. kg waterloohain 5 d C 2 2769 hamburg germany www.trinamic.com tmc42 4 main features the tmc42 4 is a triple incremental encoder input chip, which interfaces to any spi tm c ompatible controller. the TMC424 can especially be used in conjunction with the tmc42 9 triple stepper motor controller to provide position verification or stabilization using some additional so ftware. it integrates 24 bit counters for each encoder to provide a high position resolution without cpu interaction. further it allows dynamic resolution adaptation to allow direct comparison of encoder counters with motors using a different micro step re solution. all encoder counters can be latched synchronously, or whenever a null channel event occurs, providing a position on strobe holding function. the tmc42 4 also provides a step / direction output with programmable signal shaping for the tmc42 9 as an optional function. a multiplexer function is also integrated for the tmc42 9 reference switches. all functions can also be used in conjunction. applications ? stepper motor position verification ? position maintenance ? incremental encoder interface readout ? ste p / direction conversion for tmc42 9 systems features ? supports 2 and 3 channel incremental encoders with a wide range of resolutions ? allows step / direction signal extraction from tmc42 9 output data stream ? programmable pulse shaping for step / direction in terface ? 24 bit integrated position resolution ? programmable prescaler for incremental encoder interface ? 4 - times evaluation of encoder signals ? fast 32 bit spi tm interface ? can share spi tm interface with tmc42 9 and supplies separate interrupt output ? integrates reference switch multiplexers ? package: tq100 note: spi is trademark of motorola, inc. s d o s c k s d i s d o 4 2 9 n s c s n i n t n s c s 4 2 9 g n d e x t _ r e s v c o r e s d i _ d s d o _ d n s c s _ d s c k _ d r e f 2 r e f 1 v c c i s t o p r 0 g n d s t o p r 2 r e f 0 s t o p r 1 s t o p l 0 s t o p l 1 s t o p l 2 t d i tmc 424 tqfp - 100 package gnd enc 1 _ a enc 1 _ b enc 1 _ n enc 2 _ a gnd enc 2 _ b enc 2 _ n enc 3 _ a enc 3 _ b enc 3 _ n step 1 dir 1 vcci step 2 dir 2 step 3 dir 3 vcore gnd gnd t c k t m s tdo trst vcc clk vcci vcc gnd vcc v c c i e n c _ i n v vcc gnd vcore vcore v c o r e v c c 1 25 75 51 2 6 5 0 1 0 0 7 6 gnd
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 2 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg revision history version comment date name 1 . 0 derived from tmc423 rebirth datasheet v1.4 june 24, 2010 sl 1.01 added pin12 (gnd) to table 1 october 14, 2010 sl 1.02 added internal pull - up/ - down resistors to table 1 february 1, 2011 sl 1.03 updated to tmc429 and tmc26x june 30, 2011 sl 1.04 warning hint for chamfer ed corner in ic package is not pin 1 reference 2015 - ju n - 01 bd
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 3 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg table of contents 1 pinout ................................ ................................ ................................ ................................ ................................ .............. 5 1.1 pin description ................................ ................................ ................................ ................................ ..................... 6 1.2 recommended operating conditions ................................ ................................ ................................ ............ 7 1.3 electrical characteristics ................................ ................................ ................................ ................................ ..... 7 2 block diagram ................................ ................................ ................................ ................................ ............................... 8 3 application environment ................................ ................................ ................................ ................................ ............ 9 3.1 application descript ion ................................ ................................ ................................ ................................ ...... 9 3.1.1 application with tmc26x stepper motor driver (spi controlled) ................................ ..................... 9 3.1.2 application with step/direction controlled tmc 26x ................................ ................................ ............ 9 3.2 application examples ................................ ................................ ................................ ................................ ........ 10 3.2.1 application with tmc6x stepper motor driver ................................ ................................ .................... 10 3.2.2 application with step/direction power stage ................................ ................................ ..................... 10 4 dynamic resolution adaptation ................................ ................................ ................................ ............................. 11 5 serial peripher al interface (spi) with 32 - bit register ................................ ................................ ...................... 12 5.1 description and specification ................................ ................................ ................................ ......................... 12 5.2 32 - bit spi datagram structure ................................ ................................ ................................ ....................... 13 5.3 spi 32 - bit datagram specification ................................ ................................ ................................ ................ 13 5.3.1 overview ................................ ................................ ................................ ................................ ........................ 13 6 incremental en coder ................................ ................................ ................................ ................................ ................. 14 7 configuration datagrams ................................ ................................ ................................ ................................ ......... 15 7.1 encoder interface prescaler and null event configuration ................................ ................................ .... 15 7.2 encoder interface hold register operation ................................ ................................ ................................ 16 7.3 timer logic step pulse length and delay ................................ ................................ ................................ . 17 7.4 control register and interrupt control ................................ ................................ ................................ ....... 17 7.5 n - channel read back ................................ ................................ ................................ ................................ ........ 17 8 spi - protocol for interface with 6 - bit register ................................ ................................ ................................ .... 18 8.1 step and direction pulse conversion ................................ ................................ ................................ ........... 18 9 package dimensions ................................ ................................ ................................ ................................ .................. 19
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 4 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg list of figures figure 1: pinout TMC424 ................................ ................................ ................................ ................................ ..................... 5 figure 2: block diagram of the TMC424 ................................ ................................ ................................ .......................... 8 figure 3: ap plication environment ................................ ................................ ................................ ................................ ... 9 figure 4: example for application with spi controlled tmc26x stepper motor driver ................................ ... 10 figure 5: example f or application with step/direction power stage ................................ ................................ .. 10 figure 6: TMC424 application ................................ ................................ ................................ ................................ .......... 11 figure 7: timing diagram of the serial interfa ce ................................ ................................ ................................ ...... 12 figure 8: structure 32 - bit interface ................................ ................................ ................................ ................................ 13 figure 9: overview TMC424 registers ................................ ................................ ................................ ........................... 13 figure 10: encoder output and evaluation ................................ ................................ ................................ .................. 14 figure 11: crosstalk on encoder wire ................................ ................................ ................................ ........................... 14 figure 12: step directi on conversion ................................ ................................ ................................ ............................ 18 figure 13: 100 - pin tqfp top view ................................ ................................ ................................ ................................ . 19 figure 14: 100 - pin tqfp side view ................................ ................................ ................................ ................................ 19 figure 15: 100 - pin tqfp side view detail a ................................ ................................ ................................ ................ 