Datasheet

TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 7
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1.1 Key Concepts
The TMC2130 implements 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.
stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor.
spreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean
current wave.
dcStep™ Load dependent speed control. The motor moves as fast as possible and never loses
a step.
stallGuard2™ Sensorless stall detection and mechanical load measurement.
coolStep™ Load-adaptive current control reducing energy consumption by as much as 75%.
microPlyer™ Microstep interpolator for obtaining increased smoothness of microstepping when
using the STEP/DIR interface.
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 SPI Control Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC2130 slave always consists of sending one 40-bit
command word and receiving one 40-bit status word.
The SPI command rate typically is a single initialization after power-on.
1.3 Software
From a software point of view the TMC2130 is a peripheral with a number of control and status
registers. Most of them can either be written only or read only. Some of the registers allow both read
and write access. In case read-modify-write access is desired for a write only register, a shadow
register can be realized in master software.
1.4 Moving the Motor
1.4.1 STEP/DIR Interface
The motor can be controlled by a step and direction input. Active edges on the STEP input can be
rising edges or both rising and falling edges as controlled by a mode bit (dedge). Using both edges
cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces
such as optically isolated interfaces. On each active edge, the state sampled from the DIR input
determines whether to step forward or back. Each step can be a fullstep or a microstep, in which
there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. A step impulse with a low state on
DIR increases the microstep counter and a high decreases the counter by an amount controlled by the
microstep resolution. An internal table translates the counter value into the sine and cosine values
which control the motor current for microstepping.
1.4.2 SPI Direct Mode
The direct mode allows control of both motor coil currents and polarity via SPI. It mainly is intended
for use with a dedicated external motion controller IC with integrated sequencer. The sequencer
applies sine and cosine waves to the motor coils. This mode also allows control of DC motors, etc.