USB-2-RTMI datasheet(33/157 Pages) TRINAMIC

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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11

33 / 157

4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y

For two-phase motors (stepper) with four terminals X1, X2, and Y1, Y2, voltage U_Ux = U_X1 - U_X2 is in

phase with the measured current I_X and U_Wy = U_Y1 - U_Y2 is in phase with the measured current I_Y

according to equations (15) and (16) for FOC2.

U_XY_FOC2







UX (φe) = UX

∗

sin(φe)

UY (φe) = UY

∗

sin(φe + 90

(15)

I_XY_FOC2







IX (φe) = ID

∗

sin(φe)

IY (φe) = ID

∗

sin(φe + 90

(16)

4.6.3 ADC Selector & ADC Scaler w/ Oﬀset Correction

The ADC selector selects ADC channels for FOC. The 3-phase FOC uses two of three ADC channels for

measurement and calculates the third channel via Kirchhoﬀ’s Law using the scaled and oﬀset-corrected

ADC values. The 2-phase FOC just uses two ADC channels because for a 2-phase stepper motor, the two

phases are independent from each other.

Note

The open-loop encoder is useful for setting up ADC channel selection, scaling,

and oﬀset by running a motor open-loop.

The FOC23 Engine processes currents as 16 bit signed (s16) values. Raw ADC values are expanded to 16 bit

width, regardless of their resolution. With this, each ADC is available for read out as a 16 bit number.

The ADC scaler w/ oﬀset correction is for the preprocessing of measured raw current values. It might be

used to map to user’s own units (e.g. A or mA). For scaling, gains of current ampli ers, reference voltages,

and oﬀsets have to be taken into account.

Info

Raw ADC values generally are of 16 bit width, regardless of their real resolution.

Info

The ADC scaler maps raw ADC values to the 16 bit signed (s16) range and centers

the values to zero by removing oﬀsets.

Terms of delivery and rights to technical change reserved.

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