tmc6200

TMC6200 SimpleFOC Driver

by @YaseenTwati

The TMC6200 is a Universal high voltage BLDC/PMSM/Servo MOSFET 3-halfbridge gate-driver with in line motor current sensing. External MOSFETs for up to 100A motor current.

See https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC6200_datasheet_Rev1.05.pdf for more information.

Hardware setup

To use the TMC6200 you will have to connect the following:

• GND
• VCC_IO - 3.3V or 5V
• SPE - pull up to VCC to enable SPI mode
• SPI MOSI ( SDI )
• SPI MISO ( SDO )
• SPI CLK
• SPI nCS
• DRV_EN - connect to digital out (or pull up to VCC)
• UH - connect to motor PWM pin
• VH - connect to motor PWM pin
• WH - connect to motor PWM pin
• UL - connect to motor PWM pin for 6-PWM, or to digital out (or pull up to VCC) for 3-PWM operation
• VL - connect to motor PWM pin for 6-PWM, or to digital out (or pull up to VCC) for 3-PWM operation
• WL - connect to motor PWM pin for 6-PWM, or to digital out (or pull up to VCC) for 3-PWM operation

Optionally, but useful:

• FAULT - digital in, active high

For current sensing:

• CURU - connect to analog in
• CURV - connect to analog in
• CURW - connect to analog in

Usage

Usage is quite easy, especially if you already know SimpleFOC. See also the examples

#include "Arduino.h"
#include <SimpleFOC.h>
#include "SimpleFOCDrivers.h"
#include "drivers/tmc6200/TMC6200.hpp"

BLDCMotor motor = BLDCMotor(15);
TMC6200Driver6PWM driver = DRV8316Driver6PWM(UH, UL, VH, VL, WH, WL, nCS, DRV_EN);

//... normal simpleFOC init code...

Or, for 3-PWM:

#include "Arduino.h"
#include <SimpleFOC.h>
#include "SimpleFOCDrivers.h"
#include "drivers/tmc6200/TMC6200.hpp"

BLDCMotor motor = BLDCMotor(15);
TMC6200Driver3PWM driver = TMC6200Driver3PWM(UH, MOTOR_VH, MOTOR_WH, nCS, DRV_EN);

void setup() {
    
    pinMode(UL, OUTPUT);
    pinMode(VL, OUTPUT);
    pinMode(WL, OUTPUT);
    
    digitalWrite(WL, HIGH);
    digitalWrite(UL, HIGH);
    digitalWrite(VL, HIGH);

    //... normal simpleFOC init code...
}

Validating the SPI Connection

You can validate the SPI connection by checking the value of VERSION field in IOIN register. The value should be 0x10.

    if(driver.getInputs().VERSION != TMC6200_VERSION){
        // something is wrong with the spi connection
    }

Current Sensing

The gain of the internal current amplifiers can be set to 5, 10 or 20 through setCurrentSenseGain()

    driver.setCurrentSenseGain(TMC6200_AmplificationGain::_5);
    //driver.setCurrentSenseGain(TMC6200_AmplificationGain::_10);
    //driver.setCurrentSenseGain(TMC6200_AmplificationGain::_20);

The sense amplifiers can also be turned off ( they are on by default ), through setCurrentSenseAmplifierState()

    driver.setCurrentSenseAmplifierState(false);

Driver Strength

The strength of the mosfet drivers can be controlled through setDriverStrength()

    driver.setDriverStrength(TMC6200_DRVStrength::Weak);
    //driver.setDriverStrength(TMC6200_DRVStrength::WeakTC); // (medium above OTPW level)
    //driver.setDriverStrength(TMC6200_DRVStrength::Medium);
    //driver.setDriverStrength(TMC6200_DRVStrength::Strong);

Handling Faults

The fault line will go high if a fault occurs such as a short, an interrupt can be used to handle it. Note that some faults will disable the driver and will require the DRV_EN to be cycled to clear the fault.

    // somewhere in setup
    attachInterrupt(digitalPinToInterrupt(FAULT), handleFault, RISING);

    void handleFault()
    {
        // you can read the status register to see what happened
        TMC6200GStatus status = driver.getStatus();
        Serial.print("hasUShorted: "); Serial.println(status.hasUShorted());
        Serial.print("hasVShorted: "); Serial.println(status.hasVShorted());
        Serial.print("hasWShorted: "); Serial.println(status.hasWShorted());
        Serial.print("isUShortedToGround: "); Serial.println(status.isUShortedToGround());
        Serial.print("isUShortedToSupply: "); Serial.println(status.isUShortedToSupply());
        Serial.print("isVShortedToGround: "); Serial.println(status.isVShortedToGround());
        Serial.print("isVShortedToSupply: "); Serial.println(status.isVShortedToSupply());
        Serial.print("isWShortedToGround: "); Serial.println(status.isWShortedToGround());
        Serial.print("isWShortedToSupply: "); Serial.println(status.isWShortedToSupply());
        Serial.print("isOverTemperaturePreWarning: "); Serial.println(status.isOverTemperaturePreWarning());
        Serial.print("isChargePumpUnderVoltage: "); Serial.println(status.isChargePumpUnderVoltage());
        
        // the driver must be cycled to clear the fault
        digitalWrite(DRV_EN, LOW);
        delayMicrosockets(someSmallDelay);
        digitalWrite(DRV_EN, HIGH);
    }

The driver provides other features such as controlling the tolerences of short detection and the BBM cycle time and so on, setting the options can be conveniently done via the provided setter methods. All documented registers and options are available via the driver, and the option values can be accessed via enums.