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| dedicated motion controller for 2-/3-phase pmsm motors prel i m i nary i ntegrated c i rcu i ts TMC4670 datasheet i c version v0.99 | document revision v0.91 ? 2016-nov-09 the TMC4670 is a 1 eld oriented control (foc) servo controler for torque control, velocity control, and positioning. i ntegrated adcs, position sensor interfaces, position interpolators, enables a servo controler with a couple components. features ? field oriented control (foc) w/ servo controller ? torque control (foc), velocity control, position control ? feed forward o ? sets ? i ntegraded adcs ? encoder engine: hall analog/digital, encoder analog/digital, 2nd digital encoder ? supports 3-phase pmsm (foc3) and 2-phase stepper motors (foc2) ? pwm engine including svpwm ? sp i communication i nterface applications ? robotics ? pick and place machines ? semiconductor handling ? factory automation ? e-mobility ? laboratory automation ? blowers ? pumps simpli 1 ed block diagram ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at: www.trinamic.com read entire documentation.
TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 2 / 102 contents 1 order codes 4 2 functional summary 5 3 functional description 6 3.1 functional blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 3.2 communication i nterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.2.1 sp i slave user i nterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.3 register bank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.3.1 register bank - read and write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.3.2 register access datagram examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.3.3 i denti 1 cation of silicon via type, version, date, and time . . . . . . . . . . . . . . . . . 9 3.3.4 read of raw i nputs & raw outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.4 numerical representation, electrical angle, mechanical angle, and pole pairs . . . . . . . . . 9 3.4.1 numerical representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3.4.2 n_pole_pa i rs, ph i _e, ph i _m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.4.3 numerical representation of angles ph i . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.5 adc engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 3.5.1 i nternal adc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.5.2 external adc (ltc2351) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.5.3 adc selector & adc scaler w/ o ? set correction . . . . . . . . . . . . . . . . . . . . . . . 13 3.6 encoder engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.6.1 open loop encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.6.2 i ncremental abn encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3.6.3 secondary i ncremental abn encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.6.4 digital hall sensor i nterface with optional i nterim position i nterpolation . . . . . . . . 17 3.6.5 digital hall sensor - i nterim position i nterpolation . . . . . . . . . . . . . . . . . . . . . 18 3.6.6 digital hall together with i ncremental encoder . . . . . . . . . . . . . . . . . . . . . . . 18 3.6.7 analog hall and analog encoder i nterface (sincos of 090 or 0120240) . . . . . . . 19 3.6.8 analog position decoder (sincos of 090 or 0120240) . . . . . . . . . . . . . . . . . 20 3.7 foc23 engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.7.1 p i (d) controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.7.2 p i (d) controller calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.7.3 p i (d) controller - clipping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.7.4 p i flux & p i torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.7.5 p i velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.7.6 p( i ) position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.7.7 i nner foc control loop - flux & torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.7.8 foc transformations and p i (d) for control of flux & torque . . . . . . . . . . . . . . . . 23 3.7.9 motion modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3.8 pwm engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3.8.1 pwm polarites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.8.2 pwm frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.8.3 pwm resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.8.4 pwm modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.8.5 brake-before-make (bbm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 3.8.6 space vector pwm (svpwm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4 safety functions 26 5 register map 27 6 pinning 86 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 3 / 102 7 package dimensions 97 8 supplemental directives 98 8.1 producer i nformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.2 copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.3 trademark designations and symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.4 target user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.5 disclaimer: life support systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.6 disclaimer: i ntended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 8.7 collateral documents & tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 9 figures i ndex 100 10 tables i ndex 101 11 revision history 102 11.1 i c revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 11.2 document revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 4 / 102 1 order codes order code description size [mm 2 ] TMC4670-b i TMC4670 foc servo controller i c 17 x 2.5 TMC4670-eval TMC4670 evaluation board 85 x 79 table 1: order codes ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 5 / 102 2 functional summary ? field oriented control (foc) servo controller C torque (and 2 ux) control mode C velocity control mode C position control mode C update rate 200 khz (w/ 4 khz velocity meter sampling frequency) ? p i controllers C programmable clipping of inputs and outputs of interim results C error sum (error integral over time) clipping C programmable target torque change in time (dtargettorque/dt) limiter C programmable circular ( q u 2 d + u 2 q ) limiter C p i controller clipping status bit vector for real time monitoring C feed forward o ? sets for target values ? supported motor types C foc3 : three-phase permanent magnet synchronous motors (pmsm) C foc2 : two-phase stepper motors ? adc engine with o ? set correction and scaling C integrated 12 bit adcs as analog interface for currents and analog encoders C interface to external ad (ltc2351, 14 bit or 12 bit) C adc register to write externally sampled data via sp i communication interface ? encoder engine C open loop position generator (programmable [rpm], [rpm/s]) for initial setup C digital incremental encoder (abn resp. abz, up to 5mhz) C secondary digital incremental encoder C digital hall sensor interface (h 1 , h 2 , h 3 resp. h u , h v , h w ) C digital hall sensor interface with interpolation of interim positions C analog encoder/analog hall sensor interface (sincos (0, 90) or 0, 120, 240) C position multi-turn counter (32 bit) ? pwm engine including svpwm C programmable pwm frequency within range 25khz . . . 200khz C programmable brake-before-make (bbm) times (high side, low side) 0ns . . . 2.5 s in 10ns steps C pwm auto scaling for transparent change of pwm frequency during motion ? sp i communication i nterface C 40 bit datagram length (1 readwrite bit + 7 address bits + 32 data bits) C immediate sp i read response (register read access by single datagram) ? supply voltages 3.3v, 2.5v, 1.2v ? i o voltage 3.3v ? clock frequency 25mhz ? package 17mm x 17mm bga w/ 1mm ball pitch ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 6 / 102 3 functional description TMC4670 is a fully integrated controller for 1 eld-oriented control (foc) of either one 2-phase stepper motor (foc2) or one 3-phase brushless motor (foc3). i t contains the complete control loop core architecture (position, velocity, torque) as well as required peripheral interfaces for communication with an application controller, for feedback (digital encoder, analog interpolator encoder, digital hall, decoder hall position interpolator, analog inputs for current and voltage measurement), and helpful additional i o. i t supports highest control loop speed and pwm frequencies. the TMC4670 is the building block for the user application that takes care of all real time critical tasks of 1 eld oriented motor control. i t decouples the real time 1 eld oriented motor control and its real sub-tasks as current measurement, real time sensor signal processing, real time pwm signal generation from the user application layer as outlined by 1 gure 17 . figure 1: hardware foc application diagram 3.1 functional blocks application interface, register bank, adc engine, encoder engine, foc torque p i controller, velocity p i controller, position p controller, and pwm engine form the TMC4670. the TMC4670supports 3-phase pmsm motors (foc3) and 2-phase pmsm stepper motors (foc2). figure 2: hardware foc block diagram ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 7 / 102 the adc engine interfaces integrated adc channels and maps raw adc values to signed 16 bit (s16) values for the inner foc current control loop based on programmable o ? set and scaling factors. the foc torque p i controller forms the inner base component including required transformations (clark, park, inverse park, inverse clark). all functional blocks are pure hardware. 3.2 communication i nterface the TMC4670 is equipped with an sp i interface for access to all registers of the TMC4670. 3.2.1 sp i slave user i nterface the sp i of the TMC4670 for the user application has an easy command and control structure. the TMC4670 user sp i acts as a slave. the sp i datagram length is 40 bit with up to 2mbit/s. the msb (bit#39) is sent 1 rst. the lsb (bit#0) is sent last. the msb (bit#39) is the wr i te_notread (wrnrd) bit. the bits (bit#39 to bit#32) are the address bits (addr). bits (bit#31) to (bit#0) are (up to) 32 data bits. the sp i of the TMC4670 immediately responses within the actual sp i datagram on read and write for ease-of-use communication. figure 3: sp i timing sp i i nterface timing characteristics, fclk = 25mhz parameter symbol condition min typ max unit sck valid before or after change of nscs t cc 250 ns nscs high time t csh 250 ns nscs low time t csl 250 ns sck high time t ch 250 ns sck low time t cl 250 ns sck low time t cl 250 ns sck frequency f sck 2 mhz mos i setup time before rising edge of sck t du 250 ns mos i hold time after falling edge of sck t dh 250 ns m i so data valid time after falling edge of sck t do 10 ns table 2: sp i timing parameter ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 8 / 102 figure 4: sp i datagram structure 3.3 register bank i nfo this section gives a functional description as an overview. the section 5 starting page 27 gives the detailed description of each register. the register bank is the interface to the user application. each register of the TMC4670 has 8 bit address followed by up to 32 data bits. some addresses hold more then one data registers for simultaneous access or composed control bit vectors. section 5 page 27 describes all registers in detail. during initialization, the user writes parameters into associated registers. these parameters are scaling factors and o ? sets, sensor con 1 guration parameters, limits for clipping, selections, p and i parameters for the foc torque controller, p and i parameters for velocity controller, and p parameter for the position controller. during application, the user writes application parameters into associated registers. these are - depending on the motion mode - target torque, target velocity, or target position. the TMC4670 has direct access registers and indirect access registers. most registers are direct access registers with read or write access by a single datagram. some less often used registers (e.g. silicon version registers, internal values for read out) are accessed via two registers: address register and data register. the address register selects the address, the second register holds the data. 3.3.1 register bank - read and write from the access point of view there are two kind of registers: read-only and read-write. the most signi 1 cant bit (msb) of each register access datagram de 1 nes read (=0) or write (=1). so, there are 128 read addresses (0x00 h . . . 0x7f h ) and 128 write addresses (0x80 h . . . 0xff h ) available. the TMC4670 ignores write accesses to read-only registers. ? fixed read only register (e.g. s i l i con_type, s i l i con_vers i on, s i l i con_date, s i l i con_t i me) ? read only register for internal values (e.q. scaled adc values) ? read only register for external signals (e.g. adc raw values, abn encoder inputs, hall signal inputs) ? read write register for con 1 gurations (e.g. p and i parameter of p i controller, clipping parameters) ? read write register for target values (e.g. target torque, target velocity, target position) ? dual ported read write register (e.g. encoder count, actual position) ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 9 / 102 3.3.2 register access datagram examples 0x0100000000 h : reads data from address 0x01 h 0x8123456789 h : writes data 0x23456789 h to address 0x01 h 3.3.3 i denti 1 cation of silicon via type, version, date, and time the read-only registers of silicon type, version with date and time identify the type of the silicon, the version of the silicon together with unique date stamp and time stamp. this enables the automatic identi 1 cation of i c and version and enable the automatic handling of di ? erent i c and di ? erent versions. 