19 list of tables table 1: TMC424 pinout ................................ ................................ ................................ ................................ ....................... 6 table 2: operating conditions ................................ ................................ ................................ ................................ ........... 7 table 3: operating conditions ................................ ................................ ................................ ................................ ........... 7 table 4: prescaler factors for different motors and encoders ................................ ................................ ................ 11 table 5: interrupt flags ................................ ................................ ................................ ................................ ..................... 13 table 6: spi datagram prescaler ................................ ................................ ................................ ................................ ..... 16 table 7: spi datagram hold register ................................ ................................ ................................ ............................ 16 table 8: spi datagram step - /dir logic ................................ ................................ ................................ ........................... 17 table 9: spi datagram control registe r ................................ ................................ ................................ ....................... 17 table 10: n - channel read back register ................................ ................................ ................................ ...................... 17 table 11: spi datagram step / direction converter ................................ ................................ ................................ .. 18 table 12: datagram example and ram contents for three step - direction drivers ................................ ............ 18 table 13: tqfp dimensions ................................ ................................ ................................ ................................ .............. 20
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 5 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 1 pinout figure 1 : pinout tmc4 24 s d o s c k s d i s d o 4 2 9 n s c s n i n t n s c s 4 2 9 g n d e x t _ r e s v c o r e s d i _ d s d o _ d n s c s _ d s c k _ d r e f 2 r e f 1 v c c i s t o p r 0 g n d s t o p r 2 r e f 0 s t o p r 1 s t o p l 0 s t o p l 1 s t o p l 2 t d i t m c 4 2 4 t q f p - 1 0 0 p a c k a g e g n d e n c 1 _ a e n c 1 _ b e n c 1 _ n e n c 2 _ a g n d e n c 2 _ b e n c 2 _ n e n c 3 _ a e n c 3 _ b e n c 3 _ n s t e p 1 d i r 1 v c c i s t e p 2 d i r 2 s t e p 3 d i r 3 v c o r e g n d g n d t c k t m s t d o t r s t v c c c l k v c c i v c c g n d v c c v c c i e n c _ i n v v c c g n d v c o r e v c o r e v c o r e v c c 1 2 5 7 5 5 1 2 6 5 0 1 0 0 7 6 g n d
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 6 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 1.1 pin description pin location dir pull - up / pull - down description gnd 1, 9, 12, 25, 38, 51, 67, 75, 88 ground enc1_a 3 in incremental encoder interface 1 channel a enc1_b 4 in in cremental encoder interface 1 channel b enc1_n 5 in incremental encoder interface 1 channel n enc2_a 6 in incremental encoder interface 2 channel a enc2_b 7 in incremental encoder interface 2 channel b enc2_n 8 in incremental encoder interface 2 ch annel n enc3_a 1 0 in incremental encoder interface 3 channel a enc3_b 11 in incremental encoder interface 3 channel b enc3_n 13 in incremental encoder interface 3 channel n enc_inv 86 in down invert all encx_y inputs tdi 48 connect to ground tms 49 connect to 3.3 volt via pull - up resistor trst 55 connect to 3.3 volt via pull - up resistor tdo 54 to be left open tck 47 connect to ground vcci 18, 39, 66, 87 positive power supply 3.3 volt vcc 24, 50, 52, 56, 74 positive power supply 3.3 volt vcore 14, 17, 37, 68, 89 positive power supply 1.5 volt clk 64 in system clock 16mhz ext_res 92 in up external reset low active step 1 16 out step/direction interface C step output motor 1 dir 1 19 out step/direction interface C directio n output motor 1 step 2 20 out step/direction interface C step output motor 2 dir 2 21 out step/direction interface C direction output motor 2 step 3 22 out step/direction interface C step output motor 3 dir 3 23 out step/direction interface C dire ction output motor 3 sdo_d 26 out step / direction spi miso sdi_d 27 in up step / direction spi mosi sck_d 28 in up step / direction spi sck nscs_d 29 in up step / direction spi nscs ref0 34 out reference switch output 1 ref1 35 out reference swi tch output 2 ref2 36 out reference switch output 3 stopr0 40 in down right stop switch motor 1 stopr1 41 in down right stop switch motor 2 stopr2 42 in down right stop switch motor 3 stopl0 43 in down left stop switch motor 1 stopl1 44 in down left stop switch motor 2 stopl2 45 in down left stop switch motor 3 sdo 100 out spi miso sdi 99 in up spi mosi sck 98 in up spi sck nscs 97 in up spi nscs sdo429 96 in up spi miso pin of tmc429 (sdo_c) nscs42 9 95 in up spi nscs pin of tmc429 (nscs_c) nint 94 out interrupt output (low active) table 1 : tmc42 4 pinout note: pins which are not marked in figure 1 : pinout tmc4 24 on page 5 must be left open.
