USB-2-RTMI datasheet(6/157 Pages) TRINAMIC

6 / 157 page

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

6 / 157

2 Functional Summary

•

Servo Controller with Field Oriented Control (FOC)

– Torque (and ux) control mode

– Velocity control mode

– Position control mode

– update rate of current controller and PWM at maximum frequency of 100 kHz (speed and

position controller update rate is con gurable by setting a divider of current controller update

rate)

•

Control Functions/PI Controllers

– Programmable clipping of inputs and outputs of interim results

– Integrator windup protection for all controllers

– Programmable eld oriented voltage circular ( U

D + U

) limiter

– Feed-forward oﬀsets for target values and feed-forward friction compensation

– Advanced feed-forward control structure for optimal trajectory tracking performance

– Extended IRQ event masking options and limiter status register

– Advanced encoder initialization algorithms with Hall sensor or/and with minimal movement

•

Supported Motor Types

– FOC3 : 3-phase permanent magnet synchronous motors (PMSM)

– FOC2 : 2-phase stepper motors

– DC1 : brushed DC motors, or linear voice coil motors

•

ADC Engine with Oﬀset Correction and Scaling

– Integrated ∆Σ ADCs for current sense voltage, motor supply voltage, analog encoder, two AGPIs

– Integrated ∆Σ-Interface for external ∆Σ-Modulators

•

Position Feedback Evaluation

– Open loop position generator (programmable [rpm], [rpm/s]) for initial setup

– Digital incremental encoder (ABN resp. ABZ, up to 5 MHz)

– Secondary digital incremental encoder

– Digital Hall sensor interface (H1, H2, H3 resp. HU , HV , HW ) with interpolation of interim positions

– Analog encoder/analog Hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)

– multi-turn position counter (32-bit)

– Position target, velocity and target torque lters (Biquad)

•

PWM Engine Including SVPWM

– Programmable PWM frequency within the range of 20 kHz . . . 100 kHz

– Programmable Brake-Before-Make (BBM) times (high side, low side) 0 ns . . . 2.5 µs in 10 ns steps

and gate driver input signals

– PWM auto scaling for transparent change of PWM frequency during motion

•

SPI Communication Interface

– 40-bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits)

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