Datasheet

TMC2160 DATASHEET (Rev. 1.03 / 2019-FEB-05) 6
www.trinamic.com
47R
47R
LS
TMC2160
STEP DIR
5V Voltage
regulator
charge pump
22n
100V
100n
16V
+V
M
5VOUT
VSA
2.2µ
DRV_ENN
GNDD
GNDA
TST_MODE
DIE PAD
VCC
100n
LS
stepper
motor
N
S
BMA2
100n
SRAH
C
E
2R2
470n
dcStep control
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
470n
470n
R
G
R
G
R
G
R
G
R
G
R
G
R
G
R
G
47R
47R
Stepper driver
Protection
& diagnostics
spreadCycle &
stealthChop
Chopper
programmable
sine table
4*256 entry
x
Control register
set (default
values)
B.Dwersteg, ©
TRINAMIC 2014
step multiplier
microPlyer
Standstill
current
reduction
VCC_IO
CLK_IN
+V
IO
opt. ext. clock
12-16MHz
3.3V or 5V
I/O voltage
100n
SPI_MODE
Standalone mode
mode selection
pd
Status out
(open drain)
Configuration
interface
(GND or VCC_IO
level)
CFG0
CFG1
CFG3
CFG2
DIAG0
DIAG1
Microstep Resolution
8 / 16 / 32 / 64
Index pulse
Driver error
CFG4
CFG5
CFG6
B.Dwersteg, ©
TRINAMIC 2014
Run Current Setting
16 / 18 / 20 / 22 /
24 / 26 / 28 / 31
spreadCycle (GND) /
stealthChop (VCC_IO)
Current Reduction
Enable (VCC_IO)
pd
pd
OTP
Figure 1.2 TMC2160 standalone driver application diagram
1.1 Key Concepts
The TMC2160 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.
StealthChop2™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor. Allows faster motor acceleration and deceleration than
StealthChop™ and extends StealthChop to low stand still motor currents.
SpreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean
current wave. Low noise, low resonance and low vibration chopper.
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 full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
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 TMC2160 supports an SPI interface for parameter setting and diagnostics. Additionally, a
standalone mode is provided for pure STEP/DIR operation without use of the serial interface. Selection
of the actual interface is done via the configuration pin SPI_MODE, which can be hardwired to GND or
VCC_IO depending on the desired interface.