POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2130-LA DATASHEET
Universal high voltage driver for two-phase bipolar stepper motor.
stealthChop™ for quiet
movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI.
A
PPLICATIONS
Textile, Sewing Machines
Factory & Lab Automation
3D printers
Liquid Handling
Medical
Office Automation
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC2130 is a high performance driver
IC for two phase stepper motors. Standard
SPI and STEP/DIR simplify communication.
TRINAMICs
sophisticated
stealthChop
chopper ensures noiseless operation
combined with maximum efficiency and
best motor torque. coolStep allows
reducing energy consumption by up to
75%. dcStep drives high loads as fast as
possible without step loss. Integrated
power MOSFETs handle motor currents up
to 1.2A RMS (QFN package) / 1.4A RMS
(TQFP) or 2.5A short time peak current per
coil. Protection and diagnostic features
support robust and reliable operation.
Industries’ most advanced stepper motor
driver enables miniaturized designs with
low external component count for cost-
effective and highly competitive solutions.
2-phase
stepper motors up to 2.0A coil current (2.5A peak)
Step/Dir Interface
with microstep interpolation
microPlyer™
SPI Interface
Voltage Range
4.75… 46V DC
Highest Resolution
256 microsteps per full step
stealthChop™
for extremely quiet operation and smooth
motion
spreadCycle™
highly dynamic motor control chopper
dcStep™
load dependent speed control
stallGuard2™
high precision sensorless motor load detection
coolStep™
current control for energy savings up to 75%
Integrated Current Sense Option
Passive Braking
and freewheeling mode
Full Protection & Diagnostics
Small Size
5x6mm
2
QFN36 package or TQFP48 package
B
LOCK
D
IAGRAM
Step/Dir
IREF
optional current scaling
Power
Supply
INT
+5V Regulator
Charge
Pump
Step Multiplyer
Standstill Current
Reduction
TMC2130
DAC Reference
Interrupt
Motor
SPI Control,
Config & Diags
Control
Register
Set
spreadCycle
SPI
Programmable
256 µStep
Sequencer
Protection
& Diagnostics
DRIVER
stealthChop
CLK
CLK Oscillator /
Selector
stallGuard2
coolStep
dcStep
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09)
2
APPLICATION EXAMPLES: HIGH VOLTAGE
–
MULTIPURPOSE USE
The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a
wide spectrum of applications from battery systems up to embedded applications with 2.0A motor
current per coil. Based on stallGuard2, coolStep, dcStep, spreadCycle, and stealthChop, the TMC2130
optimizes drive performance and keeps costs down. It considers velocity vs. motor load, realizes
energy savings, smoothness of the drive and noiselessness. Extensive support at the chip, board, and
software levels enables rapid design cycles and fast time-to-market with competitive products.
M
INIATURIZED
D
ESIGN
High-Level
Interface
FOR ONE
S
TEPPER
M
OTOR
0A+
CPU
S/D
TMC2130
0A-
0B+
0B-
S
N
SPI
In this application, the CPU initializes the
TMC2130 motor driver via SPI interface and
controls motor movement by sending step
and direction signals. A real time software
realizes motion control.
D
ESIGN
High-Level
Interface
FOR
D
EMANDING
A
PPLICATIONS
CPU
SPI
WITH
S-S
HAPED
R
AMP
P
ROFILES
0A+
TMC4361
Motion
Controller
SPI
SPI
S/D
TMC2130
0A-
0B+
0B-
S
N
The CPU initializes the TMC4361 motion
controller and the TMC2130. Thereafter, it
sends target positions to the TMC4361. Now,
the TMC4361 takes control over the TMC2130.
Combining the TMC4361 and the TMC2130
offers diverse possibilities for demanding
applications including servo drive features.
Here, an application with up to three stepper
motors is shown. A single CPU combined
with a TMC429 motion controller manages
the whole stepper motor driver system. This
design is highly economical and space
saving if more than one stepper motor is
needed.