3.3.4 read of raw i nputs & raw outputs for ease-of-use while setting up the con 1 guration, raw input signals and raw output signals are mapped into the register bank for user read out. with this, the user can initially check without a scope that the desired signals come into the TMC4670 as expected. examples of readable raw input signals are digital hall signals and incremental encoder signals. 3.4 numerical representation, electrical angle, mechanical angle, and pole pairs the TMC4670 uses di ? erent numerical representations for di ? erent parameters, measured values, and interim results. the terms electrical angle ph i _e, mechanical angle ph i _m, and number of pole pairs (n_pole_pa i rs) of the motor are important for setup of foc. this section describes the di ? erent numerical representations of parameters and terms. 3.4.1 numerical representation the TMC4670 uses singed and unsigned values of di ? erent length and 1 xed point representation for parameters that require a non-integer granularity. symbol description min max u16 unsigned 16 bit value 0 65535 s16 signed 16 bit values, 2 th complement -32767 32767 u32 unsigned 32 bit value 0 2 32 = 4294967296 s32 signed 32 bit values, 2 th complement -2147483647 2 31 - 1 = 2147483647 q8.8 signed 1 x point value with 8 bit interger part and 8 bit fractional part -32767/256 32767/256 q4.12 signed 1 x point value with 4 bit interger part and 12 bit fractional part -32767/4096 -32767/4096 table 3: numerical representations i nfo two s complement of n bit is 2 n 1 . . . 2 n 11 1 . to avoid un-wanted over 2 ow, the range is clipped to 2 n 1 + 1 . . . 2 n 11 1 . because the zero is interpreted as a positive number for 2 th complement representation of interger n bit number, the smallest negative number is 2 ( n 1) where the largest positive number is 2 ( n 1) 1 . using ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 10 / 102 the smallest negative number 2 ( n 1) might cause critical under- 2 ow or over- 2 ow. i nternal clipping takes this into account by mapping 2 ( n 1) to 2 ( n 1) + 1 . hexadecimal value u16 s16 q8.8 q4.12 0x0000 h 0 0 0.0 0.0 0x0001 h 1 1 1 / 256 1 / 4096 0x0001 h 2 2 2 / 256 2 / 4096 0x0080 h 128 128 0.5 0.03125 0x0100 h 256 256 1.0 0.0625 0x0200 h 512 512 2.0 0.125 0x3fff h 16383 16383 16383 / 256 16383 / 4096 0x5a81 h 23169 23169 23169 / 256 23169 / 4096 0x7fff h 32767 32767 32767 / 256 32767 / 4096 0x8000 h 32768 -32768 -32768 / 256 -32768 / 4096 0x8001 h 32769 -32767 -32767 / 256 -32767 / 4096 0x8002 h 32770 -32766 -32766 / 256 -32766 / 4096 0xc001 h 49153 -16383 -16383 / 256 -16383 / 4096 0xfffe h 65534 -2 -2 / 256 -2 / 4096 0xffff h 65535 -1 -1 / 256 -1 / 4096 table 4: examples of u16, s16, q8.8, q4.12 the q8.8 and q4.12 are used for p and i parameters which are positive numbers but q8.8 and q4.12 are used as signed numbers. this is because theses values are multiplied with signed error values resp. error integral values. 3.4.2 n_pole_pa i rs, ph i _e, ph i _m the parameter n_pole_pa i rs de 1 nes the factor between electrical angle ph i _e and mechanical angle ph i _m of a motor (pls. refer 1 gure 5 ). a motor with one (1) pole pair turns once for each electrical period. a motor with two (2) pole pairs turns once for each two electrical periods. a motor with three (3) pole pairs turns once for each three electrical periods. a motor with four pole (4) pairs turns once for each four electrical periods. the electrical angle ph i _e is relevant for the commutation of the motor. i t is relevant for the torque control of the inner foc loop. ph i _e = ph i _m n_pole_pa i rs (1) the mechanical angle ph i _m is primarily relevant for velocity control and for positioning. this is because one wants to control the motor speed in terms of mechanical turns and not in terms of electrical turns. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 11 / 102 ph i _m = ph i _e = n_pole_pa i rs (2) di ? erent encoders give di ? erent kind of position angles. analog hall sensors normally give the electrical position ph i _e that can be used for commutation. analog encoders give - depending on their resolu- tion - angles that have to be scaled 1 rst to mechanical angles ph i _m and to electrical angles ph i _e for commutation. figure 5: n_pole_pa i rs - number of pole pairs 3.4.3 numerical representation of angles ph i electrical angels and mechanical angles are represented as 16 bit integer values. one full revolution of 360 deg is equivalent to 2 16 = 65536 steps. any position coming from a sensor is mapped to this interger range. adding an o ? set of ph i _offset causes a rotation of an angle ph i _offset = 2 16 . subtraction of an o ? set causes a rotation of an angle ph i _offset in opposite direction. figure 6: i nteger representation of angles with 16 bit as s16 resp. u16 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 12 / 102 hexadecimal value u16 s16 ph i [] ph i [] 0x0000 h 0 0 0.0 0.0 0x1555 h 5461 5461 30.0 -330.0 0x2aaa h 10922 10922 60.0 -300.0 0x4000 h 16384 16384 90.0 -270.0 0x5555 h 21845 21845 120.0 -240.0 0x6aaa h 27306 27768 150.0 -210.0 0x8000 h 32768 -32768 180.0 -180.0 0x9555 h 38229 -27307 210.0 -150.0 0xaaaa h 43690 -21846 240.0 -120.0 0xc000 h 49152 -16384 270.0 -90.0 0xd555 h 54613 -10923 300.0 -60.0 0xeaaa h 60074 -5462 330.0 -30.0 table 5: examples of u16, s16, q8.8 the option of adding an o ? set is for adjustment of angle shift between motor and stator and rotor and encoder. finally, the relative orientations between motor and stator and rotor and encoder can be adjusted by just one o ? set. alternatively, one can set the counter position of an incremental encoder to zero on initial position. for absolute encoders one needs to use the o ? set to set an initial position. 3.5 adc engine the adc engine controls the sampling of di ? erent available adc channels. the foc engine expects o ? set corrected adc values, scaled into the foc engine 16 bit (s16) 1 xed point representation. the integrated scaler and o ? seter maps raw adc samples of current measurement channels to 16 bit two s complement values (s16). both, o ? set and scale calculations are signed. with this, the user can change the signs of current according to the application by the scaling factors. the s16 scaled adc values are available for read out from the register by the user. adc samples for motor supply voltage (vm), mosfet temperature, motor temperature, general purpose analog input (a i n) are only raw values without scaling. ? adc samples of integrated adc ? adc samples from external adc (ltc2351) ? adc samples from external sources can be written into dedicated registers (adc ext) ? adc values are for: C phase current measurement (most important task) C supply voltage measurement (for monitoring or brake chopper) C analog hall signal measurement C analog sine/cosine encoder signal measurement C analog voltage input for mos-fet temperature signal monitoring ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 13 / 102 C analog voltage input for motor temperature signal monitoring i nfo wrong scaling factors or wrong o ? sets might cause damages when the closed cur- rent regulation is active. i ntegrated hardware limiters allow protection especially in the setup phase when using carful limits. 3.5.1 i nternal adc the TMC4670 is equipped with internal adcs with input voltage range of 0v . . . 2.5v for current measure- ment, supply voltage measurement, analog hall signal measurement, analog encoder. 3.5.2 external adc (ltc2351) alternatively to the integrated adcs, the TMC4670 supports external sp i adcs ltc2351 from linear technology for current measurements. this is intended for current sensing on separate power stages. 3.5.2.1 adc raw the sampled raw adc values are available for read out by the user. this is important during the system setup phase to determine o ? set and scaling factors. 3.5.2.2 adc ext the user can write adc values into the adc ext registers of the register bank from external adc sources. for example it there are high precision adc values availbale from an external adc. 3.5.3 adc selector & adc scaler w/ o ? set correction the adc selector selects adc channles for foc. the 3-phase foc used two of three adc channles for measurement and calculates the third channel via kirchho ? s law from the scaled an o ? set corrected adc values. the 2-phase foc just used two adc channels because for the 2-phase stepper motor the two phases are independent from each other. note the open loop encoder is useful for setup of adc channel selection, scaling, and o ? set by turning a motor open loop. the foc23 engine processes currents as 16 bit signed (s16) values. raw adc values are expanded to 16 bit width independent of their resolution. with this, each adc is available for read out a a 16 bit number. the adc scaler w/ o ? set correction is for pre-processing of measured raw current values. i t might be used to map to own units (e.g. a or ma). for scaling, gains of current ampli 1 ers, reference voltages, and o ? sets have to be takin into account. i nfo raw adc values generally are of 16 bit width independent of their real resolution. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 14 / 102 i nfo the job of the adc scaler is to map raw adc values to the 16 bit signed (s16) range and to center the values to zero by removing of o ? sets. figure 7: adc selector & scaler w/ o ? set correction adc o ? sets and adc scalers for the analog current measurement input channels need to be programmed into the associated registers. each adc_ i _u, adc_ i _v, adc_ i _ux, adc_ i _wy, adcsd_ i _ux, adcsd_ i _wy, adc_ i 0_ext, adc_ i 1_ext is mapped either to adc_ i 0_raw or to adc_ i 1_raw by adc_ i 0_select and adc_ i 1_select. i n addition, the adc_offset is for conversion of unsigned adc values into signed adc values as required for the foc. adc_ i 0 = ( adc_ i 0_raw + adc_ i 0_offset ) adc_ i 0_scale (3) adc_ i 1 = ( adc_ i 1_raw + adc_ i 1_offset ) adc_ i 1_scale (4) for foc3 the third current adc_ i 2 is calculated via kirchho ? s law. this requires the correct scaling and o ? set correction before. for foc2 there is no calculation of a third current. the adc_ux_select selects one of the three adc channels adc_ i 0 adc_ i 1, adc_ i 2 for adc_ux. the adc_v_select selects one of the three adc channels adc_ i 0 adc_ i 1, adc_ i 2 for adc_v. the adc_wy_select selects one of the three adc channels adc_ i 0 adc_ i 1, adc_ i 2 for adc_wy. the for foc3 the third current adc_ i 2 is calculated via kirchho ? s law. this requires the correct scaling and o ? set correction before. for foc2 there is no calculation of a third current. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 15 / 102 the adc_ux, adc_v, adc_wy are for the foc3 (u, v, w). the adc_ux. and adc_wy (x, y) are for the foc2. note the open loop encoder is useful for setup of adc channel selection, scaling, and o ? set by turning a motor open loop. 3.6 encoder engine the encoder engine is an uni 1 ed position sensor interface. i t maps the selected encoder position informa- tion to electrical position (phi_e) and to mechanical position (phi_e) the electrical angle. both are 16 bit values. the encoder engine maps single turn positions from position sensors to multi-turn position. the user can overwrite the these multi-turn position for initialization. the di ? erent position sensors are the position sources for torque and 2 ux control via foc, for velocity control, and for position control. the ph i _e_select i on selects the source of the electrical angel phi_e for the inner foc control loop. veloc i ty_select i on selects the source for velocity measurement. with phi_e selected as source for velocity measurement, one gets the electrical velocity. with the mechanical angle phi_m selected as source for velocity measurement one gets the mechanical velocity taking the set number of pole pairs (n_pole_pa i rs) of the motor into account. nevertheless, for high precision position it might be useful to do positioning based on the electrical angel phi_e. 3.6.1 open loop encoder for initial system setup the encoder engine is equipped with an open loop position generator. with one can turn the motor open-loop by specifying speed in rpm and acceleration in rpm/s together with a voltage ud_ext in d direction. so, the open-loop encoder it is not a real encoder, it just gives positions as an encoder does. the open-loop decoder has a direction bit to de 1 ne once the direction of motion for the application. note the open loop encoder is useful for initial adc setup, encoder setup, hall signal validation, and for validation of the number of pole pairs of a motor. the open loop encoder turns a motor open with programmable velocity in unit [rpm] with programmable acceleration in unit [rpm/s]. so, with the open loop encoder one can turn a motor without any position sensor and without any current measurement as the 1 rst step of doing the system setup. with the turning motor one can adjust the adc scales and o ? sets and set up positions sensors (hall, incremental encoder, . . . ) according to resolution, orientation, direction of rotation. 