Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 5
www.trinamic.com
1 Principles of Operation
THE 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.
OPERATION MODE 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.
Half Bridge 1
Half Bridge 2
+V
M
VS
current
comparator
2 phase
stepper
motor
N
S
Stepper driver
Protection
& diagnostics
programmable
sine table
4*256 entry
DAC
stallGuard2™
coolStep™
x
step multiplier
microPlyer
OA1
OA2
BRA
spreadCycle &
stealthChop
Chopper
VCC_IO
TMC2130
Stepper Motor Driver
SPI interface
CSN
SCK
SDO
SDI
STEP
coolStep
&
stealthChop
motor driver
DIR
Half Bridge 1
Half Bridge 2
VS
current
comparator
DAC
OB1
OB2
BRB
Control register
set
CLK oscillator/
selector
DIAG0
CLK_IN
Interface
DIAG1
+V
IO
DIAG out
DRV_ENN
DRV_ENN
GNDP
GNDP
GNDA
F
F = 60ns spike filter
TST_MODE
dcStep™
DIE PAD
R
S
=0R15 allows for
maximum coil current.
Use low inductance
SMD resistor type.
Tie BRA and BRB to
GND for internal
current sensing
SPI™
opt. ext. clock
10-16MHz
3.3V or 5V
I/O voltage
100n
100n
100n
Diganostics
step & dir input
opt. driver enable
R
S
R
S
DCEN
DCIN
DCO
ISENSE
ISENSE
ISENSE
ISENSE
+V
M
DAC Reference
AIN_IREF
IREF
IREF
IREF
SPI_MODE
PU
PU
PU
PU
PDD
PMD
PU=166K pullup resistor to VCC
PD=166k pull down resistor to GND
PDD=100k pulldown
PMD=50k to VCC/2
PU PU PU
PU=166K pullup to VCC
PU
optional current scaling
F
Standstill
current
reduction
leave open
dcStep control
Tie DCEN to GND if
dcStep is not used
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
B.Dwersteg, ©
TRINAMIC 2014
Figure 1.1 TMC2130 STEP/DIR application diagram