TMCC160 DATASHEET
Block Diagram
Microcontroller
UART
CAN
SPI0
SPI1
AIN
Gatedriver
PWM
DIAG
Current
TMCC160
ABN HALL
Ref.
Switches
I_U, I_V
DC/DC
(3.3V)
Power
Supply
VM
Power Bridge
Motor
V
ABN HALL
I_U, I_V
U
W
Figure 1: TMCC160 System Block Diagram
Features & Benefits
I
ntegrated BLDC or PMSM Servo Controller
I
ntegrated Gate driver up to 1A gate current
Voltage range 7…24V
Integrated FOC controller
UART
, CAN or SPI Interface
Hall Interface
ABN incremental
Encoder Interface
Integrated switching regulator
D
escription
The TMCC160 is a ready to use PMSM/
BLDC motor controller in a miniaturized
12x17mm² system in a package. It
integrates a powerful programmed
microcontroller with efficient state of
the art commutation algorithm, gate
driver, different interface options as well
as a step down converter which
generates the digital power supply,
measurement and diagnostic features.
Integrated motionCookie™ microsystem with 3-Phase BLDC/PMSM gate driver for up to 24V and 1A
gate current with a complete servocontroller software stack.
Applications
Robotics
Pump, fan applications
Industrial automation
Medical, Lab Automation
CNC Machines
E-Bikes
Battery Powered Devices
TRINAMIC China 13812617052 QQ：2472266802
1 Table of Contents
TMCC160 DATASHEET ......................................... 1
Applications ....................................................... 1
Features & Benefits .......................................... 1
Description ........................................................ 1
Block Diagram ................................................... 1
1 Table of Contents ......................................... 2
PRODUCT DETAILS ....................................... 1
2 Pin Assignments ........................................... 1
2.1 Package Pin Numbering ....................... 1
2.2 Package Pin Description ....................... 2
2.3 Wide Range of Control Algorithms ..... 4
3 System Overview .......................................... 5
3.1 Block Diagram ....................................... 5
3.2 System Architecture.............................. 5
3.3 Hall-Sensor Configuration.................... 5
3.4 Encoder Configuration ......................... 6
4 External Components .................................. 8
4.1 Gate Driver Charge Pump (TMC6130) 8
4.2 DC/DC Converter (3.3V) ...................... 10
4.3 CORTEX M4 Crystal ............................. 12
4.4 Supply Filter ......................................... 12
4.5 Power MOSFET Bridge ........................ 15
4.5.1 Direct Coil Current Measurement 15
4.5.2 Recommended Schematic for Direct
Coil Measurement ...................................... 15
4.5.3 Sense Resistor Selection ............... 16
4.5.4 Calculating Power Losses ............. 17
4.5.5 Current Amplifier ........................... 17
4.5.6 Single Shunt Measurement .......... 17
4.5.7 Sense Resistor Selection ............... 18
4.5.8 Dead Time Logic............................. 18
4.5.9 Power MOSFET Selection .............. 18
4.5.10 Gate Driver Clamp Diodes ............ 19
4.5.11 Power Supply Filtering
Capacitors .................................................... 20
4.6 Interface ............................................... 21
4.6.1 RS232 ............................................... 21
4.6.2 RS485 ............................................... 21
4.6.3 RS485 Bus Structure ...................... 22
4.6.4 RS485 Bus Termination................. 22
4.6.5 No Floating Bus Lines .................... 22
4.6.6 CAN 2.0B Interface ........................ 23
4.6.7 CAN Bus Structure ......................... 24
4.6.8 CAN Bus Termination .................... 24
4.6.9 Number of Nodes .......................... 24
4.6.10 Analog Input ................................... 25
4.7 EEPROM ................................................ 26
4.8 Brake Chopper .................................... 27
4.8.1 Brake resistor selection ................ 27
4.8.2 Brake Chopper Example ............... 28
4.9 Absolute Maximum Ratings ............... 29
5 Operational Ratings ................................... 30
6 Mechanical Dimensions ............................. 32
6.1 TMCC160 Package Footprint ............. 32
6.1.1 Soldering Profile ............................ 34
7 SUPPLEMENTAL DIRECTIVES ..................... 35
7.1 ESD Sensitive Device ........................... 35
7.2 Disclaimer ............................................ 35
8 Revision History .......................................... 36
8.1 Document Revision ............................. 36
8.2 Hardware Revision .............................. 36
8.3 Software Revision ............................... 36
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PRODUCT DETAILS
2 Pin Assignments
TMCC160 has two pad sizes. The pads on the edges measure 0.43mm x 0.43mm with 1mm pitch.
The inner pads measure 1.93mm x 1.93mm.
Please refer to chapter TMCC160 Package Footprint
for further information about the package
dimensions.
