Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 6
www.trinamic.com
OPERATION MODE 2: Standalone Mode
The TMC2130 positions the motor based on step and direction signals. The microPlyer automatically
smoothens motion. No CPU interaction is required. Configuration is done by hardware pins. Basic
standby current control can be done by the TMC2130. Optional feedback signals allow error detection
and synchronization.
Status out
(open drain)
Half Bridge 1
Half Bridge 2
+V
M
VS
current
comparator
2 phase
stepper
motor
N
S
Stepper driver
Protection
& diagnostics
sine table
4*256 entry
DAC
x
step multiplier
microPlyer
OA1
OA2
BRA
spreadCycle &
stealthChop
Chopper
VCC_IO
TMC 2130 Standalone
Stepper Motor Driver
Configuration
interface
with TRISTATE
detection
CFG0
CFG1
CFG3
CFG2
STEP
spreadCycle
&
stealthChop
motor driver
DIR
Half Bridge 1
Half Bridge 2
VS
current
comparator
DAC
OB1
OB2
BRB
CLK oscillator/
selector
DIAG0
CLK_IN
Interface
DIAG1
+V
IO
DRV_ENN
GNDP
GNDP
GNDA
F
F = 60ns spike filter
TST_MODE
DIE PAD
R
S
=0R15 allows for
maximum coil
current;
Tie BRA and BRB to
GND for internal
current sensing
TRISTATE configuration
(GND, VCC_IO or open)
opt. ext. clock
10-16MHz
3.3V or 5V
I/O voltage
100n
100n
100n
Index pulse
step & dir input
R
S
R
S
ISENSE
ISENSE
ISENSE
ISENSE
+V
M
DAC Reference
AIN_IREF
IREF
IREF
IREF
TG
TG
TG
TG
PDD
PMD
TG= toggle with 166K resistor between VCC
and GND to detect open pin
PDD=100k pulldown
PMD=50k to VCC/2
optional current scaling
F
Standstill
current
reduction
R
REF
5VOUT
Optional for internal current
sensing. R
REF
=9K1 allows for
maximum coil current.
5V Voltage
regulator
charge pump
CPO
CPI
VCP
22n
100n
+V
M
5VOUT
VSA
4.7µ
100n
2R2
470n
2R2 and 470n are optional
filtering components for
best chopper precision
VCC
Driver error
CFG4
TG
CFG5
TG
DRV_ENN_CFG6
TG
CFG6
CFG3
Opt. driver
enable input
CFG0
CFG4
CFG5
CFG1
CFG2
CFG1
CFG2
CFG1
CFG2
B.Dwersteg, ©
TRINAMIC 2014
SPI_MODE
PU
Figure 1.2 TMC2130 standalone driver application diagram
OPERATION MODE 3: SPI Driver Mode
Together with the TMC4361 high-performance S-ramp motion controller the TMC2130 stepper motor
driver offers an SPI control mode, which gives full control over the motor coil currents to the
TMC4361. Combining these two ICs offers several possibilities for demanding applications including
servo features. Please refer to Figure 1.1 for more information about the pinning, which is identical to
step/direction driver mode, except that the STEP & DIR pins are not required for operation.