C
OMPACT
D
ESIGN
High-Level
Interface
FOR UP TO
SPI
T
HREE
S
TEPPER
M
OTORS
0A+
CPU
TMC429
Motion
Controller
SPI
STEP/
DIR
TMC2130
0A-
0B+
0B-
S
N
STEP/
DIR
0A+
TMC2130
0A-
0B+
0B-
S
N
SPI
STEP/
DIR
0A+
TMC2130
0A-
0B+
0B-
S
N
SPI
O
RDER
C
ODES
Order code
TMC2130-LA
TMC2130-TA
TMC2130-EVAL
TMC4361-EVAL
STARTRAMPE
ESELSBRÜCKE
Description
1-axis dcStep, coolStep, and stealthChop driver; QFN36
1-axis dcStep, coolStep, and stealthChop driver; TQFP48
Evaluation board for TMC2130 two phase stepper motor
controller/driver
Motion controller board (part of evaluation board system)
Baseboard for TMC2130-EVAL and further evaluation boards
Connector board for plug-in evaluation board system
Size [mm
2
]
5x6
9x9
85 x 55
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 5
1.1
K
EY
C
ONCEPTS
................................................ 7
1.2
SPI C
ONTROL
I
NTERFACE
............................... 7
1.3
S
OFTWARE
...................................................... 7
1.4
M
OVING THE
M
OTOR
...................................... 7
1.5
STEALTH
C
HOP
D
RIVER
..................................... 8
1.6
STALL
G
UARD
2
–
M
ECHANICAL
L
OAD
S
ENSING
8
1.7
COOL
S
TEP
–
L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
...................................................................... 8
1.8
DC
S
TEP
–
L
OAD
D
EPENDENT
S
PEED
C
ONTROL
9
2
PIN ASSIGNMENTS
.........................................10
2.1
2.2
3
P
ACKAGE
O
UTLINE
........................................10
S
IGNAL
D
ESCRIPTIONS
.................................11
8
9
10
11
12
12.1
12.2
12.3
14
14.1
14.2
14.3
14.4
15
15.1
15.2
15.3
16
ANALOG CURRENT CONTROL AIN
............. 54
SELECTING SENSE RESISTORS
.................... 55
INTERNAL SENSE RESISTORS
................. 57
VELOCITY BASED MODE CONTROL
....... 59
DRIVER DIAGNOSTIC FLAGS
.................. 61
T
EMPERATURE
M
EASUREMENT
....................... 61
S
HORT TO
GND P
ROTECTION
....................... 61
O
PEN
L
OAD
D
IAGNOSTICS
........................... 61
STALLGUARD2 LOAD MEASUREMENT
... 62
T
UNING STALL
G
UARD
2 T
HRESHOLD
SGT
..... 63
STALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
.... 65
D
ETECTING A
M
OTOR
S
TALL
......................... 65
L
IMITS OF STALL
G
UARD
2 O
PERATION
.......... 65
COOLSTEP OPERATION
............................. 66
U
SER
B
ENEFITS
............................................. 66
S
ETTING UP FOR COOL
S
TEP
.......................... 66
T
UNING COOL
S
TEP
........................................ 68
STEP/DIR INTERFACE
................................ 69
SAMPLE CIRCUITS
..........................................13
3.1
S
TANDARD
A
PPLICATION
C
IRCUIT
................13
3.2
R
EDUCED
N
UMBER OF
C
OMPONENTS
.............14
3.3
I
NTERNAL
RDS
ON
S
ENSING
..........................14
3.4
E
XTERNAL
5V P
OWER
S
UPPLY
......................15
3.5
P
RE
-R
EGULATOR FOR
R
EDUCED
P
OWER
D
ISSIPATION
..............................................................16
3.6
5V O
NLY
S
UPPLY
..........................................17
3.7
H
IGH
M
OTOR
C
URRENT
.................................18
3.8
D
RIVER
P
ROTECTION AND
EME C
IRCUITRY
...20
4
SPI INTERFACE
................................................21
4.1
4.2
4.3
SPI D
ATAGRAM
S
TRUCTURE
.........................21
SPI S
IGNALS
................................................22
T
IMING
.........................................................23
16.1 T
IMING
......................................................... 69
16.2 C
HANGING
R
ESOLUTION
............................... 70
16.3
MICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
....................................................... 71
17
18
18.1
18.2
18.3
18.4
19
19.1
19.2
20
21
21.1
22
23
23.1
24
25
26
26.1
27
DIAG OUTPUTS
........................................... 72
DCSTEP
.......................................................... 73
U
SER
B
ENEFITS
............................................. 73
D
ESIGNING
-I
N DC
S
TEP
................................. 73
DC
S
TEP WITH
STEP/DIR I
NTERFACE
........... 74
S
TALL
D
ETECTION IN DC
S
TEP
M
ODE
............ 77
SINE-WAVE LOOK-UP TABLE...................