3.6.2 i ncremental abn encoder the incremental encoders give two phase shifted incremental pulse signals a and b. some incremental encoders have an additional null position signal n or zero pulse signal z. an incremental encoder (called abn encoder or abz encoder) has an individual number of incremental pulses per revolution. the number of incremental pulses de 1 ne the number of positions per revolution (ppr). the ppr might mean pulses per revolution or periods per revolution. i nstead of positions per revolution some incremental encoder vendors call these cpr counts per revolution. the ppr parameter is the most important parameter of the incremental encoder interface. with that, it forms a modulo (ppr) counter, counting from 0 to (ppr-1). depending on the direction, it counts up or ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 16 / 102 down. the modulo ppr counter is mapped into the register bank as a dual ported register. the user can over over write it with an initial position. the abn encoder interface provides both, the electrical position and the multi-turn position are dual-ported read-write registers. note the ppr parameter must be set exactly according to the used encoder. the n pulse from an encoder triggers either sampling of the actual encoder count to fetch the position at the n pulse or it re-writes the fetched n position on an n pulse. the n pulse can either be uses as stand alone pulse or and-ed with nab = n and a and b. i t depends on the decoder what kind of n pulse has to be used, either n or nab. for those encoder with precise n pulse within on ab quadrat, the n pulse must be used. for those encoders with n pulse over four ab quadrants one can enhance the precision of the n pulse position detection by using nab instead of n. note i ncremental encoders are available with n pulse and without n pulse. figure 8: abn i ncremental encoder n pulse the polarity of n pulse, a pulse and b pulse are programmable. the n pulse is for re-initialization with each turn of the motor. once fetched, the abn decoder can be con 1 gured to write back the fetched n pulse position with each n pulse. note the abn encoder interface has a direction bit to set once the direction of motion for the application. logical abn = a and b and n might be useful for incremental encoders with low resolution n pulse to enhance the resolution. on the other hand, for incremental encoders with high resolution n pulse a logical abn = a and b and n might totally suppress the resulting n pulse. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 17 / 102 figure 9: encoder abn timing - high precise n pulse and less precise n pulse 3.6.3 secondary i ncremental abn encoder for commutating a motor with foc one selects a position sensor source (digital incremental encoder, digital hall, analog hall, analog incremental encoder, . . . ) that is mounted close to the motor. the inner foc loop control torque and 2 ux of the motor based on the measured phase currents and the electrical angle of the rotor. the TMC4670 is equipped with a secondary incremental encoders interface. this secondary encoder interface is available as source for velocity control or position control. this is for applications where a motor turns an object with a gear to position the object. an example is a robot arm where a motor moves an angle with a the mechanical angle of the arm as the target. i nfo the secondary incremental encoder is not available for commutation (phi_e) for the inner foc. i n others words, there is no electrical angle phi_e selectable from the secondary encoder. 3.6.4 digital hall sensor i nterface with optional i nterim position i nterpolation the digital hall interface is the position sensor interface for digital hall signals. the digital hall signal interface 1 rst maps the digital hall signals to an electrical position ph i _e_raw. an o ? set ph i _e_offset can be used to rotated the orientation of the hall signal angle. the electrical angle ph i _e is for commutation. optionally, the default electrical positions of the hall sensors can be adjusted by writes into the associated registers. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 18 / 102 figure 10: hall sensor angles hall sensors give absolute positions within an electrical period with a resolution of 60 as 16 bit positions (s16 resp. u16) ph i . with activated interim hall position interpolation one additionally gets high resolution interim positions when the motor is running at speed beyond 60 rpm. 3.6.5 digital hall sensor - i nterim position i nterpolation for lower torque ripple one can switch on the position interpolation of interim hall positions. this function is useful for motors that are compatible with sine wave commutation but equipped with digital hall sensors. when the position interpolation is switched on it becomes active on speed beyond 60 rpm. for lower speed it automatically disables. this is important especially when the motor has to be at rest. motors that are intended for block commutation might smarter turn with hall signal interpolation but one should not expect too much for those motors. 3.6.6 digital hall together with i ncremental encoder i f a motor is equipped with both hall sensors and incremental encoder, the hall sensors can be used for the initialization as a low resolution absolute position sensor and later the incermental encoder can be used a a high resolution sensor for commutation. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 19 / 102 3.6.7 analog hall and analog encoder i nterface (sincos of 090 or 0120240) an analog encoder interface is part of the decoder engine. i t is able to handle analog position signals of 0 and 90 and 0 120 240 . the analog decoder engine adds o ? set and scales the raw analog encoder signals and calculates the electrical angle ph i _e from these analog position signals. adc o ? sets and adc scalers need to be programmed into the associated registers to use analog hall sensors or analog encoders. each aenc_0_select, aenc_1_select, aenc_2_select, and aenc_3_select, selects one raw analog adc input channel aenc out of aenc_ux_raw, aenc_vn_raw, aenc_wy_raw, aenc_n_raw, or one aenc register channel aenc_ux_ext, aenc_vn_ext, aenc_wy_ext, aenc_next. an individual signed o ? set is added each associated raw adc channel and scaled by its associated scaling factors according to aenc_value = ( aenc_raw + aenc_offset ) aenc_scale (5) i n addition, the aenc_offset is for conversion of unsigned adc values into signed adc values as required for the foc. figure 11: analog encoder (aenc) selector & scaler w/ o ? set correction ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 20 / 102 i nfo the analog n pulse is just a raw adc value. scaling, o ? set correction, hand handling of analog n pulse similar to n pulse handling of digital encoder n pulse is not implemented for analog encoder. 3.6.8 analog position decoder (sincos of 090 or 0120240) the extracted positions from the analog decoder are available for read out from registers. 3.6.8.1 multi-turn counter electrical angles are mapped to a multi-turn position counter. the user can overwrite this multi-turn position for initialization purposes. 3.6.8.2 encoder engine phi selector the angle selector select the source for the commutation angel ph i _e. that electrical angle is available for commutation. 3.6.8.3 external position register a register value written vie the application interface into the register bank is available for commutation also. with this, the user can interface to any encoder by just writing positions extracted from external encoder into this regulator. from the decoder engine point of view this is just one more selectable encoder source. 3.7 foc23 engine i nfo support for the TMC4670 is integrated into the tmcl- i de including wizards for setting up. with this one can turn a motor with a few steps of setup. with the tmcl- i de one has direct access to all registers of the TMC4670. the foc23 engine performs the inner current control loop for the torque current i q and the 2 ux current i d including the required transformations. programmable limiters take care of clipping of interim results. per default, the programmable circular limiter clips u_d and u_q to u_d_r = p ( 2) u_q and u_r_r = p ( 2) u_d. p i controllers perform the regulation tasks. 3.7.1 p i (d) controllers p i controllers are used for current control and velocity control. a p regulator is used for position control. the d part not yet supported, it is just a register place holder for future variants. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 21 / 102 3.7.2 p i (d) controller calculations the p i regulators performs the calculation dxdt = p e + i z t 0 e(t) d t (6) with e = x_target x (7) where x_target stands for target 2 ux, target torque, target velocity, or target position with error e that is the di ? erence between target value and actual values. the time constant d t is 1 s with the integral part is divided by 256. 3.7.3 p i (d) controller - clipping the limiting of target values for p i controllers and output values of p i controllers is programmable. per power on default theses limiter are set to maximum values. before one starts a motor one should set the limiters for clipping. the target input is clipped to x_target_l i m i t. the output of a p i (d) is named dxdt because it gives the desired derivative d/dt as a target value to the following stage: the position (x) controller gives velocity (dx/) the output of the p i (d) is clipped to dxdt_l i m i t. the error integral of ( 6 ) is clipped to dxdt_l i m i t / i . ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 22 / 102 figure 12: p i d architectures 3.7.4 p i flux & p i torque the p part is represented as q8.8 and i is the i part represented as q0.15. 3.7.5 p i velocity the p part is represented as q8.8 and i is the i part represented as q0.15. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 23 / 102 3.7.6 p( i ) position for the position regulator, the p part is represented as q4.12 to be compatible with the high resolution positions - one single rotation is handled as an s16. this is because e = x - x_target might result in larger e[s32] for x[s32] and x_target[s32] represented as s32 for e = x - x_target for x[s16] and x_target[s16] represented as s16. 3.7.7 i nner foc control loop - flux & torque the inner foc loop ( 1 gure 13 ) regulates the 2 ux current to a 2 ux target of zero and the torque current to the desired torque target. the inner foc loop performs the desired transformations according to 1 gure 14 for 3-phase motors (foc3). for 2-phase motors (foc2) both clark (clark) transformation and inverse clark (iclark) a by-passed. the inner foc control loop gets a target torque value ( i _q_target) that represents acceleration, the rotor position, and the measured currents as input data. together with the programmed p and i parameters, the inner foc loop calculates three target voltage values as input for the pwm engine. figure 13: i nner foc control loop 3.7.8 foc transformations and p i (d) for control of flux & torque the clark transformation (clarke) maps three motor phase currents ( i u , i v , i w ) to a two dimensional coordinate system with two currents ( i , i ). based on the actual rotor angel determined by an encoder or via sensorless techniques, the park transformation (park) maps these two currents to a quasi-static coordinate system with two currents ( i , i q ). the current i represents 2 ux and the current i q represents torque. the 2 ux just pulls on the rotor but does not e ? ect torque. the torque is e ? ected by the ( i q ). two p i controllers determine two voltages ( u d , u q ) to drive desired currents for a target torque and a target 2 ux of zero. the determined voltages ( u d , u q ) are re-transformed into the stator system by the inverse parke transformation (ipark). the inverse clarke transformation (iclarke) transform these two currents into three voltages ( u u , u v , u w ). theses three voltage are the input of the pwm engine to drive the power stage. i n case of the foc2, clarke transformation clarke and inverse clarke transformation iclarke are skipped. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 24 / 102 figure 14: foc3 transformations (foc2 just skips clarke and iclarke) 3.7.9 motion modes figure 15: motion modes 3.8 pwm engine the pwm engine takes care converting voltage vectors to pulse width modulated (pwm) control signals. these digital pwm signals control the gate drivers of the power stage. for detailed description of the pwm control registers and pwm register control bits pls. refer section 5 page 27 . the ease-of-use pwm engine requires just a couple of parameter settings. primarily, the polarities for the gate control signal of high side and low side must be set. the power on default pwm mode is 0 that ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 25 / 102 means pwm = off. for operation, the centered pwm mode must be set on by setting the pwm mode to 7. a single bit controls the space vector pwm (svpwm). for 3-phase pmsm the svpwm = on gives more e ? ective voltage. nevertheless, for some applications it makes sense to switch the svpwm = off to keep the star point voltage of a motor almost at rest. 3.8.1 pwm polarites this pwm polarities register pwm_polar i tes controls the polarities of the control signals. positive polarity for gate control means 1 represents on and 0 represents off. the gate control signal polarities are individually programmable for low side gate control and for low side gate control. the pwm polarities register controls the polarity of other control signals as well. 3.8.2 pwm frequency the pwm counter maximul length register pwm_maxcnt controls the pwm frequency. for a clock frequency fclk = 25mhz, the pwm frequency fpwm[hz] = is (4.0 * fclk[hz]) / (pwm_maxcnt + 1). with fclk = 25mhz and power-on reset (por) default of pwm_maxcnt=3999 the pwm frequency is fpwm = 25khz. the pwm frequency fpwm is recommended to be in the range of 25khz to 200khz by setting pwm_maxcnt between 3999 to 499. note the pwm frequency can be changed any time also during motion. 