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 7 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 1.2 recommended operating conditions parameter value unit clock frequency (1) 16 mhz temperature 0 table 2 : operating conditions 1 C frequencies up to 60mhz are supported. p lease take care about the timing information in this datasheet, since they are based on 16mhz clock frequency. 1.3 electrical characteristics parameter min max unit supply current 1 .5v 10.5 ma supply current 3 . 3 v (output current = 0) 1.5 ma input voltag e level low 0.8 v input voltage level high 2 v encoder input pulse length 2 t clk encoder count rate f clk table 3 : operating conditions
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 8 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 2 block diagram figure 2 : block diagram of the tmc42 4 c l k p o w e r o n r e s e t e n c o d e r s i g n a l d e c o d e r f l a g r e g i s t e r p r e s c a l e r f a c t o r 1 0 b i t 1 / 1 6 , 2 / 1 6 , . . . 6 4 o r 1 / 5 , 2 / 5 , . . . 6 4 e n c o d e r c o u n t e r 2 4 + 4 b i t + e n c o d e r h o l d 2 4 b i t p r e s c a l e r + 1 s p i i n t e r f a c e w i t h 3 2 b i t r e g * c l e a r o n n e v e n t * h o l d o n n * n p o l a r i t y c o n t r o l r e g i s t e r * c o m m o n h o l d c o m m a n d * i n t e r r u p t e n a b l e s c k s d i s d o n s c s m u x s d o 4 2 8 n s c s 4 2 8 i n t l o g i c + l a t c h n i n t 3 x e n c o d e r i n t e r f a c e 3 x s t e p / d i r e c t i o n c o n v e r t e r s c k _ d s d i _ d s d o _ d n s c s _ d s p i i n t e r f a c e w i t h 6 b i t r e g s t e p p u l s e l e n g t h 8 b i t t i m e r l o g i c s t e p p u l s e d e l a y a f t e r d i r c h a n g e 1 0 b i t e x t r e s r e f 1 r e f 2 r e f 3 s t o p l 1 s t o p l 2 s t o p l 3 s t o p r 1 s t o p r 2 s t o p r 3 r e f m u x v c c g n d e n c 1 a e n c 1 b e n c 1 n e n c 3 a e n c 3 b e n c 3 n e n c 2 a e n c 2 b e n c 2 n s t e p 1 d i r 1 s t e p 2 d i r 2 s t e p 3 d i r 3 e n c _ i n v v c c i v c o r e
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 9 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 3 application environment figure 3 : application environment 3.1 application description 3.1.1 application with tmc2 6x stepper motor driver (spi controlled) a complete close - loop motion co ntro l system consists of the tmc429 three - axis motion controller, a powerful stepper motor driver from the tmc26x family and the tmc42 4 encoder interface. the system is controlled by an inexpensive microcontroller. the main advantage of the system is that time crit ical communication to the tmc26x d river is performed by the tmc429 . the main purpose of the inexpensive microcontroller is to parameterize the tmc42 9 and tmc42 4 and to send motion parameters like maximum speed or target position to the tmc429 . po sition validation is done by reading t he actual position of the tmc429 and the tmc42 4 . the older tmc236, tmc246, tmc239 and tmc249 are also compatible with the TMC424. 3.1.2 application with step/ direction controlled tmc26x another possibility to buil d a close loop motion control system is to use the tmc42 4 as encoder interface and also as a step directi on converter. thereto the TMC424 converts the spi tm datagrams sent by the tmc42 9 into parameterize able step and direction pulses. fo r parameterizing, both the tm c429 and tmc42 4 have to be connected via spi tm interface to an inexpensive microcontroller. since the tmc429 already has the capability to output step/direction signals for at least two motors (depending on the package), the conversion in the TMC424 is not needed in most cases. m o t o r i n c r e m e n t a l e n c o d e r t m c 4 2 9 t m c 4 2 4 t m c 2 6 x c s p i - i n t e r f a c e s p i - i n t e r f a c e s t e p / d i r e c t i o n i n t e r f a c e f o r u p t o t h r e e p o w e r s t a g e s m o t o r i n c r e m e n t a l e n c o d e r t m c 2 6 x m o t o r i n c r e m e n t a l e n c o d e r t m c 2 6 x m o t o r i n c r e m e n t a l e n c o d e r t m c 2 6 x t m c 4 2 9 t m c 4 2 4 t m c 2 6 x t m c 2 6 x c m o t o r i n c r e m e n t a l e n c o d e r m o t o r i n c r e m e n t a l e n c o d e r s p i - i n t e r f a c e s p i - i n t e r f a c e t m c 4 2 4 a s s t e p / d i r e c t i o n c o n v e r t e r a n d i n c r e m e n t a l e n c o d e r i n t e r f a c e t m c 4 2 4 a s i n c r e m e n t a l e n c o d e r i n t e r f a c e