78
U
SER
B
ENEFITS
............................................. 78
M
ICROSTEP
T
ABLE
........................................ 78
EMERGENCY STOP
...................................... 79
DC MOTOR OR SOLENOID
....................... 80
S
OLENOID
O
PERATION
.................................. 80
QUICK CONFIGURATION GUIDE
............ 81
GETTING STARTED
..................................... 84
I
NITIALIZATION
E
XAMPLE
............................. 84
STANDALONE OPERATION
...................... 85
EXTERNAL RESET
........................................ 88
CLOCK OSCILLATOR AND INPUT
........... 88
C
ONSIDERATIONS ON THE
F
REQUENCY
.......... 88
ABSOLUTE MAXIMUM RATINGS
............ 89
5
REGISTER MAPPING
.......................................24
5.1
G
ENERAL
C
ONFIGURATION
R
EGISTERS
..........25
5.2
V
ELOCITY
D
EPENDENT
D
RIVER
F
EATURE
C
ONTROL
R
EGISTER
S
ET
.............................................27
5.3
SPI M
ODE
R
EGISTER
....................................29
5.4
DC
S
TEP
M
INIMUM
V
ELOCITY
R
EGISTER
.........29
5.5
M
OTOR
D
RIVER
R
EGISTERS
...........................30
6
STEALTHCHOP™
..............................................39
6.1
6.2
6.3
6.4
6.5
6.6
T
WO
M
ODES FOR
C
URRENT
R
EGULATION
......39
A
UTOMATIC
S
CALING
....................................40
V
ELOCITY
B
ASED
S
CALING
............................42
C
OMBINING STEALTH
C
HOP AND SPREAD
C
YCLE
44
F
LAGS IN STEALTH
C
HOP
................................45
F
REEWHEELING AND
P
ASSIVE
M
OTOR
B
RAKING
46
7
SPREADCYCLE AND CLASSIC CHOPPER
...47
7.1
7.2
7.3
7.4
C
HOPPER
................................48
C
LASSIC
C
ONSTANT
O
FF
T
IME
C
HOPPER
.......51
R
ANDOM
O
FF
T
IME
.......................................52
CHOP
S
YNC
2
FOR
Q
UIET
2-P
HASE
M
OTOR
.....53
SPREAD
C
YCLE
www.trinamic.com
TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09)
28
28.1
28.2
28.3
29
29.1
29.2
29.3
29.4
30
ELECTRICAL CHARACTERISTICS
.............89
O
PERATIONAL
R
ANGE
...................................89
DC
AND
T
IMING
C
HARACTERISTICS
..............90
T
HERMAL
C
HARACTERISTICS
..........................93
LAYOUT CONSIDERATIONS
.....................94
E
XPOSED
D
IE
P
AD
........................................94
W
IRING
GND
...............................................94
S
UPPLY
F
ILTERING
........................................94
L
AYOUT
E
XAMPLE
(QFN36)
..........................95
PACKAGE MECHANICAL DATA
................97
30.1
30.2
30.3
31
32
33
34
35
4
D
IMENSIONAL
D
RAWINGS
QFN36 5
X
6
....... 97
D
IMENSIONAL
D
RAWINGS
TQFP-EP48
....... 99
P
ACKAGE
C
ODES
......................................... 100
DISCLAIMER
............................................... 101
ESD SENSITIVE DEVICE..........................