3.8.3 pwm resolution the base resolution of the pwm is 12 bit internally mapped to 16 bit range. max_pwmcnt=4095 gives the full resolution of 12 bit with 25khz w/ fclk=25mhz. max_pwmcnt=2047 results in 11 bit resolution but with 50khz w/ fclk=25mhz. so the pwm_maxcnt de 1 nes the pwm frequency but e ? ects the resolution of the pwm. 3.8.4 pwm modes the power-on reset (por) default of the pwm is off. the standard pwm scheme is the centered pwm. passive breaking and free wheeling modes are available on demand. please refer [ ? ] concerning the settings. 3.8.5 brake-before-make (bbm) one register controls bbm time for the high side. one register controls bbm time for the low side. the bbm times are programmable in 10ns steps. the bbm time can be set to zero for gate drivers that have there own integrated bbm timers. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 26 / 102 figure 16: bbm timing i nfo measured bbm times at mos-fet gates di ? ers from programmed bbm times due to driver delays and possible additional gate driver bbm times. the programmed bbm times are for the digital control signals. note too small bbm times cause electrical short of the mos-fet bridges - so called shoot through - that shorts the power supply and might damage the power stage and the power supply. 3.8.6 space vector pwm (svpwm) a single bit controls the internal space vector pwm (svpwm) enable. no further setting are required for the space vector pwm - just on or off. the power on default for the svpm is off. note the svpwm is for 3-phase motors only. for 2-phase motors there is no svpwm. 4 safety functions di ? erent safety functions are integrated and mapped to status bits. two programmable mask register select those bits for warn i ng or error. warning just indicated the warning status at the warn i ng output. an error will cause programmable actions on error conditions and indicate the error status directly at error output, as pwm = off on over current condition or adc raw values with permanent zero or adc raw values at maximum, . . . i nfo programmable autonomous error handling is not implemented yet. i nternal hardware limiters for real time clipping and monitoring of interim values are available. l i m i t or l i m i ts is part of register names of registers associated to internal limiters. please refer 5 . ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 27 / 102 5 register map i nfo this is a preliminary register map. address mappings and register mappings might change for the release version. names of some register addresses and names of register part might be changed for the release version. register map for TMC4670 address registername access 0x00 h ch i p i nfo_data r variant 0 mask name type 0xffffffff h s i _type asc ii min max default unit 0 4294967295 0 hardware type (asc ii ). variant 1 mask name type 0xffffffff h s i _vers i on version min max default unit 0 4294967295 0 hardware version (u16.u16). variant 2 mask name type 0xffffffff h s i _date date min max default unit 0 4294967295 0 hardware date (nibble wise date stamp yyyymmdd). variant 3 mask name type 0xffffffff h s i _t i me time min max default unit 0 16777215 0 hardware time (nibble wise time stamp C hhmmss) variant 4 mask name type 0xffffffff h s i _var i ant unsigned ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 28 / 102 address registername access min max default unit 0 4294967295 0 0x01 h ch i p i nfo_addr rw mask name type 0x000000ff h ch i p_ i nfo_address choice min max default unit 0 4 0 0: s i _type 1: s i _vers i on 2: s i _date 3: s i _t i me 4: s i _var i ant 0x02 h adc_raw_data r variant 0 mask name type 0x0000ffff h adc_ i _ux_raw unsigned min max default unit 0 65535 0 raw phase current u resp. x (ltc2351). mask name type 0xffff0000 h adc_ i _wy_raw unsigned min max default unit 0 65535 0 raw phase current w resp. y (ltc2351). variant 1 mask name type 0x0000ffff h adc_ i _u_raw unsigned min max default unit 0 65535 0 raw phase current u (adc_ i _ux analog input for foc2). mask name type 0xffff0000 h adc_ i _v_raw unsigned min max default unit 0 65535 0 raw phase current v (adc_ i _wy analog input for foc2). ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 29 / 102 address registername access variant 2 mask name type 0x0000ffff h adc_ i _b_raw unsigned min max default unit 0 65535 0 raw phase current bottom (analog input). variant 3 mask name type 0x0000ffff h adc_vm_raw unsigned min max default unit 0 65535 0 raw supply voltage. variant 4 mask name type 0x0000ffff h adc_t_mosfets_raw unsigned min max default unit 0 65535 0 raw mosfet temperature. mask name type 0xffff0000 h adc_t_motor_raw unsigned min max default unit 0 65535 0 raw motor temperature. variant 5 mask name type 0x0000ffff h adc_u_ux_raw unsigned min max default unit 0 65535 0 raw voltage terminal u resp. x. mask name type 0xffff0000 h adc_u_wy_raw unsigned min max default unit 0 65535 0 raw voltage terminal w resp. y. variant 6 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 30 / 102 address registername access mask name type 0x0000ffff h adc_u_v_raw unsigned min max default unit 0 65535 0 raw voltage terminal v. variant 7 mask name type 0x0000ffff h aenc_ux_raw unsigned min max default unit 0 65535 0 raw analog encoder voltage u resp. x. mask name type 0xffff0000 h aenc_wy_raw unsigned min max default unit 0 65535 0 raw analog encoder voltage w resp. y. variant 8 mask name type 0x0000ffff h aenc_v_raw unsigned min max default unit 0 65535 0 raw analog encoder voltage v. mask name type 0xffff0000 h aenc_n_raw unsigned min max default unit 0 65535 0 raw analog encoder zero position voltage n. variant 9 mask name type 0x0000ffff h analog_gp i _raw unsigned min max default unit 0 65535 0 raw analog input voltage. variant 10 mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 31 / 102 address registername access 0x0000ffff h adcsd_ i _ux_raw signed min max default unit -32768 32767 0 sigmadeltaadc current ux. mask name type 0xffff0000 h adcsd_ i _wy_raw signed min max default unit -32768 32767 0 sigmadeltaadc current wy. variant 11 mask name type 0x0000ffff h adcsd_ i _b_raw signed min max default unit -32768 32767 0 sigmadeltaadc current at bottom (pcb s (sense) instead of b (bottom). 0x03 h adc_raw_addr rw mask name type 0x000000ff h adc_raw_addr choice min max default unit 0 11 0 0: adc_ i _wy_raw & adc_ i _ux_raw 1: adc_ i _v_raw & adc_ i _u_raw 2: adc_ i _b_raw 3: adc_vm_raw 4: adc_t_mosfets_raw & adc_t_motor_raw 5: adc_u_wy_raw & adc_u_ux_raw 6: adc_u_v_raw 7: aenc_wy_raw & aenc_ux_raw 8: aenc_n_raw & aenc_v_raw 9: analog_gp i _raw 10: adcsd_ i _wy_raw & adcsd_ i _ux_raw 11: adcsd_ i _b_raw 0x04 h adcsd_clkcfg rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 32 / 102 address registername access 0x0000ffff h adcsd_clkcfg unsigned min max default unit 0 65535 0 0x06 h adc_ i 1_ i 0_ext rw mask name type 0x0000ffff h adc_ i 0_ext unsigned min max default unit 0 65535 0 register for write of adc_ i 0 value from external source (eg. cpu). mask name type 0xffff0000 h adc_ i 1_ext unsigned min max default unit 0 65535 0 register for write of adc_ i 1 value from external source (eg. cpu). 0x08 h adc_ i 1_scale_offset rw mask name type 0x0000ffff h adc_ i 1_offset signed min max default unit -32768 32767 0 o ? set for current adc channel 1. mask name type 0xffff0000 h adc_ i 1_scale signed min max default unit -32768 32767 0 scaling factor for current adc channel 1. 0x09 h adc_ i 0_scale_offset rw mask name type 0x0000ffff h adc_ i 0_offset signed min max default unit -32768 32767 0 o ? set for current adc channel 0. mask name type 0xffff0000 h adc_ i 0_scale signed ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 33 / 102 address registername access min max default unit -32768 32767 0 scaling factor for current adc channel 0. 0x0a h adc_ i _select rw mask name type 0x000000ff h adc_ i 0_select choice min max default unit 0 7 0 select input for raw current adc_ i 0_raw. 0: adc_ i 0_raw (analog input adc_ i _u) 1: adc_ i 1_raw (analog input adc_ i _v) 2: adc_ i 0_ext (from register) 3: adc_ i 1_ext (from register) 4: adcsd_ i 0_raw (sigma delta adc) 5: adcsd_ i 1_raw (sigma delta adc) 6: adcsp i _ i 0_raw (sp i adc_ i _ux) 7: adcsp i _ i 1_raw (sp i adc_ i _wy) mask name type 0x0000ff00 h adc_ i 1_select choice min max default unit 0 7 0 select input for raw current adc_ i 1_raw. 0: adc_ i 0_raw (analog input adc_ i _u) 1: adc_ i 1_raw (analog input adc_ i _v) 2: adc_ i 0_ext (from register) 3: adc_ i 1_ext (from register) 4: adcsd_ i 0_raw (sigma delta adc) 5: adcsd_ i 1_raw (sigma delta adc) 6: adcsp i _ i 0_raw (sp i adc_ i _ux) 7: adcsp i _ i 1_raw (sp i adc_ i _wy) mask name type 0x03000000 h adc_ i _ux_select choice min max default unit 0 2 0 0: ux = adc_ i 0 (default) ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 34 / 102 address registername access 1: ux = adc_ i 1 2: ux = adc_ i 2 mask name type 0x0c000000 h adc_ i _v_select choice min max default unit 0 2 0 0: v = adc_ i 0 1: v = adc_ i 1 (default) 2: v = adc_ i 2 mask name type 0x30000000 h adc_ i _wy_select choice min max default unit 0 2 0 0: wy = adc_ i 0 1: wy = adc_ i 1 2: wy = adc_ i 2 (default) 0x0d h aenc_0_scale_offset rw mask name type 0x0000ffff h aenc_0_offset signed min max default unit -32768 32767 0 o ? set for analog encoder adc channel 0. mask name type 0xffff0000 h aenc_0_scale signed min max default unit -32768 32767 0 scaling factor for analog encoder adc channel 0. 0x0e h aenc_1_scale_offset rw mask name type 0x0000ffff h aenc_1_offset signed min max default unit -32768 32767 0 o ? set for analog encoder adc channel 1. mask name type 0xffff0000 h aenc_1_scale signed ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 35 / 102 address registername access min max default unit -32768 32767 0 scaling factor for analog encoder adc channel 1. 0x0f h aenc_2_scale_offset rw mask name type 0x0000ffff h aenc_2_offset signed min max default unit -32768 32767 0 o ? set for analog encoder adc channel 2. mask name type 0xffff0000 h aenc_2_scale signed min max default unit -32768 32767 0 scaling factor for analog encoder adc channel 2. 0x10 h aenc_3_scale_offset rw mask name type 0x0000ffff h aenc_3_offset signed min max default unit -32768 32767 0 o ? set for analog encoder adc channel 3. mask name type 0xffff0000 h aenc_3_scale signed min max default unit -32768 32767 0 scaling factor for analog encoder adc channel 3. 0x11 h aenc_select rw mask name type 0x000000ff h aenc_0_select choice min max default unit 0 3 0 select analog encoder adc channel for raw analog encoder signal aenc_0_raw. 0: aenc_ux_raw (default) 1: aenc_vn_raw 2: aenc_wy_raw ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 36 / 102 address registername access 3: aenc_n_raw mask name type 0x0000ff00 h aenc_1_select choice min max default unit 0 3 0 select analog encoder adc channel for raw analog encoder signal aenc_1_raw. 0: aenc_ux_raw 1: aenc_vn_raw (default) 2: aenc_wy_raw 3: aenc_n_raw mask name type 0x00ff0000 h aenc_2_select choice min max default unit 0 3 0 select analog encoder adc channel for raw analog encoder signal aenc_2_raw. 0: aenc_ux_raw 1: aenc_vn_raw 2: aenc_wy_raw (default) 3: aenc_n_raw mask name type 0xff000000 h aenc_3_select choice min max default unit 0 3 0 select analog encoder adc channel for raw analog encoder signal aenc_3_raw. 0: aenc_ux_raw 1: aenc_vn_raw 2: aenc_wy_raw 3: aenc_n_raw (default) 0x12 h adc_ i wy_ i ux r mask name type 0x0000ffff h adc_ i ux signed min max default unit -32768 32767 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 37 / 102 address registername access register of scaled current adc value including signed added o ? set as input for the foc. mask name type 0xffff0000 h adc_ i wy signed min max default unit -32768 32767 0 register of scaled current adc value including signed added o ? set as input for the foc. 0x13 h adc_ i v r mask name type 0x0000ffff h adc_ i v signed min max default unit -32768 32767 0 register of scaled current adc value including signed added o ? set as input for the foc. 0x15 h aenc_wy_ux r mask name type 0x0000ffff h aenc_ux signed min max default unit -32768 32767 0 register of scaled analog encoder value including signed added o ? set as input for the interpolator. mask name type 0xffff0000 h aenc_wy signed min max default unit -32768 32767 0 register of scaled analog encoder value including signed added o ? set as input for the interpolator. 0x16 h aenc_n_vn r mask name type 0x0000ffff h aenc_vn signed min max default unit -32768 32767 0 register of scaled analog encoder value including signed added o ? set as input for the interpolator. mask name type 0xffff0000 h aenc_n signed ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 38 / 102 address registername access min max default unit -32768 32767 0 register of scaled analog encoder value including signed added o ? set of analog n pulse. 0x17 h pwm_polar i t i es rw mask name type 0x00000001 h pwm_polar i t i es[0] bool min max default unit 0 1 0 polarity of low side (ls) gate control signal 0: o ? 1: on mask name type 0x00000002 h pwm_polar i t i es[1] bool min max default unit 0 1 0 polarity of high side (hs) gate control signal 0: o ? 1: on mask name type 0x00000004 h pwm_polar i t i es[2] bool min max default unit 0 1 0 pulse ab polarity 0: o ? 1: on mask name type 0x00000008 h pwm_polar i t i es[3] bool min max default unit 0 1 0 pulse b polarity 0: o ? 1: on mask name type 0x00000010 h pwm_polar i t i es[4] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 39 / 102 address registername access min max default unit 0 1 0 pulse c center polarity 0: o ? 1: on mask name type 0x00000020 h pwm_polar i t i es[5] bool min max default unit 0 1 0 pulse a polarity 0: o ? 