Datasheet

TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 4
www.trinamic.com
1 Principles of Operation
The TMC22xx family of stepper drivers is intended as a drop-in upgrade for existing low-cost stepper
driver applications. Their silent drive technology StealthChop enables non-bugging motion control for
home and office applications. A highly efficient power stage enables high current from a tiny package.
The TMC2209 requires just a few control pins on its tiny package. It allows selection of the most
important setting: the desired microstep resolution. A choice of 8, 16, 32 or 64 microsteps, or from
fullstep up to 1/256 step adapts the driver to the capabilities of the motion controller.
Even at low microstepping rate, the TMC2209 offers a number of unique enhancements over
comparable products: TRINAMICs sophisticated StealthChop2 chopper plus the microstep enhancement
MicroPlyer ensure noiseless operation, maximum efficiency and best motor torque. Its fast current
regulation and optional combination with SpreadCycle allow for highly dynamic motion. Protection
and diagnostic features support robust and reliable operation. A simple-to-use 8 bit UART interface
opens up more tuning and control options. Application specific tuning can be stored to on-chip OTP
memory. Industries’ most advanced step & direction stepper motor driver family upgrades designs to
noiseless and most precise operation for cost-effective and highly competitive solutions.
22n
50V
100n
16V
ENN
GND
DIE PAD
microPlyer
Full Bridge A
Full Bridge B
+V
M
VS
stepper
motor
N
S
OA1
OA2
OB1
OB2
Driver
100n
BRB
100µF
CPI CPO
BRA
R
SA
Use low inductivity SMD
type, e.g. 1206, 0.5W for
R
SA
and R
SB
R
SB
100n
VCP VREF
opt. driver enable
stealthChop2
spreadCycle
Integrated
Rsense
IREF
256 Microstep
Sequencer
Stand Still
Current
Reduction
2.2µ
6.3V
5VOUT
Analog current scaling or leave open
Low ESR type
Place near IC with
short path to die pad
Connect directly
to GND plane
Connect directly
to GND plane
VCC_IO
TMC2209
Step&Dir input
5V Voltage
regulator
charge pump
CLK_IN
opt. ext. clock
10-16MHz
3.3V or 5V
I/O voltage
100n
Analog Scaling
VREF
Programmable
Diagnostic
Outputs
Configuration
Interface
MS1
MS2
SPREAD
INDEX
DIAG
Configuration
(GND or VCC_IO)
Index pulse
Driver error
PDN/UART
B. Dwersteg, ©
TRINAMIC 2016
Trimmed
CLK oscillator/
selector
UART interface
+ Register Block
Configuration
Memory (OTP)
optional UART interface
IREF
Step Pulse
Generator
STEP
DIR
Step and Direction
motion control
stallGuard4
coolStep
STDBY
opt. low power standby
Figure 1.1 TMC2209 basic application block diagram
THREE MODES OF OPERATION:
OPTION 1: Standalone STEP/DIR Driver (Legacy Mode)
A CPU (µC) generates step & direction signals synchronized to additional motors and other
components within the system. The TMC2209 operates the motor as commanded by the configuration
pins and STEP/DIR signals. Motor run-current either is fixed, or set by the CPU using the analog input
VREF. The pin PDN_UART selects automatic standstill current reduction. Feedback from the driver to