TMC457_1 TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.], TMC457_1 Datasheet - Page 12

• Manufacturer Part Number: TMC457_1
• Description: S-profile motion controller with PID feedback control and high resolution micro stepping sequencer for stepper motors and piezo motors
• Manufacturer: TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]

TMC457 DATASHEET (V. 1.16 / 2009-Nov-25)
Warning: A chopper clock signal with a too high frequency might damage the stepper motor driver due
to dynamic power dissipation overload.
5.9 Type and Version Register / Version specific notes and known bugs
The type of the controller and its version can be read out from a register. For the TMC457 version 1.02
one gets 0x00457102 reading the type and version register. This allows hardware detection. Reading
the version allows handling of different version by a single software version.
Version Bug
1.02
-1.03
5.10 Interrupt Controller
The interrupt controller is programmable for different conditions. If an interrupt condition occurs the
nINT is pulled to low (activated) if the interrupt mask for the corresponding interrupt condition is
enabled.
Copyright © 2009 TRINAMIC Motion Control GmbH & Co. KG
AMAX lower limit with
linear ramps
Stop switches do not
become disabled at
move in opposite
direction while actual
velocity is zero
fCLK[Hz]
Table 1 : PWM frequency calculation for ChopSync
16.000.000
8.000.000
fCLK[Hz]
Description and workaround
When using linear ramps, setting AMAX to a value lower than 128
results in a strange positioning behavior, when AMAX and DMAX differ.
This is due to an internal rounding which results in AMAX being used
for deceleration rather than DMAX or vice versa.
This bug will be corrected in future versions.
Workaround:
Use AMAX values above 128, when AMAX and DMAX are required to
be different. AMAX values below 128 are typically only required, when
working with low microstepping resolutions.
Alternative: Use S-shaped ramps.
When the motor becomes stopped by a stop switch, a movement into
the opposite direction is not possible without disabling the stop switch.
The reason is that the stop switches are active in any direction when
velocity is zero.
This bug will be corrected in future versions.
Workaround:
Disable stop switch when moving into opposite direction.
fOSC[Hz]
fOSC[Hz]
36.000
25.000
36.000
25.000
fCLK[Hz] / fOSC[Hz]
0x1BC
0x0DE
0x280
0x140
chop_clk_div
TM
(=444)
(=640)
(=222)
(=320)
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