1: on mask name type 0x00000040 h pwm_polar i t i es[6] bool min max default unit 0 1 0 pulse zero z pulse polarity 0: o ? 1: on mask name type 0x00000080 h pwm_polar i t i es[7] bool min max default unit 0 1 0 over current signal polarity 0: o ? 1: on 0x18 h pwm_maxcnt rw mask name type 0x0000ffff h pwm_maxcnt unsigned min max default unit 0 65535 0 pwm maximum (count-1), pwm frequency is fpwm[hz] = 100mhz/(pwm_maxcnt+1) 0x19 h pwm_bbm_h_bbm_l rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 40 / 102 address registername access 0x000000ff h pwm_bbm_l unsigned min max default unit 0 255 0 break before make time tbbm_l[10ns] for low side mos-fet gate control mask name type 0x0000ff00 h pwm_bbm_h unsigned min max default unit 0 255 0 break before make time tbbm_h[10ns] for high side mos-fet gate control 0x1a h pwm_sv_chop rw mask name type 0x000000ff h pwm_chop choice min max default unit 0 7 0 pwm chopper mode, de 1 ning how to chopper 0: pwm = off, free running 1: pwm = off, low side (ls) permanent = on 2: pwm = off, high side (hs) permanent = on 3: pwm o ? , free running 4: pwm o ? , free running 5: pwm low side (ls) chopper only, high side (hs) o ? ; not suitable for foc 6: pwm high side (hs) chopper only, low side (ls) o ? ; not suitable for foc 7: centered pwm for foc mask name type 0x00000100 h pwm_sv bool min max default unit 0 1 0 use space vector pwm 0: space vector pwm disabled 1: space vector pwm enabled 0x1b h motor_type_n_pole_pa i rs rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 41 / 102 address registername access 0x0000ffff h n_pole_pa i rs unsigned min max default unit 1 65535 1 number n of pole pairs of the motor for calcualtion phi_e = phi_m / n_pole_pa i rs. mask name type 0x00ff0000 h motor_type choice min max default unit 0 3 0 0: foc2 1: foc3 2: reserved 3: reserved 0x1c h ph i _e_ext rw mask name type 0x0000ffff h ph i _e_ext signed min max default unit -32768 32767 0 electrical angle phi_e_ext for external writing into this register. 0x1d h ph i _m_ext rw mask name type 0x0000ffff h ph i _m_ext signed min max default unit -32768 32767 0 mechanical angle phi_m_ext for external writing into this regis- ter. 0x1e h pos i t i on_ext rw mask name type 0xffffffff h pos i t i on_ext signed min max default unit -2147483648 2147483647 0 mechanical (multi turn) position for external writing into this register. 0x1f h openloop_mode rw mask name type 0x00001000 h openloop_ph i _d i rect i on bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 42 / 102 address registername access min max default unit 0 1 0 open loop phi direction. 0: positive 1: negative 0x20 h openloop_accelerat i on rw mask name type 0xffffffff h openloop_accelerat i on unsigned min max default unit 0 4294967295 0 acceleration of open loop phi. 0x21 h openloop_veloc i ty_target rw mask name type 0xffffffff h openloop_veloc i ty_target signed min max default unit -2147483648 2147483647 0 target velocity of open loop phi. 0x22 h openloop_veloc i ty_actual rw mask name type 0xffffffff h openloop_veloc i ty_actual signed min max default unit -2147483648 2147483647 0 actual velocity of open loop generator. 0x23 h openloop_ph i rw mask name type 0x0000ffff h openloop_ph i signed min max default unit -32768 32767 0 angle phi open loop (either mapped to electrical angel phi_e or mechanical angle phi_m). 0x24 h uq_ud_ext rw mask name type 0x0000ffff h ud_ext signed min max default unit -32768 32767 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 43 / 102 address registername access external writable parameter for open loop voltage control mode, usefull during system setup, u_d component. mask name type 0xffff0000 h uq_ext signed min max default unit -32768 32767 0 external writable parameter for open loop voltage control mode, usefull during system setup, u_q component. 0x25 h abn_decoder_mode rw mask name type 0x00000001 h apol bool min max default unit 0 1 0 polarity of a pulse. 0: o ? 1: on mask name type 0x00000002 h bpol bool min max default unit 0 1 0 polarity of b pulse. 0: o ? 1: on mask name type 0x00000004 h npol bool min max default unit 0 1 0 polarity of n pulse. 0: o ? 1: on mask name type 0x00000008 h use_abn_as_n bool min max default unit 0 1 0 0: i gnore a and b polarity with npulse = n, 1 : npulse = n and a and b ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 44 / 102 address registername access 0: i gnore a and b polarity with npulse = n 1: npulse = n and a and b mask name type 0x00000100 h cln bool min max default unit 0 1 0 clear writes abn_decoder_count_n into decoder count at npulse. 0: o ? 1: on mask name type 0x00001000 h direction bool min max default unit 0 1 0 decoder count direction. 0: positive 1: negative 0x26 h abn_decoder_ppr rw mask name type 0x00ffffff h abn_decoder_ppr unsigned min max default unit 0 16777215 0 decoder pules per mechanical revolution. 0x27 h abn_decoder_count rw mask name type 0x00ffffff h abn_decoder_count unsigned min max default unit 0 16777215 0 raw decoder count; the digital decoder engine counts modulo (decoder_ppr). 0x28 h abn_decoder_count_n rw mask name type 0x00ffffff h abn_decoder_count_n unsigned min max default unit 0 16777215 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 45 / 102 address registername access decoder count latched on n pulse, when n pulse clears de- coder_count also decoder_count_n is 0. 0x29 h abn_decoder_ph i _e_ph i _m_offset rw mask name type 0x0000ffff h abn_decoder_ph i _m_offset signed min max default unit -32768 32767 0 abn_decoder_ph i _m_offset to shift (rotate) angle de- coder_ph i _m. mask name type 0xffff0000 h abn_decoder_ph i _e_offset signed min max default unit -32768 32767 0 abn_decoder_ph i _e_offset to shift (rotate) angle de- coder_ph i _e. 0x2a h abn_decoder_ph i _e_ph i _m r mask name type 0x0000ffff h abn_decoder_ph i _m signed min max default unit -32768 32767 0 abn_decoder_ph i _m = abn_decoder_count * 2 ? 16 / abn_decoder_ppr + abn_decoder_ph i _m_offset; mask name type 0xffff0000 h abn_decoder_ph i _e signed min max default unit -32768 32767 0 abn_decoder_ph i _e = (abn_decoder_ph i _m * n_pole_pa i rs_) + abn_decoder_ph i _e_offset 0x2c h abn_2_decoder_mode rw mask name type 0x00000001 h apol bool min max default unit 0 1 0 polarity of a pulse. 0: o ? 1: on ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 46 / 102 address registername access mask name type 0x00000002 h bpol bool min max default unit 0 1 0 polarity of b pulse. 0: o ? 1: on mask name type 0x00000004 h npol bool min max default unit 0 1 0 polarity of n pulse. 0: o ? 1: on mask name type 0x00000008 h use_abn_as_n bool min max default unit 0 1 0 0: i gnore a and b polarity with npulse = n, 1 : npulse = n and a and b 0: i gnore a and b polarity with npulse = n 1: npulse = n and a and b mask name type 0x00000100 h cln bool min max default unit 0 1 0 clear writes abn_2_decoder_count_n into decoder count at npulse. 0: o ? 1: on mask name type 0x00001000 h direction bool min max default unit 0 1 0 decoder count direction. 0: positive ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 47 / 102 address registername access 1: negative 0x2d h abn_2_decoder_ppr rw mask name type 0x00ffffff h abn_2_decoder_ppr unsigned min max default unit 1 16777215 0 decoder_2 pules per mechanical revolution. this 2nd abn encoder interface is for positioning or velocity control but not for motor commutation. 0x2e h abn_2_decoder_count rw mask name type 0x00ffffff h abn_2_decoder_count unsigned min max default unit 0 16777215 0 raw decoder_2 count; the digital decoder engine counts mod- ulo (decoder_2_ppr). 0x2f h abn_2_decoder_count_n rw mask name type 0x00ffffff h abn_2_decoder_count_n unsigned min max default unit 0 16777215 0 decoder_2 count latched on n pulse, when n pulse clears decoder_2_count also decoder_2_count_n is 0. 0x30 h abn_2_decoder_ph i _m_offset rw mask name type 0x0000ffff h abn_2_decoder_ph i _m_offset signed min max default unit -32768 32767 0 abn_2_decoder_ph i _m_offset to shift (rotate) angle de- coder_2_ph i _m. 0x31 h abn_2_decoder_ph i _m r mask name type 0x0000ffff h abn_2_decoder_ph i _m signed min max default unit -32768 32767 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 48 / 102 address registername access abn_2_decoder_ph i _m = abn_2_decoder_count * 2 ? 16 / abn_2_decoder_ppr + abn_2_decoder_ph i _m_offset; 0x33 h hall_mode rw mask name type 0x00000001 h polarity bool min max default unit 0 1 0 polarity 0: o ? 1: on mask name type 0x00000100 h interpolation bool min max default unit 0 1 0 interpolation 0: o ? 1: on mask name type 0x00001000 h direction bool min max default unit 0 1 0 direction 0: o ? 1: on 0x34 h hall_pos i t i on_060_000 rw mask name type 0x0000ffff h hall_pos i t i on_000 signed min max default unit -32768 32767 0 s16 hall sensor position at 0 mask name type 0xffff0000 h hall_pos i t i on_060 signed min max default unit -32768 32767 0 s16 hall sensor position at 60. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 49 / 102 address registername access 0x35 h hall_pos i t i on_180_120 rw mask name type 0x0000ffff h hall_pos i t i on_120 signed min max default unit -32768 32767 0 s16 hall sensor position at 120. mask name type 0xffff0000 h hall_pos i t i on_180 signed min max default unit -32768 32767 0 s16 hall sensor position at 180. 0x36 h hall_pos i t i on_300_240 rw mask name type 0x0000ffff h hall_pos i t i on_240 signed min max default unit -32768 32767 0 s16 hall sensor position at 240. mask name type 0xffff0000 h hall_pos i t i on_300 signed min max default unit -32768 32767 0 s16 hall sensor position at 300. 0x37 h hall_ph i _e_ph i _m_offset rw mask name type 0x0000ffff h hall_ph i _m_offset signed min max default unit -32768 32767 0 o ? set of mechanical angle hall_phi_m of hall decoder. mask name type 0xffff0000 h hall_ph i _e_offset signed min max default unit -32768 32767 0 o ? set for electrical angle hall_phi_e of hall decoder. 0x38 h hall_dph i _max rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 50 / 102 address registername access 0x0000ffff h hall_dph i _max unsigned min max default unit 0 65535 0 maximum dx for interpolation (default for digital hall: u16/6). 0x39 h hall_ph i _e_ i nterpolated_ph i _e r mask name type 0x0000ffff h hall_ph i _e signed min max default unit -32768 32767 0 raw electrical angle hall_phi_e of hall decoder, selection pro- grammed via hall_mode control bit. mask name type 0xffff0000 h hall_ph i _e_ i nterpolated signed min max default unit -32768 32767 0 i nterpolated electrical angle hall_phi_e_interpolated, selection programmed via hall_mode control bit. 0x3a h hall_ph i _m r mask name type 0x0000ffff h hall_ph i _m signed min max default unit -32768 32767 0 mechanical angle hall_phi_m of hall decoder. 0x3b h aenc_decoder_mode rw mask name type 0x00000001 h aenc_decoder_mode[0] bool min max default unit 0 1 0 nxy_uvw : 0: sincos mode // 1: 0 120 240 mode 0: o ? 1: on mask name type 0x00001000 h aenc_decoder_mode[12] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 51 / 102 address registername access decoder count direction 0: positive 1: negative 0x3c h aenc_decoder_n_threshold rw mask name type 0x0000ffff h aenc_decoder_n_threshold signed min max default unit -32768 32767 0 threshold for generating of n pulse from analog aenc_n signal (only needed for analog sincos encoders with analog n signal). 0x3d h aenc_decoder_ph i _a_raw r mask name type 0x0000ffff h aenc_decoder_ph i _a_raw signed min max default unit -32768 32767 0 raw analog angle phi calculated from analog aenc inputs (analog hall, analog sincos, ...). 0x3e h aenc_decoder_ph i _a_offset rw mask name type 0x0000ffff h aenc_decoder_ph i _a_offset signed min max default unit -32768 32767 0 o ? set for angle phi from analog decoder (analog hall, analog sincos, ...). 0x3f h aenc_decoder_ph i _a r mask name type 0x0000ffff h aenc_decoder_ph i _a signed min max default unit -2147483648 2147483647 0 resulting phi available for the foc (phi_e might need to be calculated from this angle via aenc_decoder_ppr, for analog hall sensors phi_a might be used directly as phi_e depends on analog hall signal type). 0x40 h aenc_decoder_ppr rw mask name type 0x0000ffff h aenc_decoder_ppr signed min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 52 / 102 address registername access -32768 32767 1 number of periods per revolution also called lines per revolu- tion (di ? erent nomenclatur compared to digital abn encoders). 0x41 h aenc_decoder_count rw mask name type 0xffffffff h aenc_decoder_count signed min max default unit -2147483648 2147483647 0 decoder position, raw unscaled. 0x42 h aenc_decoder_count_n rw mask name type 0xffffffff h aenc_decoder_count_n signed min max default unit -2147483648 2147483647 0 latched decoder position on analog n pulse event. 0x43 h aenc_decoder_count_n_mask rw mask name type 0x0000ffff h aenc_decoder_count_n_mask signed min max default unit -32768 32767 0 optional position mask (position) for the analog n pulse within phi_a period to be and-ed with the digital n pulse generated via aenc_decoder_n_threshold. 0x45 h aenc_decoder_ph i _e_ph i _m_offset rw mask name type 0x0000ffff h aenc_decoder_ph i _m_offset signed min max default unit -32768 32767 0 o ? set for mechanical angle phi_m. mask name type 0xffff0000 h aenc_decoder_ph i _e_offset signed min max default unit -32768 32767 0 o ? set for electrical angle phi_e. 0x46 h aenc_decoder_ph i _e_ph i _m r mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 53 / 102 address registername access 0x0000ffff h aenc_decoder_ph i _m signed min max default unit -32768 32767 0 resulting angle phi_m. mask name type 0xffff0000 h aenc_decoder_ph i _e signed min max default unit -32768 32767 0 resulting angle phi_e. 0x47 h aenc_decoder_pos i t i on rw mask name type 0xffffffff h aenc_decoder_pos i t i on signed min max default unit -2147483648 2147483647 0 multi-turn position. 