Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 5
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1 Principles of Operation
The TMC2160 driver chip is an intelligent power component interfacing between a motion controller
and a high-power stepper motor. It uses StealthChop, DcStep, CoolStep, and StallGuard2 automatically
to optimize every motor movement. The TMC2160 ideally extends the TMC2100 and TMC2130 family to
higher voltages and higher motor currents.
THE TMC2160 OFFERS TWO BASIC MODES OF OPERATION:
MODE 1: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC2160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The MicroPlyer automatically smoothens motion.
MODE 2: Simple Step & Direction Driver
The TMC2160 positions the motor based on step & 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 TMC2160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low.
47R
47R
LS
VCC_IO
TMC2160
SPI interface
CSN
SCK
SDO
SDI
STEP DIR
DIAG / INT out
and
Single wire
interface
5V Voltage
regulator
charge pump
22n
100V
100n
16V
DIAG0
CLK_IN
DIAG1
+V
M
5VOUT
VSA
2.2µ
+V
IO
DRV_ENN
GNDD
GNDA
TST_MODE
DIE PAD
VCC
opt. ext. clock
12-16MHz
3.3V or 5V
I/O voltage
100n
100n
LS
stepper
motor
N
S
BMA2
100n
SRAH
C
E
2R2
470n
DCEN
DCIN
DCO
dcStep control
SPI_MODE
opt. driver enable
B.Dwersteg, ©
TRINAMIC 2014
R
S
SRAL
LA1
LA2
HA1
HA2
BMA1
HS
HS
CA1
C
B
CA2
C
B
+V
M
LS
LS
BMB2
SRBH
R
S
SRBL
LB1
LB2
HB1
HB2
BMB1
HS
HS
CB1
C
B
CB2
C
B
+V
M
CPI CPO VCP VS
11.5V Voltage
regulator
12VOUT
2.2µ
mode selection
470n
470n
R
G
R
G
R
G
R
G
R
G
R
G
R
G
R
G
47R
47R
+V
IO
pd pd pd
Stepper driver
Protection
& diagnostics
spreadCycle &
stealthChop
Chopper
programmable
sine table
4*256 entry
stallGuard2
coolStep
x
Control register
set
dcStep
B.Dwersteg, ©
TRINAMIC 2014
step multiplier
microPlyer
Standstill
current
reduction
Figure 1.1 TMC2160 STEP/DIR application diagram