Datasheet TMC4671 (TRINAMIC) - 23

link to page 48 TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.06 • 2019-Feb-06 23 / 159 Hexadecimal Value u16 s16 PHI[°] ±PHI[°] 0x5555 21845 21845 120.0 -240.0 h 0x6AAA 27306 27768 150.0 -210.0 h 0x8000 32768 -32768 180.0 -180.0 h 0x9555 38229 -27307 210.0 -150.0 h 0xAAAA 43690 -21846 240.0 -120.0 h 0xC000 49152 -16384 270.0 -90.0 h 0xD555 54613 -10923 300.0 -60.0 h 0xEAAA 60074 -5462 330.0 -30.0 h Table 6: Examples of u16, s16, q8.8 The option of adding an offset is for adjustment of angle shift between the motor and stator and the rotor and encoder. Finally, the relative orientations between the motor and stator and the rotor and encoder can be adjusted by just one offset. Alternatively, one can set the counter position of an incremental encoder to zero on initial position. For absolute encoders, one needs to use the offset to set an initial position.
4.4 ADC Engine
The ADC engine controls the sampling of different available ADC channels. The ADC channels (ADC_I0_POS, ADC_I0_NEG, ADC_I1_POS, ADC_I1_NEG) for current measurement are differential inputs. For analog Hall and for analog encoder, the ADC channels have differential inputs (AENC_UX_POS, AENC_UX_NEG, AENC_VN_POS, AENC_VN_NEG, AENC_WY_POS, AENC_WY_NEG). Two general purpose ADC channels are single-ended analog inputs (AGPI_A, AGPI_B). The ADC channel for measurement of supply voltage (ADC_VM) is associated with the brake chopper. The FOC engine expects offset corrected ADC values, scaled into the FOC engine’s 16 bit (s16) fixed point representation. The integrated scaler and offset compensator maps raw ADC samples of current measurement channels to 16 bit two’s complement values (s16). While the offset is compensated by subtraction, the offset is represented as an unsigned value. The scaling value is signed to compensate wrong measurement direction. The s16 scaled ADC values are available for read out from the register by the user.
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Wrong scaling factors (ADC_SCALE) or wrong offsets (ADC_OFFSET) might cause damages when the FOC is active. Integrated hardware limiters allow protection - especially in the setup phase when using careful limits. ADC samples for measurement of supply voltage (VM) and the general purpose analog ADC inputs are available as raw values only without digital scaling. This is because these values are not processed by the FOC engine. They are just additional ADC channels for the user. The general purpose analog inputs (AGPI) are intended to monitor analog voltage signals representing MOSFET temperature or motor temperature. AGPI_A can also be used for the Single Pin Interface (please see section 4.8.10).
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ADC_VM must be scaled down by voltage divider to the allowed voltage range, and might require additional supply voltage spike protection. ©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