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 10 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 3.2 application examples 3.2.1 application with tmc 6x stepper motor driver this example illustrates the encoder connection and the use of reference switches with the tmc42 4 and additionally the spi interface connections between tmc42 4 , tmc42 9 and a microcontroller. the communica tion to the drivers (e.g. tmc260 ) is performed via spi by the tmc429 motion control chip. on some package variants of the tmc429, the refr pins are available. those should be preferred to the stopr/stopl inputs of the t mc424's multiplexer. figure 4 : example for application with tmc2 6x stepper motor driver 3.2.2 application with step/ direction power stage additionally to the previous example the use of the tmc42 4 as step/direction converter is shown. this can be used with the tmc429 as a drop - in replacement for the tmc428. the reference switches can also be used as above. figure 5 : example for application with step/ direction t m c 4 2 9 c l k r e f 1 r e f 2 r e f 3 s d i _ c s c k _ c s d o _ c n s c s _ c v 5 v 3 3 t e s t g n d s d i _ s s c k _ s s d o _ s n s c s _ s n o t e s : 1 . i f t h e n s c s 4 2 9 p i n i s n o t i n u s e i t h a s t o b e t i e d t o + 3 . 3 v 2 . n s c s _ d a c t i v a t e s t h e r e f e r e n c e s w i t c h e s ( i n p u t s s t o p r x / s t o p l x a n d o u t p u t s r e f x ) . t m c 4 2 4 c l k r e s e t e n c 1 _ a e n c 1 _ b e n c 1 _ n e n c 2 _ a e n c 2 _ b e n c 2 _ n e n c 3 _ a e n c 3 _ b e n c 3 _ n r e f 1 r e f 2 r e f 3 s d i s c k s d o n s c s s d o 4 2 9 n s c s 4 2 9 v c c v c o r e s d i _ d s c k _ d n s c s _ d s t o p r 0 - s t o p r 2 s t o p l 0 - s t o p l 2 t r s t t m s g n d t c k t d i g n d + 1 . 5 v + 3 . 3 v 1 6 m h z + 3 . 3 v 1 0 k e a c h c o n n e c t t o e n c o d e r s 1 6 m h z c s s 4 2 4 s s 4 2 9 m i s o s c k m o s i + 3 . 3 v g n d s p i t o d r i v e r s 4 7 0 n f + 3 . 3 v 1 0 k 6 x r e f e r e n c e s w i t c h i n p u t s ( a c t i v e h i g h ) f r o m n s c s _ s o f t m c 4 2 9 t o n s c s _ d o f t m c 4 2 4 t m c 4 2 9 s c k _ c s d i _ c s d o _ c n s c s _ c s d o _ s s c k _ s s d i _ s n s c s _ s c l k v 5 v 3 3 t e s t g n d n o t e : i f t h e n s c s 4 2 9 p i n i s n o t i n u s e , i t h a s t o b e t i e d t o + 3 . 3 v g n d + 1 . 5 v + 3 . 3 v + 3 . 3 v 1 0 k 1 6 m h z + 3 . 3 v 1 0 k e a c h c o n n e c t t o e n c o d e r s 1 6 m h z + 3 . 3 v g n d g n d t m c 4 2 4 c l k r e s e t e n c 1 _ a e n c 1 _ b e n c 1 _ n e n c 2 _ a e n c 2 _ b e n c 2 _ n e n c 3 _ a e n c 3 _ b e n c 3 _ n n s c s s d o s c k s d i s d o 4 2 9 n s c s 4 2 9 s d i _ d s c k _ d s d o _ d n s c s _ d s t e p 1 d i r 1 s t e p 2 d i r 2 s t e p 3 d i r 3 v c c v c o r e s d i _ d s c k _ d t r s t t m s s t o p r 0 - s t o p r 2 s t o p l 0 - s t o p l 2 g n d t c k t d i c s s 4 2 4 m i s o s s 4 2 9 s c k m o s i s t e p / d i r t o d r i v e r s 4 7 0 n f
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 11 / 2 1 copyright ? 2011 trina mic motion control gmbh & co. kg 4 dynamic resolution adaptation the dynamic resolution adaptation is needed to link stepper motors and encoders with different resolutions. the characteristics of the connec ted hardware must be provided to the TMC424 by sending the corresponding spi telegram. (see 5.3.1 overview on page 13 in this issue). the tmc4 2 4 multiplies the encoder counter by a user selectable value in the range 1..1024, and then divides it by 16. when using incremental encoders with n channel it is also possible to select between different behaviors when the n channel is triggered. figure 6 : tmc42 4 application table 4 shows a number of prescaler factors for possible combinations of micro step resolution and encoder resolution. note: the given nu mber of pulses have to be multiplied by four since 4 - times encoder signal evaluation is used. (see figure 10 : encoder o utput and evaluation on page 14 ). microsteps encoder resolution [pulses / rotation] 1024 1000 512 500 256 250 200 125 50 25 12800 3.125 3.2 6.25 6.4 12.5 12.8 16 25.6 64 ---- 6400 1.5625 1.6 3.125 3.2 6.25 6.4 8 12.8 32 64 3200 ---- ---- 1.5625 1.6 3.125 3.2 4 6.4 16 32 1600 ---- ---- ---- ---- 1.5625 1.6 2 3.2 8 16 800 ---- ---- ---- ---- ---- ---- 1 1.6 4 8 400 ---- ---- ---- ---- ---- ---- ---- ---- 2 4 table 4 : prescaler factors for different motors and encoders s t e p p e r m o t o r t m c 4 2 4 s p i i n t e r f a c e s t e p p e r m o t o r : r e s o l u t i o n : e . g . : 1 2 8 0 0 s t e p s / r o t a t i o n e n c o d e r : r e s o l u t i o n : e . g . : 1 0 0 0 s t e p s / r o t a t i o n t m c 4 2 4 : p r e s c a l e r = 3 . 2 - > 1 0 0 0 * 4 * 3 . 2 = 1 2 8 0 0 c h a n n e l a c h a n n e l b e v a l u a t i o n s t e p c h a n n e l n
