TMC423 Data Sheet (V0.5 / January, 24th 2003) 1
Copyright 2002, TRINAMIC Microchips GmbH
TMC 423 Datasheet
Serial Triple Incremental
Encoder Interface
TRINAMIC
Microchips GmbH
Deelbgenkamp 4C
D 22297 Hamburg
GERMANY
T +49 - (0) 40 - 51 48 06 - 0
F +49 - (0) 40 - 51 48 06 - 60
WWW.TRINAMIC.COM
INFO@TRINAMIC.COM
TMC423 Main Features
The TMC423 is a triple incremental encoder input chip, which interfaces to any SPI
TM
compatible
controller. The TMC423 can especially be used in conjunction with the TMC428 triple stepper motor
controller to provide position verification or stabilization using some additional software. It integrates 24
bit counters for each encoder to provide a high position resolution without CPU interaction. Further it
allows dynamic resolution adaptation to allow direct comparison of encoder counters with motors using
different micro step resolution. All encoder counters can be latched synchronously, or whenever a null
channel event occurs, providing a position on strobe holding function. The TMC423 also provides a
step / direction output with programmable signal shaping for the TMC428 as an optional function. A
multiplexor function is also integrated for the TMC428 reference switches. Furthermore control and
drive of a LED and switch matrix is implemented. All functions can also be used in conjunction.
Applications:
Stepper Motor Position Verification
Position Maintenance
Incremental Encoder Interface Readout
Step / Direction conversion for TMC428 systems
Control of LED 6 x 4 Matrix and Switch 6 x 4 Matrix
Features
Supports 2 and 3 channel incremental encoders with a wide range of resolutions
Allows step / direction signal extraction from TMC428 output data stream
Programmable pulse shaping for step / direction interface
24 bit integrated position resolution
Programmable prescaler for Incremental Encoder Interface
4-times evaluation of encoder signals
Fast 32 bit SPI
TM
interface
Can share SPI
TM
interface with TMC428 and supplies separate interrupt output
Integrates Reference Switch Multiplexors
Package: TQ100
Note: SPI is Trademark of Motorola, Inc.
SD
O
TC
K
SC
K
SD
I
SD
O
4
28
NS
CS
NI
NT
NS
CS
4
2
8
GN
D
P
R
A
/IO
NC
VC
C
A
EX
T
_
R
E
S
CL
KB
V
CCI
SD
I
_
D
SD
O
_
D
NS
CS
_
D
S
CK_
D
RE
F
(
2
)
RE
F
(
1
)
V
CCI
ST
OP
R
(
0)
GN
D
P
RB/
I
O
NC
VC
C
A
ST
OP
R
(
2)
CLK
RE
F
(
0
)
ST
OP
R
(
1)
ST
OP
L
(
0
)
ST
OP
L
(
1
)
ST
OP
L
(
2
)
TD
O
TMC423
TQFP-100 Package
GND
TDI
ENC1_A
ENC1_B
ENC1_N
ENC2_A
TMS
VCCI
GND
ENC2_B
ENC2_N
ENC3_A
ENC3_B
ENC3_N
STEP1
TRST
DIR1
VCCI
STEP2
DIR2
STEP3
DIR3
COLUMN_PIN(0)
COLUMN_PIN(1)
COLUMN_PIN(2)
COLUMN_PIN(3)
GND
VKS (GND)
VPP (VCCA)
SW_ROW_PIN(0)
SW_ROW_PIN(1)
SW_ROW_PIN(2)
SW_ROW_PIN(3)
SW_ROW_PIN(4)
SW_ROW_PIN(5)
LED_ROW_PIN(0)
VCCI
VSV (VCCA)
LED_ROW_PIN(1)
LED_ROW_PIN(2)
LED_ROW_PIN(3)
LED_ROW_PIN(4)
LED_ROW_PIN(5)
GND
TMC423 Data Sheet (V0.5 / January, 24th 2003) 2
Copyright 2002, TRINAMIC Microchips GmbH
Revision History
Version
Comment
Date
Name
Initial Version
November 22, 2002
Technical Department
0.4
Corrected Array Switching
Frequency
January 23, 2003
Technical Department
0.5
First Customer Release
January 24, 2003
Technical Department
TMC423 Data Sheet (V0.5 / January, 24th 2003) 3
Copyright 2002, TRINAMIC Microchips GmbH
Table of Contents
1
PINOUT .......................................................................................................................................... 5
1.1
P
IN
D
ESCRIPTION
...................................................................................................................... 6
1.2
R
ECOMMENDED
O
PERATING
C
ONDITIONS
................................................................................... 7
2
BLOCK DIAGRAM ......................................................................................................................... 8
