Datasheet
TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16) 4
www.trinamic.com
1 Principles of Operation
VCC_IO
TMC2041
SPI interface
CSN/IO0
SCK/IO1
SDO
SDI/IO2
Step/Dir interface
STEP1
DIR1
Step/Dir interface
Sequencer &
Microplyer
Single wire
interface
5V Voltage
regulator
charge pump
VCP
22n
100n
SWION
SW_SEL
CLK_IN
STEP2
DIR2
SWIOP
+V
M
5VOUT
VSA
4.7µ
+V
IO
NEXTADDR
DRV_ENN
DRV_ENN
GNDP
GND
GNDA
TST_MODE
DIE PAD
VCC
opt. ext. clock
12-16MHz
3.3V or 5V
I/O voltage
100n
100n
Sequencer &
Microplyer
Full Bridge A
Full Bridge B
+V
M
VS
stepper
motor #1
N
S
O1A1
O1A2
BR1A
O1B1
O1B2
Driver 1
100n
BR1B
Full Bridge A
Full Bridge B
stepper
motor #2
N
S
O2A1
O2A2
BR2A
O2B1
O2B2
Driver 2
BR2B
VS
100n
+V
M
100µF
CPI
CPO
+V
IO
Optional use lower
voltage down to 6V
2R2
470n
R1A
R1B
R2A
R2B
Figure 1.1 Basic application and block diagram
The TMC2041 driver chip is a highly integrated step & direction stepper driver for two stepper motors.
The driver, chopper logic, and a 256 microstep sequencer are integrated into the TMC2041. It is pin
compatible to the TMC5041 and TMC5072, which provide internal ramping. The TMC2041 offers a
number of unique enhancements over similar products. It features automatic standstill current
reduction and coolStep for enhanced motor efficiency and provides stallGuard2 for sensorless homing.
1.1 Key Concepts
The TMC2041 implements several advanced features which are exclusive to TRINAMIC products. These
features contribute toward greater precision, greater energy efficiency, higher reliability, smoother
motion, and cooler operation in many stepper motor applications.
spreadCycle™ High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm.
stallGuard2™ High-precision load measurement using the back EMF on the motor coils.
coolStep™ Load-adaptive current control which reduces energy consumption by as much as
75%.
In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
The TMC2041 supports both, an SPI and a UART based single wire interface with CRC checking.
Selection of the actual interface is done via the configuration pin SW_SEL, which can be hardwired to
GND or VCC_IO depending on the desired interface. From a software point of view the TMC2041 is a
peripheral with a number of control and status registers. Most of them can either be written only or