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 12 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 5 serial peripheral interface (spi) with 32 - bit register 5.1 description and specification four pins named nscs, sck, sdi and sdo form the serial peripheral interface from a microcontroller to the tmc42 4 . the communication between the microcontroller and the tmc42 4 takes place via datagrams with a fixed length of 32 bit. the micro controller always acts as master and the tmc42 4 as slave. the spi tm of the tmc42 4 behaves like a simple 32 - bit shift register. incoming serial data at pin sdi is shifted with the rising edge of the clock signal sck into the 32 - bit register. the content of this register is copied after 32 - bits with the rising edge of the selection signal nscs into a buffer register of 32 - bit length. the spi tm of the tmc42 4 sends back data read from registers immediately via the sdo signal. it processes serial data synchrono usly to the clock signal clk. because of on - the - fly processing of the input data stream, the serial microcontroller interface of the tmc42 4 requires the serial data clock signal sck to have a minimum low / high time of three clock cycles. the data signal sdi driven by the microcontroller has to be valid at the rising edge of the serial data clock input sck. the maximum duration of the serial data clock period is unlimited. a complete serial datagram frame has a fixed length of 32 bit. while the data trans mission from the microcontroller to the tmc42 4 is idle, the low active serial chip select input nscs and also the serial data clock signal sck are set to high. the ser ial data input sdi of the tmc429 has to be driven by the microcontroller. like other spi compatible devices, the sdo signal of the tmc42 4 is high impedance z as long as nscs is high. the signal nscs has to be high for at least three clock cycles before starting a datagram transmission. to initiate a transmission, the signal nscs has to be s et to low. three clock cycles later the serial data clock may go low. the most significant bit (msb) of a 32 bit wide datagram comes first and the least significant bit (lsb) is transmitted as the last one. a data transmission is finished by setting nscs h igh for three or more clk cycles after the last rising sck slope. nscs and sck change in opposite order from low to high at the end of a transmission as these signals change from high to low at the beginning. the timing of the serial microcontroller interf ace is outlined here: figure 7 : timing diagram of the serial interface t s d t s d c l k s d i _ b i t # 3 1 t s c k c l t s c k c h t s u c s c t h d c s c 1 x s d i _ c s a m p l e d o n e f u l l 3 2 b i t d a t a g r a m s d o s d i s c k n s c s s d i _ b i t # 3 0 . . . s d i _ b i t # 1 3 0 x s a m p l e d s d i _ c s d i _ b i t # 0 1 x s d i _ c s a m p l e d t c l k t d a t a g r a m u c s d o _ b i t # 3 1 s d o _ b i t # 3 0 . . . s d o _ b i t # 1 s d o _ b i t # 0 t p d t i s t s d t s i t h d c s c t s u c s c
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 13 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 5.2 32 - bit spi datagram structure figure 8 : s tructure 32 - bit interface interrupt flags [bit] name description 31 int_ext external interrupt, e.g. tmc429 30 int_enc1 n signal of encoder interface 1 detected 29 int_enc2 n signal of encoder interface 2 detected 28 int_enc3 n signal of encoder inter face 3 detected table 5 : interrupt flags 5.3 spi 32 - bit datagram specification 5.3.1 overview figure 9 : overview tmc42 4 registers 2 7 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 1 6 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 5 2 8 2 9 3 0 3 1 0 1 2 3 4 0 d a t a i n t 0 0 0 d a t a g r a m f r o m t m c 4 2 4 s e n d t o c d a t a g r a m f r o m c t o t m c 4 2 4 2 7 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 1 6 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 5 2 8 2 9 3 0 3 1 0 1 2 3 4 r w a d d r e s s d a t a b y t e 0 b y t e 1 b y t e 2 b y t e 3 3 1 3 0 2 9 2 8 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 1 9 1 8 1 7 1 6 1 5 1 4 1 3 1 2 1 1 1 0 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 e n c o d e r 1 p r e s c a l e r 0 0 0 0 1 0 0 e n c o d e r 2 p r e s c a l e r 0 0 0 0 0 1 0 e n c o d e r 3 p r e s c a l e r 0 0 0 0 1 1 0 e n c o d e r 1 , 2 , 3 p r e s c a l e r - s e t a l l c o m m o n l y 1 1 1 1 c o n t r o l 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 0 0 1 1 e n c o d e r 1 p o s i t i o n r e g i s t e r e n c o d e r 2 p o s i t i o n r e g i s t e r e n c o d e r 3 p o s i t i o n r e g i s t e r r w a d d r e s s 0 0 0 0 1 1 1 1 0 0 0 0 0 0 1 1 0 0 0 0 0 n - i n p u t d a t a s t e p / d i r i n t b y t e # b i t # r e s e r v e d s t e p p u l s e d e l a y s t e p p u l s e l e n g t h r e s e r v e d r e s e r v e d r e s e r v e d r e s e r v e d r e s e r v e d i n t e n c l e a r f l a g s r e g h o l d n p o l a r i t y n h o l d n c l e a r n t r i g g e r d i r e c t i o n 0 1 1 n 1 n 2 n 3 0 0 0 n 1 n 2 n 3 0 0 0 n 1 n 2 n 3 0 0 0 n 1 n 2 n 3 0 0 0