3
APPLICATION ENVIRONMENT .................................................................................................... 9
3.1
A
PPLICATION
D
ESCRIPTION
........................................................................................................ 9
3.1.1
Application with TMC236 Stepper Motor Driver ............................................................... 9
3.1.2
Application with Step / Direction Power Stage ................................................................. 9
4
DYNAMIC RESOLUTION ADAPTION......................................................................................... 10
5
SERIAL PERIPHERAL INTERFACE (SPI) WITH 32-BIT REGISTER ........................................ 11
5.1
D
ESCRIPTION AND
S
PECIFICATION
............................................................................................ 11
5.2
32-
BIT
SPI D
ATAGRAM
S
TRUCTURE
......................................................................................... 12
5.3
SPI 32-
BIT
D
ATAGRAM
S
PECIFICATION
..................................................................................... 12
5.3.1
Overview ........................................................................................................................ 12
6
INCREMENTAL ENCODER......................................................................................................... 13
7
CONFIGURATION DATAGRAMS ............................................................................................... 14
7.1
E
NCODER
I
NTERFACE
P
RESCALER AND
N
ULL
E
VENT
C
ONFIGURATION
....................................... 14
7.2
E
NCODER
I
NTERFACE
H
OLD
R
EGISTER
O
PERATION
.................................................................. 15
7.3
T
IMER
L
OGIC
S
TEP
P
ULSE
L
ENGTH AND
D
ELAY
........................................................................ 16
7.4
C
ONTROL
R
EGISTER AND
I
NTERRUPT
C
ONTROL
........................................................................ 16
7.5
S
WITCH
M
ATRIX
R
EAD
............................................................................................................. 16
7.6
LED M
ATRIX
W
RITE
................................................................................................................ 16
8
SPI-PROTOCOL FOR INTERFACE WITH 6-BIT REGISTER .................................................... 17
8.1
S
TEP AND
D
IRECTION
P
ULSE CONVERSION
............................................................................... 17
9
LED AND SWITCH MATRIX........................................................................................................ 18
10
PACKAGE DIMENSIONS......................................................................................................... 19
TMC423 Data Sheet (V0.5 / January, 24th 2003) 4
Copyright 2002, TRINAMIC Microchips GmbH
List of Figures
F
IGURE
1: P
INOUT
TMC423..................................................................................................................... 5
F
IGURE
2: B
LOCK DIAGRAM OF THE
TMC423 ............................................................................................ 8
F
IGURE
3: A
PPLICATION
E
NVIRONMENT
.................................................................................................... 9
F
IGURE
4: TMC423 A
PPLICATION
.......................................................................................................... 10
F
IGURE
5: T
IMING DIAGRAM OF THE
S
ERIAL
I
NTERFACE
........................................................................... 11
F
IGURE
6: S
TRUCTURE
32-B
IT
I
NTERFACE
.............................................................................................. 12
F
IGURE
7: O
VERVIEW
TMC423 R
EGISTERS