0x50 h veloc i ty_select i on rw mask name type 0x000000ff h veloc i ty_select i on choice min max default unit 0 12 0 0: phi_e selected via ph i _e_select i on 1: phi_e_ext 2: phi_e_openloop 3: phi_e_abn 4: reserved 5: phi_e_hal 6: phi_e_aenc 7: phi_a_aenc 8: reserved 9: phi_m_abn 10: phi_m_abn_2 11: phi_m_aenc 12: phi_m_hal 0x51 h pos i t i on_select i on rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 54 / 102 address registername access 0x000000ff h pos i t i on_select i on choice min max default unit 0 12 0 0: phi_e selected via ph i _e_select i on 1: phi_e_ext 2: phi_e_openloop 3: phi_e_abn 4: reserved 5: phi_e_hal 6: phi_e_aenc 7: phi_a_aenc 8: reserved 9: phi_m_abn 10: phi_m_abn_2 11: phi_m_aenc 12: phi_m_hal 0x52 h ph i _e_select i on rw mask name type 0x000000ff h ph i _e_select i on choice min max default unit 0 7 0 0: reserved 1: phi_e_ext 2: phi_e_openloop 3: phi_e_abn 4: reserved 5: phi_e_hal 6: phi_e_aenc 7: phi_a_aenc 0x53 h ph i _e r mask name type 0x0000ffff h ph i _e signed min max default unit -32768 32767 0 angle used for the inner foc loop. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 55 / 102 address registername access 0x54 h p i d_flux_p_flux_ i rw mask name type 0x0000ffff h p i d_flux_ i signed min max default unit 0 32767 0 mask name type 0xffff0000 h p i d_flux_p signed min max default unit 0 32767 0 0x55 h p i d_flux_d rw mask name type 0x0000ffff h p i d_flux_d signed min max default unit 0 32767 0 0x56 h p i d_torque_p_torque_ i rw mask name type 0x0000ffff h p i d_torque_ i signed min max default unit 0 32767 0 mask name type 0xffff0000 h p i d_torque_p signed min max default unit 0 32767 0 0x57 h p i d_torque_d rw mask name type 0x0000ffff h p i d_torque_d signed min max default unit 0 32767 0 0x58 h p i d_veloc i ty_p_veloc i ty_ i rw mask name type 0x0000ffff h p i d_veloc i ty_ i signed min max default unit 0 32767 0 mask name type 0xffff0000 h p i d_veloc i ty_p signed ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 56 / 102 address registername access min max default unit 0 32767 0 0x59 h p i d_veloc i ty_d rw mask name type 0x0000ffff h p i d_veloc i ty_d signed min max default unit 0 32767 0 0x5a h p i d_pos i t i on_p_pos i t i on_ i rw mask name type 0x0000ffff h p i d_pos i t i on_ i signed min max default unit 0 32767 0 mask name type 0xffff0000 h p i d_pos i t i on_p signed min max default unit 0 32767 0 0x5b h p i d_pos i t i on_d rw mask name type 0x0000ffff h p i d_pos i t i on_d signed min max default unit 0 32767 0 0x5c h p i d_torque_flux_target_ddt_l i m i ts rw mask name type 0xffffffff h p i d_torque_flux_target_ddt_l i m i ts unsigned min max default unit 0 32767 32767 [1/?s] limits of change in time [d/dt] of the target torque and target 2 ux. 0x5d h p i dout_uq_ud_l i m i ts rw mask name type 0x0000ffff h p i dout_uq_ud_l i m i ts unsigned min max default unit 0 32767 0 two dimensional circular limiter for inputs of ipark. 0x5e h p i d_torque_flux_l i m i ts rw ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 57 / 102 address registername access mask name type 0x0000ffff h p i d_torque_flux_l i m i ts unsigned min max default unit 0 32767 0 p i d torque limt and p i d 2 ux limit, limits the target values com- ing from the target registers. 0x5f h p i d_accelerat i on_l i m i t rw mask name type 0xffffffff h p i d_accelerat i on_l i m i t unsigned min max default unit 0 4294967295 0 acceleration limit. 0x60 h p i d_veloc i ty_l i m i t rw mask name type 0xffffffff h p i d_veloc i ty_l i m i t unsigned min max default unit 0 4294967295 0 velocity limit. 0x61 h p i d_pos i t i on_l i m i t_low rw mask name type 0xffffffff h p i d_pos i t i on_l i m i t_low signed min max default unit -2147483648 2147483647 0 position limit low, programmable positon barrier. 0x62 h p i d_pos i t i on_l i m i t_h i gh rw mask name type 0xffffffff h p i d_pos i t i on_l i m i t_h i gh signed min max default unit -2147483648 2147483647 0 position limit high, programmable positon barrier. 0x63 h mode_ramp_mode_mot i on rw mask name type 0x000000ff h mode_mot i on choice min max default unit 0 8 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 58 / 102 address registername access 0: stopped_mode 1: torque_mode 2: velocity_mode 3: position_mode 4: reserved 5: reserved 6: reserved 7: reserved 8: uq_ud_ext mask name type 0x0000ff00 h mode_ramp choice min max default unit 0 7 0 0: no velocity ramping 1: reserved 2: reserved 3: reserved 4: reserved 5: reserved 6: reserved 7: reserved 0x64 h p i d_torque_flux_target rw mask name type 0x0000ffff h p i d_flux_target signed min max default unit -32768 32767 0 mask name type 0xffff0000 h p i d_torque_target signed min max default unit -32768 32767 0 0x65 h p i d_torque_flux_offset rw mask name type 0x0000ffff h p i d_flux_offset signed min max default unit -32768 32767 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 59 / 102 address registername access flux o ? set for feed forward control. mask name type 0xffff0000 h p i d_torque_offset signed min max default unit -32768 32767 0 torque o ? set for feed forward control. 0x66 h p i d_veloc i ty_target rw mask name type 0xffffffff h p i d_veloc i ty_target signed min max default unit -2147483648 2147483647 0 target velocity register (for velocity mode). 0x67 h p i d_veloc i ty_offset rw mask name type 0xffffffff h p i d_veloc i ty_offset signed min max default unit -2147483648 2147483647 0 velocity o ? set for feed forward control. 0x68 h p i d_pos i t i on_target rw mask name type 0xffffffff h p i d_pos i t i on_target signed min max default unit -2147483648 2147483647 0 target position register (for position mode). 0x69 h p i d_torque_flux_actual r mask name type 0x0000ffff h p i d_flux_actual signed min max default unit -32768 32767 0 mask name type 0xffff0000 h p i d_torque_actual signed min max default unit -32768 32767 0 0x6a h p i d_veloc i ty_actual r mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 60 / 102 address registername access 0xffffffff h p i d_veloc i ty_actual signed min max default unit -2147483648 2147483647 0 actual velocity. 0x6b h p i d_pos i t i on_actual rw mask name type 0xffffffff h p i d_pos i t i on_actual signed min max default unit -2147483648 2147483647 0 actual multi turn position for positioning. wr i te on p i d_pos i t i on_actual writes same value into p i d_pos i t i on_target to avoid unwanted move. 0x6c h p i d_error_data r variant 0 mask name type 0xffffffff h p i d_torque_error signed min max default unit -2147483648 2147483647 0 p i d torque error. variant 1 mask name type 0xffffffff h p i d_flux_error signed min max default unit -2147483648 2147483647 0 p i d 2 ux error. variant 2 mask name type 0xffffffff h p i d_veloc i ty_error signed min max default unit -2147483648 2147483647 0 p i d velocity error. variant 3 mask name type 0xffffffff h p i d_pos i t i on_error signed min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 61 / 102 address registername access -2147483648 2147483647 0 p i d position error. variant 4 mask name type 0xffffffff h p i d_torque_error_sum signed min max default unit -2147483648 2147483647 0 p i d torque error. variant 5 mask name type 0xffffffff h p i d_flux_error_sum signed min max default unit -2147483648 2147483647 0 p i d 2 ux error sum. variant 6 mask name type 0xffffffff h p i d_veloc i ty_error_sum signed min max default unit -2147483648 2147483647 0 p i d velocity error sum. variant 7 mask name type 0xffffffff h p i d_pos i t i on_error_sum signed min max default unit -2147483648 2147483647 0 p i d position error sum. 0x6d h p i d_error_addr rw mask name type 0x000000ff h p i d_error_addr choice min max default unit 0 7 0 0: p i d_torque_error 1: p i d_flux_error 2: p i d_veloc i ty_error 3: p i d_pos i t i on_error ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 62 / 102 address registername access 4: p i d_torque_error_sum 5: p i d_flux_error_sum 6: p i d_veloc i ty_error_sum 7: p i d_pos i t i on_error_sum 0x6e h i nter i m_data rw variant 0 mask name type 0xffffffff h p i d i n_target_torque signed min max default unit -2147483648 2147483647 0 p i d i n target torque. variant 1 mask name type 0xffffffff h p i d i n_target_flux signed min max default unit -2147483648 2147483647 0 p i d i n target 2 ux. variant 2 mask name type 0xffffffff h p i d i n_target_veloc i ty signed min max default unit -2147483648 2147483647 0 p i d i n target velocity. variant 3 mask name type 0xffffffff h p i d i n_target_pos i t i on signed min max default unit -2147483648 2147483647 0 p i d i n target position. variant 4 mask name type 0xffffffff h p i dout_target_torque signed min max default unit -2147483648 2147483647 0 p i dout target torque. ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 63 / 102 address registername access variant 5 mask name type 0xffffffff h p i dout_target_flux signed min max default unit -2147483648 2147483647 0 p i dout target 2 ux. variant 6 mask name type 0xffffffff h p i dout_target_veloc i ty signed min max default unit -2147483648 2147483647 0 p i dout target velocity. variant 7 mask name type 0xffffffff h p i dout_target_pos i t i on signed min max default unit -2147483648 2147483647 0 p i dout target position. variant 8 mask name type 0x0000ffff h foc_ i ux signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_ i wy signed min max default unit -32768 32767 0 variant 9 mask name type 0x0000ffff h foc_ i v signed min max default unit -32768 32767 0 variant 10 mask name type 0x0000ffff h foc_ i a signed ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 64 / 102 address registername access min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_ i b signed min max default unit -32768 32767 0 variant 11 mask name type 0x0000ffff h foc_ i d signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_ i q signed min max default unit -32768 32767 0 variant 12 mask name type 0x0000ffff h foc_ud signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_uq signed min max default unit -32768 32767 0 variant 13 mask name type 0x0000ffff h foc_ud_l i m i ted signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_uq_l i m i ted signed min max default unit -32768 32767 0 variant 14 mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 65 / 102 address registername access 0x0000ffff h foc_ua signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_ub signed min max default unit -32768 32767 0 variant 15 mask name type 0x0000ffff h foc_uux signed min max default unit -32768 32767 0 mask name type 0xffff0000 h foc_uwy signed min max default unit -32768 32767 0 variant 16 mask name type 0x0000ffff h foc_uv signed min max default unit -32768 32767 0 variant 17 mask name type 0x0000ffff h pwm_ux signed min max default unit -32768 32767 0 mask name type 0xffff0000 h pwm_wy signed min max default unit -32768 32767 0 variant 18 mask name type 0x0000ffff h pwm_v signed min max default unit -32768 32767 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 66 / 102 address registername access variant 19 mask name type 0x0000ffff h adc_ i _0 signed min max default unit -32768 32767 0 mask name type 0xffff0000 h adc_ i _1 signed min max default unit -32768 32767 0 variant 192 mask name type 0x0000ffff h debug_value_0 signed min max default unit -32768 32767 0 mask name type 0xffff0000 h debug_value_1 signed min max default unit -32768 32767 0 variant 193 mask name type 0x0000ffff h debug_value_2 signed min max default unit -32768 32767 0 mask name type 0xffff0000 h debug_value_3 signed min max default unit -32768 32767 0 variant 194 mask name type 0x0000ffff h debug_value_4 signed min max default unit -32768 32767 0 mask name type 0xffff0000 h debug_value_5 signed min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 67 / 102 address registername access -32768 32767 0 variant 195 mask name type 0x0000ffff h debug_value_6 signed min max default unit -32768 32767 0 mask name type 0xffff0000 h debug_value_7 signed min max default unit -32768 32767 0 variant 196 mask name type 0x0000ffff h debug_value_8 unsigned min max default unit 0 65535 0 mask name type 0xffff0000 h debug_value_9 unsigned min max default unit 0 65535 0 variant 197 mask name type 0x0000ffff h debug_value_10 unsigned min max default unit 0 65535 0 mask name type 0xffff0000 h debug_value_11 unsigned min max default unit 0 65535 0 variant 198 mask name type 0x0000ffff h debug_value_12 unsigned min max default unit 0 65535 0 mask name type 0xffff0000 h debug_value_13 unsigned ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 68 / 102 address registername access min max default unit 0 65535 0 variant 199 mask name type 0x0000ffff h debug_value_14 unsigned min max default unit 0 65535 0 mask name type 0xffff0000 h debug_value_15 unsigned min max default unit 0 65535 0 variant 200 mask name type 0xffffffff h debug_value_16 signed min max default unit -2147483648 2147483647 0 variant 201 mask name type 0xffffffff h debug_value_17 signed min max default unit -2147483648 2147483647 0 variant 202 mask name type 0xffffffff h debug_value_18 signed min max default unit -2147483648 2147483647 0 variant 203 mask name type 0xffffffff h debug_value_19 signed min max default unit -2147483648 2147483647 0 0x6f h i nter i m_addr rw mask name type 0x000000ff h i nter i m_addr choice min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 69 / 102 address registername access 0 203 0 0: p i d i n_target_torque 1: p i d i n_target_flux 2: p i d i n_target_veloc i ty 3: p i d i n_target_pos i t i on 4: p i dout_target_torque 5: p i dout_target_flux 6: p i dout_target_veloc i ty 7: p i dout_target_pos i t i on 8: foc_ i wy_ i ux 9: foc_ i v 10: foc_ i b_ i a 11: foc_ i q_ i d 12: foc_uq_ud 13: foc_uq_ud_l i m i ted 14: foc_ub_ua 15: foc_uwy_uux 16: foc_uv 17: pwm_wy_ux 18: pwm_uv 19: adc_ i 1_ i 0 192: debug_value_1_0 193: debug_value_3_2 194: debug_value_5_4 195: debug_value_7_6 196: debug_value_9_8 197: debug_value_11_10 198: debug_value_13_12 199: debug_value_15_14 200: debug_value_16 201: debug_value_17 202: debug_value_18 203: debug_value_19 0x75 h adc_vm_l i m i ts rw mask name type ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 70 / 102 address registername access 0x0000ffff h adc_vm_l i m i t_low unsigned min max default unit 0 65535 0 low limit for brake chopper output brake_out. mask name type 0xffff0000 h adc_vm_l i m i t_h i gh unsigned min max default unit 0 65535 0 high limit for brake chopper output brake_out. 0x76 h TMC4670_ i nputs_raw r mask name type 0x00000001 h TMC4670_ i nputs_raw[0] bool min max default unit 0 1 0 a of abn_raw 0: o ? 