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 14 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 6 incremental encoder incremental encoders are translati ng the rotary motion of a shaft into a two - channel digital quadrature output. the light emitted from a led is focused onto a reflective code wheel. as the shaft moves, the code wheel rotates, reflecting light from an alternating bright and dark pattern. the tmc42 4 samples the incoming signals encx_ a and encx_b from the incremental encoder. a internal algorithm block counts the amount of edges generated by the encoder. a prescaler value can be used to adapt the incremental encoder resolution to the stepp er motor resolution. for high resolution the TMC424 evaluates the encoder signals 4 - times during each encoder step. this has to be kept in mind when choosing the prescaler value. figure 10 : encoder o utput and evaluation note: it is possible that the encoder signals encx_a, encx_b and encx_n are polluted with crosstalk noise. crosstalk could influence the internal logic, to overcome this problem internal filters are applied to ensure correct functiona lity. furthermore is saves the need for external analog filters. e.g.: figure 11 : crosstalk on encoder wire shows crosstalk from channel a to channel b. figure 11 : crosstalk on encoder wire c h a n n e l a c h a n n e l b e v a l u a t i o n s t e p c h a n n e l n
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 15 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 7 configura tion datagrams 7.1 encoder interface prescaler and null event configuration the encoder interface initialization datagram configures the parameterizeable encoder prescaler to adapt the tmc42 4 for different incremental encoders. furthermore the TMC424 behavior concerning the n channel can be selected. example: a 1000 steps per rotation encoder is to connect at a stepper motor with 12800 microsteps per rotation. when the next event at the high active n channel is found, the position register must set to zero. on ly encoder interface 1 is connected. the following datagram performs this task: ? bits 31 down to 24 have to be set to 01 hex to select encoder interface 1 ? the prescaler value has to set to 12800 / (1000*4) = 3.2. therefore bits 23 down to 12 must set to 831 hex . ? the n channel is set up correctly when bits 11 down to 0 are set to a0 hex . bit encoder interface initialization 3128 0000 register address 2725 interface selection 000 = interface 1 001 = interface 2 010 = interface 3 011 = interface 1, 2 a nd 3 24 1 2312 external encoder resolution and corresponding prescaler factor bits 15 12: fractional part of factor. unit: 1/16 (when bit 23 = 0) resp. 1/5 (bit 23 = 1) bits 22 16: integer part of factor bit 23: switches fractional part betwee n 1/5 resolution or 1/16 resolution default: (010) h (prescaler 1) (default value after power on) example settings: encoder: 1024 lines (4096 steps per rotation) (032) h for 12800 micro steps per rotation (prescaler 3.125) (019) h for 6400 micro steps (p rescaler 1.5625) encoder: 1000 lines (831) h for 12800 micro steps (prescaler 3.2) (813) h for 6400 micro steps (prescaler 1.6) encoder: 512 lines (064) h for 12800 micro steps (prescaler 6.25) (032) h for 6400 micro steps (prescaler 3.125) (019) h for 3200 micro steps (prescaler 1.5625) encoder: 500 lines (862) h for 12800 micro steps (prescaler 6.4) (831) h for 6400 micro steps (prescaler 3.2) (813) h for 3200 micro steps (prescaler 1.6) encoder: 256 lines (0c8) h for 12800 micro steps (prescaler 12.5) (064) h for 6400 micro steps (prescaler 6.25) (032) h for 3200 micro steps (prescaler 3.125) (019) h for 1600 micro steps (prescaler 1.5625) encoder: 250 lines (8c4) h for 12800 micro steps (prescaler 12.8) (862) h for 6400 micro steps (prescaler 6.4) (831) h for 320 0 micro steps (prescaler 3.2) (813) h for 1600 micro steps (prescaler 1.6) encoder: 200 lines (100) h for 12800 micro steps (prescaler 16) (080) h for 6400 micro steps (prescaler 8) (040) h for 3200 micro steps (prescaler 4) (020) h for 1600 micro steps (presc aler 2) (010) h for 800 micro steps (prescaler 1)
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 16 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg encoder: 125 lines (993) h for 12800 micro steps (prescaler 25.6) (8c4) h for 6400 micro steps (prescaler 12.8) (862) h for 3200 micro steps (prescaler 6.4) (831) h for 1600 micro steps (prescaler 3.2) (813) h f or 800 micro steps (prescaler 1.6) encoder: 50 lines (200 steps per rotation) (400) h for 12800 micro steps (prescaler 64) (200) h for 6400 micro steps (prescaler 32) (100) h for 3200 micro steps (prescaler 16) (080) h for 1600 micro steps (prescaler 8) (040) h for 800 micro steps (prescaler 4) (020) h for 400 micro steps (prescaler 2) (010) h for 200 steps per rotation (prescaler 1) 11 n polarity for selected interface 0 = active low (default) 1 = active high when changing the polarity, please be aware that a s ingle clear on n event might be triggered, and thus should not be initiated in the same write access. 10 hold on n for selected interface 0 = no hold (default) 1 = active: encoder counter freezes during 0 channel event. 9 clear on n event for selected in terface 0 = no clear (default) 1 = active when switched to active, then it depends on bit 8, if a clear event is issued only once, or always when the n channel becomes active. 