Datasheet TMC4671 (TRINAMIC) - 155

TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.06 • 2019-Feb-06 155 / 159
14 Errata
The Errata of the TMC4671-ES are listed here and in the particular descriptions they apply to. 1. SPI Slave Interface The SPI Slave Interface in the TMC4671-ES shows following error. During transaction of MSB of read data might get corrupted. This shows in two different ways. First one is a 40 ns pulse (positive or negative) on MISO at the beginning of transfer of that particular bit. This pulse can corrupt the MSB of read data and this error can be avoided when SPI clock frequency is set to 1 MHz. Second error also corrupts MSB of read data when MSB of regsiter is unstable. For example current measurement noise around zero. In this case MSB should be ignored when possible. Please also make sure that e.g. actual torque value can be read from register PID_TORQUE_FLUX_ACTUAL or from INTERIM_DATA register, where it is showing up in the lower 16 bits. These errors will be fixed in next IC version. SPI write access is not affected and can be performed at 8 MHz clock frequency. 2. Realtime Monitoring Interface The TRINAMIC Realtime Monitoring Interface can not be used with galvanic isolation as timing of SPI communication is too strict. This will be fixed in future version so galvanic isolation of SPI signals will be possible with defined latency of isolators. 3. PI Controllers The P Factor in the advanced position controller is not properly scaled. Due to the high gain in Velocity control loop, the position controller gain should be respectively low. The P Factor normalization of Q8.8 does not match these needs. This will be changed in a future version of the chip to a different Q Format. This change will cause changes in user’s application controller software. We recommend to use the classical PI control structure if performance is not sufficient. The integrator in the advanced PI controller is not reset when P or I parameters are set to zero. As a workaround controller can be disabled by switching to stopped mode or to a lower cascade level and thereby the integrator is reset. This behaviour will be changed in the next IC version. 4. Inbuilt ADCs The inbuilt Delta Sigma ADCs show an error, where both groups are disturbing each other. When one group is deactivated, everything is fine, but with both groups being active ADC Data might be corrupted. This error occurs if clock signals of both groups are not in phase. Clock phase can be changed by toggling the dsADC_MCLK_B to a non-round figure like 0x30000001 and back to 0x20000000. This toggling has to be repeated until measurement is clean. If the second ADC Group is not needed, it can be shut down by setting dsADC_MCLK_B to 0. The distortion can be detected by monitoring measurement at reference voltage. Use register DS_ANALOG_INPUT_STAGE_CFG to switch on the reference voltage for monitoring. 5. Pins PWM_IDLE_H and PWM_IDLE_L without function Pins PWM_IDLE_H and PWM_IDLE_L are intended to determine Power on Reset Gate Driver Polarity. This feature is not working properly as the gate driver polarity always powers up to Low Side Polarity to be Active Low and High Side Polarity to be active high. This will be corrected in the next version of the chip. 6. Space Vector PWM does not allow higher voltage utilization The Space vector PWM does not allow higher voltage utilization. This will be fixed in next version of the chip. 7. Step Direction Counter not used as Target Position The step direction interface correctly counts up and down the target position, but the step direction counter position is not used as the target position for positioning as intended. The TMC4671-ES always uses the target position written via SPI, RTMI, or UART into the register bank as the target position for positioning. As a work around for evaluation of step direction target position control, the user can read out the target position periodically and write it back to the register bank as the ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Document Outline 1 Order Codes 2 Functional Summary 3 FOC Basics 3.1 Why FOC? 3.2 What is FOC? 3.3 Why FOC as pure Hardware Solution? 3.4 How does FOC work? 3.5 What is Required for FOC? 3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark 3.5.2 Measurement of Stator Coil Currents 3.5.3 Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 3.5.4 Measurement of Rotor Angle 3.5.5 Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator 3.5.6 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters 3.5.7 Proportional Integral (PI) Controllers for Closed Loop Current Control 3.5.8 Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM) 3.5.9 Orientations, Models of Motors, and Coordinate Transformations 4 Functional Description 4.1 Functional Blocks 4.2 Communication Interfaces 4.2.1 SPI Slave User Interface 4.2.2 TRINAMIC Real-Time Monitoring Interface (SPI Master) 4.2.3 UART Interface 4.2.4 Step/Direction Interface 4.2.5 Single Pin Interface 4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs 4.3.1 Numerical Representation 4.3.2 N_POLE_PAIRS, PHI_E, PHI_M 4.3.3 Numerical Representation of Angles PHI 4.4 ADC Engine 4.4.1 ADC Group A and ADC Group B 4.4.2 Internal Delta Sigma ADCs 4.4.3 External Delta Sigma ADCs 4.5 Delta Sigma Configuration and Timing Configuration 4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW 4.5.2 External Delta Sigma Modulator Interface 4.5.3 ADC Configuration - MDAC 4.6 Analog Signal Conditioning 4.6.1 FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y 4.6.3 ADC Selector & ADC Scaler w/ Offset Correction 4.7 Encoder Engine 4.7.1 Open-Loop Encoder 4.7.2 Incremental ABN Encoder 4.7.3 Secondary Incremental ABN Encoder 4.7.4 Digital Hall Sensor Interface with optional Interim Position Interpolation 4.7.5 Digital Hall Sensor - Interim Position Interpolation 4.7.6 Digital Hall Sensors - Masking and Filtering 4.7.7 Digital Hall Sensors together with Incremental Encoder 4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) 4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) 4.7.10 Encoder Initialization Support 4.7.11 Velocity Measurement 4.7.12 Reference Switches 4.8 FOC23 Engine 4.8.1 PI Controllers 4.8.2 PI Controller Calculations - Classic Structure 4.8.3 PI Controller Calculations - Advanced Structure 4.8.4 PI Controller - Clipping 4.8.5 PI Flux & PI Torque Controller 4.8.6 PI Velocity Controller 4.8.7 P Position Controller 4.8.8 Inner FOC Control Loop - Flux & Torque 4.8.9 FOC Transformations and PI(D) for control of Flux & Torque 4.8.10 Motion Modes 4.8.11 Brake Chopper 4.9 Filtering and Feed-Forward Control 4.9.1 Biquad Filters 4.9.2 Standard Velocity Filter 4.9.3 Feed-Forward Control Structure 4.10 PWM Engine 4.10.1 PWM Polarities 4.10.2 PWM Frequency 4.10.3 PWM Resolution 4.10.4 PWM Modes 4.10.5 Break-Before-Make (BBM) 4.10.6 Space Vector PWM (SVPWM) 5 Safety Functions 5.1 Watchdog 6 Register Map 6.1 Register Map Overview 6.2 Register Map Full 7 Pinning 8 TMC4671 Pin Table 9 Electrical Characteristics 9.1 Absolute Maximum Ratings 9.2 Electrical Characteristics 9.2.1 Operational Range 9.2.2 DC Characteristics 10 Sample Circuits 10.1 Supply Pins 10.2 Clock and Reset Circuitry 10.3 Digital Encoder, Hall Sensor Interface and Reference Switches 10.4 Analog Frontend 10.5 Phase Current Measurement 10.6 Power Stage Interface 11 Setup Guidelines 12 Package Dimensions 13 Supplemental Directives 13.1 Producer Information 13.2 Copyright 13.3 Trademark Designations and Symbols 13.4 Target User 13.5 Disclaimer: Life Support Systems 13.6 Disclaimer: Intended Use 13.7 Collateral Documents & Tools 14 Errata 15 Figures Index 16 Tables Index 17 Revision History 17.1 IC Revision 17.2 Document Revision