Datasheet

TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15) 4
www.trinamic.com
1 Key Concepts
The TMC2100 is easy to use. It can be configured by seven hardware pins. CPU interaction is not
necessary. The TMC2100 positions the motor based on step and direction signals and the integrated
microPlyer automatically smoothens motion. Basic standby current control can be done by the
TMC2100. Optional feedback signals allow error detection and synchronization. Optionally, current
scaling is possible by providing an analog reference current IREF.
A CPU for configuration, motion control, and diagnostics can be connected, but this is not basically
needed to drive the motor.
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 2100 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
GNDD
Figure 1.1 TMC2100 standalone driver application diagram
The TMC2100 implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision and smoother motion in many stepper motor applications.
Particularly, the TMC2100 provides special chopper algorithms in order to reduce engine noise and
react extremely fast to changes in velocity and motor load.
stealthChop™ is a voltage chopper based principle. It guarantees that the motor is absolutely
quiet in standstill and in slow motion, except for noise generated by ball bearings.
The extremely smooth motion is beneficial for many applications.
spreadCycle™ offers smooth operation and great power efficiency over a wide range of speed and
load. The spreadCycle chopper scheme automatically integrates a fast decay cycle
and guarantees smooth zero crossing performance.
microPlyer™ microstep interpolator for obtaining increased smoothness of microstepping.