8 n trigger selection 0 = only at next n signal (default) 1 = always at n sign al the clear event last until the n signal goes inactive again. if earlier termination is desired, i.e. to preset the encoder counter to a different value, disable clear on n prior to changing the position register. 7 add or sub register for each step ( cw = looking onto the axis) 0= add for cw, sub for ccw (default) 1= add for ccw, sub for cw 60 table 6 : spi datagram prescaler 7.2 encoder interface hold register operation to read the actual contents of the position regis ter or to preset the position register the following command is to be used: bit encoder interface control (read/preload encoder hold register) 3128 0000 register address 2725 230 table 7 : spi data gram hold register
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 17 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 7.3 timer logic step pulse length and delay to parameterize the step length and delay the next datagram is to be used: bit write step pulse length / delay 3125 0000111 register address 1 2316 (10) after pon) 156 (10) after pon) 50 table 8 : spi datagram step - /dir logic 7.4 control register and interrupt control this datagram configures the interrupt control of the tmc42 4 . when enabled, the n channel pulse of all encoders is fed to the nint pin. bit control register 3125 0001000 register address 1 200 table 9 : spi datagram control register 7.5 n - chan nel read back this datagram returns the state of the three n - channel inputs encx_n after the possible inverting controlled by enc_inv. the three inputs are sampled after transmission of the r/w bit. the three bits are repeated in the datagram for compatibi lity reasons as if the n - signals were connected to the sw_row_pin(0..2) inputs of a tmc423. bit channel 312 000 register address 2321, 1715, 119, 53 000 table 10 : n - channel read back register
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 18 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 8 spi - protocol for interface with 6 - bit register the 6 - bit spi inter face is used to receive step / direction information from the tmc42 9 . the tmc42 4 processes the data and issues the corresponding step / direction signals via the step / direction pins. bit0 (pulse 1) have to be sent first to the tmc42 4 . bit step / directi on converter 0 pulse 1 1 direction 1 2 pulse 2 3 direction 2 4 pulse 3 5 direction 3 table 11 : spi datagram step / direction converter the order of the control signals serially sent from the tmc42 9 has to be defined. this ca n be done by writing so called primary signal codes into the stepper motor driver datagram configuration area of the on - chip configuration ram of the tmc429 . this signals codes are $13 (step first) and $12 (direction). to switch to the next motor the next motor bit (nxm) has to be set. position within datagram driver/motor nxm bit tmc429 signal code ram data tmc429 mnemonic of primary signal 0 1 0 $13 $13 step 1 1 $12 $32 direction 2 2 0 $13 $13 step 3 1 $12 $32 direction 4 3 0 $13 $13 step 5 1 $1 2 $32 direction table 12 : datagram example and ram contents for three step - direction drivers 8.1 step and direction pulse conversion step pulses can be modified in their pulse width and delayed after an direction change was done. the corresponding datagram (see 7.3 ) on page 17 ) is used to parameterize the step / dir interface. figure 12 : step direction conver sion t t step_in dir step pulse length step pulse delay t step_out
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 19 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg 9 package dimensions figure 13 : 100 - pin tqfp top view a t t e n t i o n : p in 1 marking is by dot only. the position of the chamfered corner may vary! figure 14 : 100 - pin tqfp side view figure 15 : 100 - pin tqfp side view detail a
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 20 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg jedec equivalent tqfp100 ms - 026 v ar bed dimension min nom max a a1 a2 b c d/e d1/e1 0.05 1.35 0.17 0.09 1.40 0.22 16.00 bsc 14.00 bsc 1.60 0.15 1.45 0.27 0.20 e 0.50 bsc l 0.45 0.60 0.75 ccc 0.08 theta 0 3.50 deg 7 deg table 13 : tqfp dimensions notes : - all dimensions are in millimeters - bsc basic spacing between centers
TMC424 datasheet C (v1.0 4 / 2015 - jul - 01 ) 21 / 21 copyright ? 2011 trina mic motion control gmbh & co. kg life support policy trinamic motion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the specific written consent o f trinamic motion control gmbh & co. kg . life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. ? 20 1 1 trinamic motion control gmbh & co. kg information given in this data sheet is believed to be accurate and reliable. however no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use. specifications subject to change without notice.

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