1: on mask name type 0x00000002 h TMC4670_ i nputs_raw[1] bool min max default unit 0 1 0 b of abn_raw 0: o ? 1: on mask name type 0x00000004 h TMC4670_ i nputs_raw[2] bool min max default unit 0 1 0 n of abn_raw 0: o ? 1: on mask name type 0x00000008 h TMC4670_ i nputs_raw[3] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 71 / 102 address registername access 0: o ? 1: on mask name type 0x00000010 h TMC4670_ i nputs_raw[4] bool min max default unit 0 1 0 a of abn_2_raw 0: o ? 1: on mask name type 0x00000020 h TMC4670_ i nputs_raw[5] bool min max default unit 0 1 0 b of abn_2_raw 0: o ? 1: on mask name type 0x00000040 h TMC4670_ i nputs_raw[6] bool min max default unit 0 1 0 n of abn_2_raw 0: o ? 1: on mask name type 0x00000080 h TMC4670_ i nputs_raw[7] bool min max default unit 0 1 0 0: o ? 1: on mask name type 0x00000100 h TMC4670_ i nputs_raw[8] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 72 / 102 address registername access hall_ux of hall_raw 0: o ? 1: on mask name type 0x00000200 h TMC4670_ i nputs_raw[9] bool min max default unit 0 1 0 hall_v of hall_raw 0: o ? 1: on mask name type 0x00000400 h TMC4670_ i nputs_raw[10] bool min max default unit 0 1 0 hall_wy of hall_raw 0: o ? 1: on mask name type 0x00000800 h TMC4670_ i nputs_raw[11] bool min max default unit 0 1 0 0: o ? 1: on mask name type 0x00001000 h TMC4670_ i nputs_raw[12] bool min max default unit 0 1 0 ref_sw_r_raw 0: o ? 1: on mask name type 0x00002000 h TMC4670_ i nputs_raw[13] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 73 / 102 address registername access ref_sw_h_raw 0: o ? 1: on mask name type 0x00004000 h TMC4670_ i nputs_raw[14] bool min max default unit 0 1 0 ref_sw_l_raw 0: o ? 1: on mask name type 0x00008000 h TMC4670_ i nputs_raw[15] bool min max default unit 0 1 0 enable_ i n_raw 0: o ? 1: on mask name type 0x00010000 h TMC4670_ i nputs_raw[16] bool min max default unit 0 1 0 stp of d i rstp_raw 0: o ? 1: on mask name type 0x00020000 h TMC4670_ i nputs_raw[17] bool min max default unit 0 1 0 d i r of d i rstp_raw 0: o ? 1: on mask name type 0x00040000 h TMC4670_ i nputs_raw[18] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 74 / 102 address registername access pwm_ i n_raw 0: o ? 1: on mask name type 0x00080000 h TMC4670_ i nputs_raw[19] bool min max default unit 0 1 0 0: o ? 1: on mask name type 0x00100000 h TMC4670_ i nputs_raw[20] bool min max default unit 0 1 0 es i _0 of es i _raw 0: o ? 1: on mask name type 0x00200000 h TMC4670_ i nputs_raw[21] bool min max default unit 0 1 0 es i _1 of es i _raw 0: o ? 1: on mask name type 0x00400000 h TMC4670_ i nputs_raw[22] bool min max default unit 0 1 0 es i _2 of es i _raw 0: o ? 1: on mask name type 0x00800000 h TMC4670_ i nputs_raw[23] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 75 / 102 address registername access 0: o ? 1: on mask name type 0x01000000 h TMC4670_ i nputs_raw[24] bool min max default unit 0 1 0 cfg_0 of cfg 0: o ? 1: on mask name type 0x02000000 h TMC4670_ i nputs_raw[25] bool min max default unit 0 1 0 cfg_1 of cfg 0: o ? 1: on mask name type 0x04000000 h TMC4670_ i nputs_raw[26] bool min max default unit 0 1 0 cfg_2 of cfg 0: o ? 1: on mask name type 0x08000000 h TMC4670_ i nputs_raw[27] bool min max default unit 0 1 0 cfg_3 of cfg 0: o ? 1: on mask name type 0x10000000 h TMC4670_ i nputs_raw[28] bool min max default unit 0 1 0 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 76 / 102 address registername access pwm_ i dle_l_raw 0: o ? 1: on mask name type 0x20000000 h TMC4670_ i nputs_raw[29] bool min max default unit 0 1 0 pwm_ i dle_h_raw 0: o ? 1: on mask name type 0x40000000 h TMC4670_ i nputs_raw[30] bool min max default unit 0 1 0 drv_err_ i n_raw 0: o ? 1: on mask name type 0x80000000 h TMC4670_ i nputs_raw[31] bool min max default unit 0 1 0 0: o ? 1: on 0x77 h TMC4670_outputs_raw r mask name type 0x00000001 h TMC4670_outputs_raw[0] bool min max default unit 0 1 0 pwm_ux1_l 0: o ? 1: on mask name type 0x00000002 h TMC4670_outputs_raw[1] bool min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 77 / 102 address registername access 0 1 0 pwm_ux1_h 0: o ? 1: on mask name type 0x00000004 h TMC4670_outputs_raw[2] bool min max default unit 0 1 0 pwm_vx2_l 0: o ? 1: on mask name type 0x00000008 h TMC4670_outputs_raw[3] bool min max default unit 0 1 0 pwm_vx2_h 0: o ? 1: on mask name type 0x00000010 h TMC4670_outputs_raw[4] bool min max default unit 0 1 0 pwm_wy1_l 0: o ? 1: on mask name type 0x00000020 h TMC4670_outputs_raw[5] bool min max default unit 0 1 0 pwm_wy1_h 0: o ? 1: on mask name type 0x00000040 h TMC4670_outputs_raw[6] bool min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 78 / 102 address registername access 0 1 0 pwm_y2_l 0: o ? 1: on mask name type 0x00000080 h TMC4670_outputs_raw[7] bool min max default unit 0 1 0 pwm_y2_h 0: o ? 1: on 0x7c h status_flags rw mask name type 0x00000001 h status_flags[0] bool min max default unit 0 1 0 pid_x_target_limit 0: o ? 1: on mask name type 0x00000002 h status_flags[1] bool min max default unit 0 1 0 pid_x_target_ddt_limit 0: o ? 1: on mask name type 0x00000004 h status_flags[2] bool min max default unit 0 1 0 pid_x_errsum_limit 0: o ? 1: on mask name type 0x00000008 h status_flags[3] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 79 / 102 address registername access min max default unit 0 1 0 pid_x_output_limit 0: o ? 1: on mask name type 0x00000010 h status_flags[4] bool min max default unit 0 1 0 pid_v_target_limit 0: o ? 1: on mask name type 0x00000020 h status_flags[5] bool min max default unit 0 1 0 pid_v_target_ddt_limit 0: o ? 1: on mask name type 0x00000040 h status_flags[6] bool min max default unit 0 1 0 pid_v_errsum_limit 0: o ? 1: on mask name type 0x00000080 h status_flags[7] bool min max default unit 0 1 0 pid_v_output_limit 0: o ? 1: on mask name type 0x00000100 h status_flags[8] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 80 / 102 address registername access min max default unit 0 1 0 pid_id_target_limit 0: o ? 1: on mask name type 0x00000200 h status_flags[9] bool min max default unit 0 1 0 pid_id_target_ddt_limit 0: o ? 1: on mask name type 0x00000400 h status_flags[10] bool min max default unit 0 1 0 pid_id_errsum_limit 0: o ? 1: on mask name type 0x00000800 h status_flags[11] bool min max default unit 0 1 0 pid_id_output_limit 0: o ? 1: on mask name type 0x00001000 h status_flags[12] bool min max default unit 0 1 0 pid_iq_target_limit 0: o ? 1: on mask name type 0x00002000 h status_flags[13] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 81 / 102 address registername access min max default unit 0 1 0 pid_iq_target_ddt_limit 0: o ? 1: on mask name type 0x00004000 h status_flags[14] bool min max default unit 0 1 0 pid_iq_errsum_limit 0: o ? 1: on mask name type 0x00008000 h status_flags[15] bool min max default unit 0 1 0 pid_iq_output_limit 0: o ? 1: on mask name type 0x00010000 h status_flags[16] bool min max default unit 0 1 0 ipark_cirlim_limit_u_d 0: o ? 1: on mask name type 0x00020000 h status_flags[17] bool min max default unit 0 1 0 ipark_cirlim_limit_u_q 0: o ? 1: on mask name type 0x00040000 h status_flags[18] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 82 / 102 address registername access min max default unit 0 1 0 ipark_cirlim_limit_u_r 0: o ? 1: on mask name type 0x00080000 h status_flags[19] bool min max default unit 0 1 0 0: o ? 1: on mask name type 0x00100000 h status_flags[20] bool min max default unit 0 1 0 ref_sw_r 0: o ? 1: on mask name type 0x00200000 h status_flags[21] bool min max default unit 0 1 0 ref_sw_h 0: o ? 1: on mask name type 0x00400000 h status_flags[22] bool min max default unit 0 1 0 ref_sw_l 0: o ? 1: on mask name type 0x00800000 h status_flags[23] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 83 / 102 address registername access min max default unit 0 1 0 0: o ? 1: on mask name type 0x01000000 h status_flags[24] bool min max default unit 0 1 0 pwm_min 0: o ? 1: on mask name type 0x02000000 h status_flags[25] bool min max default unit 0 1 0 pwm_max 0: o ? 1: on mask name type 0x04000000 h status_flags[26] bool min max default unit 0 1 0 adc_i_clipped 0: o ? 1: on mask name type 0x08000000 h status_flags[27] bool min max default unit 0 1 0 aenc_clipped 0: o ? 1: on mask name type 0x10000000 h status_flags[28] bool ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 84 / 102 address registername access min max default unit 0 1 0 enc_n 0: o ? 1: on mask name type 0x20000000 h status_flags[29] bool min max default unit 0 1 0 enc_2_n 0: o ? 1: on mask name type 0x40000000 h status_flags[30] bool min max default unit 0 1 0 aenc_n 0: o ? 1: on mask name type 0x80000000 h status_flags[31] bool min max default unit 0 1 0 0: o ? 1: on 0x7d h warn i ng_mask rw mask name type 0xffffffff h warn i ng_mask unsigned min max default unit 0 4294967295 0 0x7e h error_mask rw mask name type 0xffffffff h error_mask unsigned min max default unit ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 85 / 102 address registername access 0 4294967295 0 table 6: register map for TMC4670 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 86 / 102 6 pinning i nfo all power supply pins (1v2, 2v5, 3v3) must be connected. all ground pins (gnd, gnd_ref) must be connected. all pins speci 1 ed as n.c. (=not connected) must be left open. analog inputs (a i ) are 2.5v single ended inputs. voltage dividers are required to scale down higher input voltages. digital inputs ( i ) resp. ( i o) are 3.3v single ended inputs. voltage dividers are required to scale done higher input voltages. i o description a i analog input, 2.5v i digital input, 3.3v i o digital input or digital output, direction programmable, 3.3v o digital output, 3.3v table 7: pin type de 1 nition ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 87 / 102 name ball i o description nrst b10 i active low reset input clk m3 i clock input, 25 mhz enable_ i n t13 i active high enable input sp i _nscs r7 i sp i active low chip select input sp i _sck t7 i sp i clock input sp i _mos i t6 i sp i master out slave input sp i _m i so r6 o sp i master in sleave output enc_a l1 i a input of incremental encoder enc_b l2 i b input of incremental encoder enc_n m1 i n input of incremental encoder enc2_a r1 i a input of incremental encoder enc2_b p2 i b input of incremental encoder enc2_n p4 i n input of incremental encoder hall_ux n2 i digital hall input h1 for 3-phase (u) or 2-phase (x) hall_v n1 i digital hall input h2 for 3-phase (v) hall_wy m2 i digital hall input h3 for 3-phase (w) or 2-phase (y) ref_sw_l a9 i left (l) reference switch ref_sw_h a8 i home (h) reference switch ref_sw_r a10 i right (r) reference switch aenc_ux c1 a i analog hall or analog encoder, 3-phase (u) or 2-phase (x (cos)) aenc_v d1 a i analog hall or analog encoder, 3-phase (v) aenc_wy e1 a i analog hall or analog encoder, 3-phase (w) or 2-phase (y (sin)) aenc_n b1 a i analog encoder n pulse input adc_ i _0 f2 a i phase current measurement voltage input i _0 ( i _u, i _x) adc_ i _1 f4 a i phase current measurement voltage input i _1 ( i _v, i _w, i _y) adc_vm e3 a i analog input for motor suppply voltage (vm) measurement agp i g2 a i analog general purpose input (analog gp i ) adc_t_mosfets c3 a i analog input for mosfet temperature signal adc_t_motor c4 a i analog input for motor temperature signal adc_u_ux f1 a i analog voltage input for terminal ux adc_u_v f5 a i analog voltage input for terminal v adc_u_wy b2 a analog voltage input for terminal wy adc_ i _s c2 a i analog bottom current measurement voltage input, reserved adc_start b5 o adc start pulse for tlc2351 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 88 / 102 name ball i o description adc_b i p b4 o output driving adc ltc2351 b i p input adc_nscs b7 o adc ltc2351 nscs signal adc_sck b6 o adc ltc2351 sck signal adc_m i so a6 i from adc ltc2351 sdo output adc_mos i a7 o reserved for adc w/ sd i input pwm_ i dle_h a11 i i dle level of high side gate control signals pwm_ i dle_l b11 i i dle level of low side gate control signals pwm_ux1_h d16 o high side gate control output u (3-phase) resp. x1 (2-phase) pwm_ux1_l d15 o low side gate control output u (3-phase) resp. x1 (2-phase) pwm_vx2_h c16 o high side gate control output v (3-phase) resp. x2 (2-phase) pwm_vx2_l d14 o low side gate control output v (3-phase) resp. x2 (2-phase) pwm_wy1_h b16 o high side gate control output w (3-phase) resp. y1 (2-phase) pwm_wy1_l c15 o low side gate control output w (3-phase) resp. y1 (2-phase) pwm_y2_h b15 o high side gate control output y2 (2-phase only) pwm_y2_l c14 o low side gate control output y2 (2-phase only) pwm_z_out l15 o pulse, indicating start of pwm period (zero count) pwm_c_out l16 o pulse, indicating center of pwm period brake_out a13 