........................................................................................... 12
F
IGURE
8: E
NCODER
O
UTPUT AND
E
VALUATION
...................................................................................... 13
F
IGURE
9: C
ROSSTALK ON
E
NCODER
W
IRE
............................................................................................ 13
F
IGURE
10: S
TEP
D
IRECTION CONVERSION
............................................................................................. 17
F
IGURE
11: C
ONNECTION TO THE MATRIX
................................................................................................ 18
F
IGURE
12: 100-P
IN
TQFP T
OP
V
IEW
.................................................................................................... 19
F
IGURE
13: 100-P
IN
TQFP S
IDE
V
IEW
................................................................................................... 19
F
IGURE
14: 100-P
IN
TQFP S
IDE
V
IEW
D
ETAIL
A .................................................................................... 19
List of Tables
T
ABLE
1: TMC423 P
INOUT
...................................................................................................................... 7
T
ABLE
2: O
PERATING
C
ONDITIONS
........................................................................................................... 7
T
ABLE
3: P
RESCALER FACTORS FOR DIFFERENT MOTORS AND ENCODERS
................................................ 10
T
ABLE
4: I
NTERRUPT
F
LAGS
................................................................................................................... 12
T
ABLE
5: SPI D
ATAGRAM
P
RESCALER
.................................................................................................... 15
T
ABLE
6: SPI D
ATAGRAM
H
OLD
R
EGISTER
............................................................................................. 15
T
ABLE
7: SPI D
ATAGRAM
T
IMER LOGIC
................................................................................................... 16
T
ABLE
8: SPI D
ATAGRAM
C
ONTROL
R
EGISTER
....................................................................................... 16
T
ABLE
9: S
WITCH
M
ATRIX
R
EAD
............................................................................................................. 16
T
ABLE
10: LED M
ATRIX
W
RITE
.............................................................................................................. 16
T
ABLE
11: SPI D
ATAGRAM
S
TEP
/ D
IRECTION
C
ONVERTER
..................................................................... 17
T
ABLE
12: TMC423 LED M
ATRIX
P
INS
.................................................................................................. 18
T
ABLE
13: TQFP D
IMENSIONS
............................................................................................................... 20
TMC423 Data Sheet (V0.5 / January, 24th 2003) 5
Copyright 2002, TRINAMIC Microchips GmbH
1 Pinout
SD
O
TC
K
SC
K
SD
I
S
D
O
428
NS
C
S
NIN
T
NS
C
S
42
8
GN
D
PR
A
/
I
O
NC
VC
C
A
EXT
_
R
ES
CL
KB
VC
C
I
SD
I
_
D
SD
O
_
D
NS
CS
_D
SC
K
_
D
RE
F
(
2
)
RE
F
(
1
)
V
CCI
ST
O
P
R
(
0
)
GN
D
P
RB/IO
NC
VC
C
A
ST
O
P
R
(
2
)
CL
K
RE
F
(
0
)
ST
O
P
R
(
1
)
ST
O
P
L
(
0
)
ST
O
P
L
(
1
)
ST
O
P
L
(
2
)
TD
O
TMC423
TQFP-100 Package
GND
TDI
ENC1_A
ENC1_B
ENC1_N
ENC2_A
TMS
VCCI
GND
ENC2_B
ENC2_N
ENC3_A
ENC3_B
ENC3_N
STEP1
TRST
DIR1
VCCI
STEP2
DIR2
STEP3
DIR3
COLUMN_PIN(0)
COLUMN_PIN(1)
COLUMN_PIN(2)
COLUMN_PIN(3)
GND
VKS (GND)
VPP (VCCA)
SW_ROW_PIN(0)
SW_ROW_PIN(1)
SW_ROW_PIN(2)
SW_ROW_PIN(3)
SW_ROW_PIN(4)
SW_ROW_PIN(5)
LED_ROW_PIN(0)
VCCI
VSV (VCCA)
LED_ROW_PIN(1)
LED_ROW_PIN(2)
LED_ROW_PIN(3)
LED_ROW_PIN(4)
LED_ROW_PIN(5)
GND
Figure 1: Pinout TMC423
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