2.1 Package Pin Numbering
9
8
7
6
5
4
3
2
1
10
12
14
16
17 51 50 49 48 47 18
19
20
22
24
26
27
28
29
30
31
32
33
3435363738
39
40
RS485_DIR
CSN_SPI1
SCLK_SPI1
MOSI_SPI1
MISO_SPI1
I_V
I_U
TEMP
AIN
BRAKE
REFR
SW
BM1
HS1
46
GND
44
VCC
43
VM
42
SWDIO
41
SWD_CLK
45
GND
RS-
RS+
HS2
BM2
LS2
HS3
BM3
LS3
VCP
HALL_1
HALL_3
ENC_A
ENC_B
ENC_N
MOSI_SPI0
MISO_SPI0
SCLK_SPI0
CSN_SPI0
ENABLE
XTAL
EXTAL
CAN_TXD
CAN_RXD
TXD
RXD
TMCC160
(bottom view)
11
REFL
13
DA
15
LS1
21
VCP_REG
23
VCP_SW
25
HALL_2
Figure 1 TMCC160 pin assignments / bottom view
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2.2 Package Pin Description
Package Pin Description
Pad
Number
Type Name Function
1
Out (D)
RS485_DIR
RS485 transceiver direction output.
2
In (D)
CSN_SPI1
SPI1 chip select input (low active).
3
In (D)
SCLK_SPI1
SPI1 serial clock input.
4
In (D)
MOSI_SPI1
SPI1 serial input.
5
Out (D)
MISO_SPI1
SPI1 serial output
6 In (A) I_V Analog current sense amplifier input for BLDC phase V.
7 In (A) I_U Analog current sense amplifier input for BLDC phase U.
8 In (A) TEMP Analog input for temperature measurement.
9 In (A) AIN General purpose analog input.
10
Out (D)
Brake
PWM output for brake chopper circuit.
11
In (D)
REFL
Left reference switch input.
12
In (D)
REFR
Right reference switch input.
13
Out (A)
DA
3.3V switch regulator diode output PIN.
14
Out (A)
SW
3.3V switch regulator switch output PIN.
15
Out (A)
LS1
Low side power N-channel MOSFET gate output phase 1
(U).
16
In (A)
BM1
Power MOSFET bridge output phase 1 (U).
17
Out (A)
HS1
High side power N-channel MOSFET gate output phase 1
(U).
18
Out (A)
HS3
Power MOSFET bridge output phase 3 (W).
19
In (A)
BM3
Power MOSFET bridge output phase 3 (W).
20
Out (A)
LS3
Low side power N-channel MOSFET gate output phase 3
(W).
21
Out (A)
VCP_REG
Gate driver linear regulator.
22
Out (A)
VCP
Gate driver charge pump input.
23
Out (A)
VCP_SW
Gate driver charge pump switch regulator output.
24
In (D)
HALL_1
Hall sensor 1 input.
25
In (D)
HALL_2
Hall sensor 2 input.
26
In (D)
HALL_3
Hall sensor 3 input.
27
In (D)
ENC_A
Encoder A input.
28 In (D) ENC_B Encoder B input.
29 In (D) ENC_N Encoder C input.
30 Out (D) MOSI_SPI0 SPI0 serial output.
31
In (D)
MISO_SPI0
SPI0 serial input.
32 Out (D) SCLK_SPI0 SPI0 serial clock output.
33
Out (D)
CSN_SPI0
SPI0 chip select output (low active).
34
In (D)
ENABLE
BLDC driver enable (high active). ENABLE signal is
internally connected to the µC. Please connect ENABLE
PIN only to open drain outputs.
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Package Pin Description
Pad
Number
Type Name Function
35
Out (A)
XTAL
External crystal oscillator output.
36
In (A)
EXTAL
External crystal oscillator input.
37
Out (D)
CAN_TXD
CAN interface output. Connect to CAN transceiver.
38
In (D)
CAN_RXD
CAN interface input. Connect to CAN transceiver.
39
Out (D)
TXD
UART output. Connect to RS232/RS485 transceiver.
40
In (D)
RXD
UART input. Connect to RS232/RS485 transceiver.
41
In (D)
SWDCLK
Please do not connect.
42
IO (D)
SWDIO
Please do not connect.
43
In (A)
VM
Motor supply voltage.
44
In (A)
VCC
3.3V digital supply voltage.
45
(A)
GND
System ground connection.
46 (A) GND System ground connection.
47 Out LS2 Low side power N-channel MOSFET gate output phase 2
(V).
48 In BM2 Power MOSFET bridge output phase 2 (V).
49 Out HS2 Power MOSFET bridge output phase 2 (V).
50 In (A) RS+
Positive current sense input for single shunt
measurement.
51 In (A) RS-
Negative current sense input for single shunt
measurement.
Table Key:
(D): digital IO
,
(A): analog IO
TRINAMIC China 13812617052 QQ：2472266802