o brake chopper control signal drv_err_ i n a12 i driver error input (from gate driver) table 8: functional pin description ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 89 / 102 name ball i o description resereved i os not supported by current version stp t15 i step input d i r t14 i direction input uart_d i r p12 o uart direction pin in case of rs485 usage uart_txd p11 o transmit data txd (rs232, rs422, rs485, . . . uart_rxd r11 i receive data rxd (rs232, rs422, rs485, . . . enc_ss i _clk r8 o ss i clock (+) output enc_ss i _dat t8 i ss i data (+) data input sp i _dbg_clk p8 i o dbg sp i master clk uart_rxd/sp i _dbg_m i so t9 i o dbg sp i master m i so uart_txd/sp i _dbg_mos i r9 i o dbg sp i master mos i urat_d i r/sp i _dbg_nscs p9 i o dbg sp i mster nscs mclk_ux g16 i o delta sigma modulator clock i o for phase current ux (programmable direction) mdat_ux e16 i delta sigma modulator data stream for phase ux mclk_wy f16 i o delta sigma modulator clock i o for phase current wy (programmable direction) mdat_wy e14 i delta sigma modulator data stream for phase wy mclk_s g15 i o delta sigma modulator clock i o for phase bottom current (programmable direction) mdat_s e15 i delta sigma modulator data stream for bottom current cfg_0 t5 i con 1 guration pin#0 cfg_1 t4 i con 1 guration pin#1 cfg_2 t3 i con 1 guration pin#2 cfg_3 t2 i con 1 guration pin#3 es i _0 h16 i emergency switch i nput #0 es i _1 j15 i emergency switch i nput #1 es i _2 j16 i emergency switch i nput #2 warn i ng_out p10 i maskable warning output error_out t11 i maskable error output enable_out a5 o enable output tr i gger_out k14 o general purpose trigger output gp i o_0 r5 i o general purpose i o#0 gp i o_1 r4 i o general purpose i o#1 gp i o_2 r3 i o general purpose i o#2 gp i o_3 r2 i o general purpose i o#3 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 90 / 102 name ball i o description resereved i os not supported by current version dbg i o_0 p15 i o debug i o#0 dbg i o_1 n16 i o debug i o#1 dbg i o_2 m15 i o debug i o#2 dbg i o_3 m16 i o debug i o#3 pwm_ i n r10 i pwm input, to assign target values via duty cycle d i ag_out_0 t12 o d i ag_out_0 diagnosis output d i ag_out_1 r12 o d i ag_out_1 diagnosis output table 9: description of pins not supported by current version ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 91 / 102 name ball i o supply voltage pins and ground pins vcc i o3v3 k4 3.3v vcc i o3v3 l4 3.3v vcc i o3v3 n6 3.3v vcc i o3v3 n7 3.3v vcc i o3v3 n8 3.3v vcc i o3v3 n10 3.3v vcc i o3v3 n11 3.3v vcc i o3v3 k13 3.3v vcc i o3v3 l13 3.3v vcc i o3v3 m13 3.3v vcc i o3v3 f13 3.3v vcc i o3v3 g13 3.3v vcc i o3v3 h13 3.3v vcc i o3v3 j13 3.3v vcc i o3v3 d10 3.3v vcc i o3v3 d11 3.3v vcc i o3v3 c7 3.3v vcc i o3v3 d7 3.3v vcc i o3v3 d8 3.3v vccrefr1 e8 3.3v via 10k reference resistor to be connected to 3.3v supply voltage vccrefr2 f7 3.3v via 10k reference resistor to be connected to 3.3v supply voltage vccrefr3 e7 3.3v via 10k reference resistor to be connected to 3.3v supply voltage adcvref2v5 e4 2.5v vcca2v5 d5 2.5v vcca2v5 e12 2.5v vcca2v5 l5 2.5v vcca2v5 m12 2.5v vcca2v5 e5 2.5v vcca2v5 g4 2.5v vcca2v5 h4 2.5v vcca2v5 j4 2.5v vcc1v2 g7 1.2v vcc1v2 g9 1.2v vcc1v2 h8 1.2v ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 92 / 102 name ball i o supply voltage pins and ground pins vcc1v2 h9 1.2v vcc1v2 h10 1.2v vcc1v2 j7 1.2v vcc1v2 j8 1.2v vcc1v2 j9 1.2v vcc1v2 k8 1.2v vcc1v2 k10 1.2v vcc i nt1v2 f6 1.2v vccpll1v2 d4 1.2v vccpll1v2 d13 1.2v vccpll1v2 m5 1.2v vccpll1v2 n13 1.2v gnd a1 0v gnd a16 0v gnd b14 0v gnd c8 0v gnd c11 0v gnd d2 0v gnd d3 0v gnd d6 0v gnd e6 0v gnd e13 0v gnd f8 0v gnd f15 0v gnd f3 0v gnd g3 0v gnd g8 0v gnd g10 0v gnd h7 0v gnd h14 0v gnd j10 0v gnd k1 0v gnd k3 0v gnd k7 0v ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 93 / 102 name ball i o supply voltage pins and ground pins gnd k9 0v gnd k16 0v gnd l14 0v gnd m4 0v gnd n9 0v gnd n12 0v gnd n15 0v gnd p3 0v gnd p7 0v gnd r13 0v gnd t1 0v gnd t10 0v gnd t16 0v refgnd e2 0v table 10: supply voltage pins and ground pins ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 94 / 102 name ball i o not connected (n.c.) pins n.c. a2 - not connected n.c. a3 - not connected n.c. a4 - not connected n.c. a14 - not connected n.c. a15 - not connected n.c. b3 - not connected n.c. b8 - not connected n.c. b9 - not connected n.c. b12 - not connected n.c. b13 - not connected n.c. c5 - not connected n.c. c6 - not connected n.c. c9 - not connected n.c. c10 - not connected n.c. c12 - not connected n.c. c13 - not connected n.c. d9 - not connected n.c. d12 - not connected n.c. e9 - not connected n.c. e10 - not connected n.c. e11 - not connected n.c. f9 - not connected n.c. f10 - not connected n.c. f11 - not connected n.c. f12 - not connected n.c. f14 - not connected n.c. g5 - not connected n.c. g1 - not connected n.c. g11 - not connected n.c. g12 - not connected n.c. g14 - not connected n.c. g6 - not connected n.c. h5 - not connected n.c. h6 - not connected ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 95 / 102 name ball i o not connected (n.c.) pins n.c. h1 - not connected n.c. h11 - not connected n.c. h12 - not connected n.c. h15 - not connected n.c. h2 - not connected n.c. h3 - not connected n.c. j1 - not connected n.c. j2 - not connected n.c. j3 - not connected n.c. j5 - not connected n.c. j6 - not connected n.c. j11 - not connected n.c. j12 - not connected n.c. j14 - not connected n.c. k2 - not connected n.c. k5 - not connected n.c. k6 - not connected n.c. k11 - not connected n.c. k12 - not connected n.c. k15 - not connected n.c. l3 - not connected n.c. l6 - not connected n.c. l7 - not connected n.c. l8 - not connected n.c. l9 - not connected n.c. l10 - not connected n.c. l11 - not connected n.c. l12 - not connected n.c. m6 - not connected n.c. m7 - not connected n.c. m8 - not connected n.c. m9 - not connected n.c. m10 - not connected n.c. m11 - not connected ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 96 / 102 name ball i o not connected (n.c.) pins n.c. m14 - not connected n.c. n3 - not connected n.c. n4 - not connected n.c. n5 - not connected n.c. n14 - not connected n.c. p1 - not connected n.c. p5 - not connected n.c. p6 - not connected n.c. p13 - not connected n.c. p14 - not connected n.c. p16 - not connected n.c. r14 - not connected n.c. r15 - not connected n.c. r16 - not connected table 11: pin description of not connceted pins ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 97 / 102 7 package dimensions package: fbga 256 balls, 1.0mm pitch, size 17mm x 17mm, industrial temperature range 0c . . . 85c, rohs compliant. figure 17: fbga256 package outline fbga256 package dimensions in mm min. typ. max. a - - 2.20 a1 0.30 - - a2 - - 1.80 a3 0.70 ref d 17.00 bsc e 17.00 bsc b 0.50 0.60 0.70 e 1.00 bsc jedec ms-034, variation: aaf-1 table 12: package outline dimensions ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 98 / 102 8 supplemental directives 8.1 producer i nformation 8.2 copyright tr i nam i c owns the content of this user manual in its entirety, including but not limited to pictures, logos, trademarks, and resources. ? copyright 2016 tr i nam i c. all rights reserved. electronically published by tr i nam i c, germany. redistributions of source or derived format (for example, portable document format or hypertext markup language) must retain the above copyright notice, and the complete datasheet user manual docu- mentation of this product including associated application notes; and a reference to other available product-related documentation. 8.3 trademark designations and symbols trademark designations and symbols used in this documentation indicate that a product or feature is owned and registered as trademark and/or patent either by tr i nam i c or by other manufacturers, whose products are used or referred to in combination with tr i nam i c s products and tr i nam i c s product docu- mentation. this datasheet is a non-commercial publication that seeks to provide concise scienti 1 c and technical user information to the target user. thus, trademark designations and symbols are only entered in the short spec of this document that introduces the product at a quick glance. the trademark designation /symbol is also entered when the product or feature name occurs for the 1 rst time in the document. all trademarks and brand names used are property of their respective owners. 8.4 target user the documentation provided here, is for programmers and engineers only, who are equipped with the necessary skills and have been trained to work with this type of product. the target user knows how to responsibly make use of this product without causing harm to himself or others, and without causing damage to systems or devices, in which the user incorporates the product. 8.5 disclaimer: life support systems tr i nam i c motion control gmbh & co. kg does not authorize or warrant any of its products for use in life support systems, without the speci 1 c written consent of tr i nam i c 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. i nformation given in this document 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 from its use. speci 1 cations are subject to change without notice. 8.6 disclaimer: i ntended use the data speci 1 ed in this user manual is intended solely for the purpose of product description. no repre- sentations or warranties, either express or implied, of merchantability, 1 tness for a particular purpose ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 99 / 102 or of any other nature are made hereunder with respect to information/speci 1 cation or the products to which information refers and no guarantee with respect to compliance to the intended use is given. i n particular, this also applies to the stated possible applications or areas of applications of the product. tr i nam i c products are not designed for and must not be used in connection with any applications where the failure of such products would reasonably be expected to result in signi 1 cant personal injury or death (safety-critical applications) without tr i nam i c s speci 1 c written consent. tr i nam i c products are not designed nor intended for use in military or aerospace applications or environ- ments or in automotive applications unless speci 1 cally designated for such use by tr i nam i c. tr i nam i c conveys no patent, copyright, mask work right or other trade mark right to this product. tr i nam i c assumes no liability for any patent and/or other trade mark rights of a third party resulting from processing or handling of the product and/or any other use of the product. 8.7 collateral documents & tools this product documentation is related and/or associated with additional tool kits, 1 rmware and other items, as provided on the product page at: www.trinamic.com . ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 100 / 102 9 figures i ndex 1 hardware foc application diagram . 6 2 hardware foc block diagram . . . . . 6 3 sp i timing . . . . . . . . . . . . . . . . 7 4 sp i datagramstructure . . . . . . . . . 8 5 npolepairsnumberofpolepairs . . . . 11 6 i nteger representation of angles with 16 bit as s16 resp. u16 . . . . . . . . . 11 7 adc selector and scaler with o ? set correction . . . . . . . . . . . . . . . . 14 8 abn i ncremental encoder n pulse any- where between 0 and 360 . . . . . . 16 9 encoder abn timing . . . . . . . . . . 17 10 hall sensor angles . . . . . . . . . . . 18 11 npolepairsnumberofpolepairs . . . . 19 12 p i d architectures and motion modes 22 13 i nner foc control loop . . . . . . . . 23 14 foc transformations . . . . . . . . . . 24 15 motion modes . . . . . . . . . . . . . . 24 16 bbm timing . . . . . . . . . . . . . . . 26 17 fbga256 package outline . . . . . . . 97 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 101 / 102 10 tables i ndex 1 order codes . . . . . . . . . . . . . . . 4 2 tabspitimingparameter . . . . . . . . 7 3 numerical representations . . . . . . 9 4 examples of u16, s16, q8.8, q4.12 . . 10 5 examples of u16, s16, q8.8 . . . . . . 12 6 register map for TMC4670 . . . . . . 85 7 pin type de 1 nition . . . . . . . . . . . 86 8 functional pin description . . . . . . . 88 9 functional pin description . . . . . . . 90 10 supply voltage pins and ground pins 93 11 functional pin description . . . . . . . 96 12 package outline dimensions . . . . . 97 13 i c revision . . . . . . . . . . . . . . . . 102 14 document revision . . . . . . . . . . . 102 ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. TMC4670 datasheet prel i m i nary ? i c version v0.99 | document revision v0.91 ? 2016-nov-09 102 / 102 11 revision history 11.1 i c revision version date description v0.90 2016-jun-30 preliminary release. v0.99 2016-sep-30 engineiring sample release. table 13: i c revision 11.2 document revision version date description v0.9 2016-may-23, ll i nitial version. v0.9 2016-jul-29, ll first draft committed. v0.91 2016-oct-13, ll functional summary added, updated register set of TMC4670 0v99, adc selector with scaling and o ? set correction added, analog encoder (aenc) selector with scaling and o ? set correction added, v0.91 2016-oct-19, ll pinning updated. v0.91 2016-mov-02, ll short spec block diagram added. v0.91 2016-mov-04, ll p i d architecture and p i d motion mode drawings added v0.91 2016-mov-07, ll functional description hierachies updated v0.91 2016-mov-08, ll first version for www.trinamic.com table 14: document revision ?2016 tr i nam i c motion control gmbh & co. kg, hamburg, germany terms of delivery and rights to technical change reserved. download newest version at www.trinamic.com read entire documentation. |
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