101
TABLE OF FIGURES
.................................. 102
REVISION HISTORY
................................. 103
REFERENCES
............................................... 103
www.trinamic.com
TMC2130 DATASHEET (Rev. 1.10 / 2018-MAY-09)
5
1
Principles of Operation
T
HE
TMC2130
OFFERS THREE BASIC MODES OF OPERATION
:
In
Step/Direction Driver Mode,
the TMC2130 is the microstep sequencer and power driver between a
motion controller and a two phase stepper motor. Configuration of the TMC2130 is done via SPI. A
dedicated motion controller IC or the CPU sends step and direction signals to the TMC2130. The
TMC2130 provides the related motor coil currents to operate the motor. In
Standalone Mode,
the
TMC2130 can be configured using pins. In this mode of operation CPU interaction is not necessary.
The third mode of operation is the
SPI Driver Mode,
which is used in combination with TRINAMICs
TMC4361 motion controller chip. This mode of operation offers several possibilities for sophisticated
applications.
O
PERATION
M
ODE
1: Step/Direction Driver Mode
An external motion controller is used or a central CPU generates step and direction signals. The
motion controller (e.g. TMC429) controls the motor position by sending pulses on the STEP signal
while indicating the direction on the DIR signal. The TMC2130 provides a microstep counter and a sine
table to convert these signals into the coil currents which control the position of the motor. The
TMC2130 automatically takes care of intelligent current and mode control and delivers feedback on the
state of the motor. The microPlyer automatically smoothens motion. To optimize power consumption
and heat dissipation, software may also adjust coolStep and stallGuard2 parameters in real-time, for
example to implement different tradeoffs between speed and power consumption.
step & dir input
optional current scaling
AIN_IREF
R
REF
5VOUT
Optional for internal current
sensing. R
REF
=9K1 allows for
maximum coil current.
100n
STEP
DIR
+V
M
VCP
100n
TMC2130
Stepper Motor Driver
CPI
CPO
22n
F = 60ns spike filter
+V
M
F
F
VS
step multiplier
microPlyer
Standstill
current
reduction
DAC Reference
IREF
ISENSE
Half Bridge 1
OA1
charge pump
VSA
100n
4.7µ
2R2 and 470n are optional
filtering components for
best chopper precision
5VOUT
2R2
5V Voltage
regulator
VCC
470n
PU=166K pullup resistor to VCC
PD=166k pull down resistor to GND
CSN
SCK
SPI™
SDI
SDO
PU
PU
PU
PU
ep &
oolSt hop
c
thC
steal driver
r
moto
DRV_ENN
Half Bridge 2
ISENSE
OA2
BRA
R
S
GNDP
current
comparator
IREF
DAC
f ac
Inter
SPI interface
e
Control register
set
programmable
sine table
4*256 entry
x
spreadCycle &
stealthChop
Chopper
Stepper driver
Protection
& diagnostics
B.Dwersteg, ©
TRINAMIC 2014
PDD=100k pulldown
PMD=50k to VCC/2
current
comparator
DAC
IREF
R
S
=0R15 allows for
maximum coil current.
Use low inductance
SMD resistor type.
Tie BRA and BRB to
GND for internal
2
current sensing
S
N
GNDP
R
S
phase
stepper
motor
DIAG1
Diganostics
DIAG0
coolStep™
PDD
PMD
DIAG out
BRB
stallGuard2™
Half Bridge 2
dcStep™
ISENSE
OB2
PU=166K pullup to VCC
opt. ext. clock
10-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
CLK_IN
VCC_IO
CLK oscillator/
selector
PU
Half Bridge 1
ISENSE
PU
PU
PU
OB1
VS
100n
+V
M
DIE PAD
DCIN
TST_MODE
SPI_MODE
GNDA
DCEN
DCO
leave open
dcStep control
Tie DCEN to GND if
dcStep is not used
opt. driver enable
Figure 1.1 TMC2130 STEP/DIR application diagram
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DRV_ENN
