Datasheet

TMC2209 DATASHEET (Rev. 1.03 / 2019-JUN-26) 5
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the CPU is granted by the INDEX and DIAG output signals. Enable or disable the motor using the ENN
pin.
OPTION 2: Standalone STEP/DIR Driver with OTP pre-configuration
Additional options enabled by pre-programming OTP memory (label UART & OTP):
+ Tuning of the chopper to the application for application tailored performance
+ Cost reduction by switching the driver to internal sense resistor mode
+ Adapting the automatic power down level and timing for best application efficiency
S/D
N
S
0A+
0A-
0B+
TMC22xx
0B-
ERROR, INDEX
CPU
High-Level
Interface
TXD only or bit
bang UART
Other drivers
External pre-
programming
Figure 1.2 Stand-alone driver with pre-configuration
To enable the additional options, either one-time program the driver’s OTP memory, or store
configuration in the CPU and transfer it to the on-chip registers following each power-up. Operation
uses the same signals as Option 1. Programming does not need to be done within the application - it
can be executed during testing of the PCB! Alternatively, use bit-banging by CPU firmware to configure
the driver. Multiple drivers can be programmed at the same time using a single TXD line.
OPTION 3: STEP/DIR Driver with Full Diagnostics and Control
Similar to Option 2, but pin PDN_UART is connected to the CPU UART interface.
Additional options (label UART):
+ Detailed diagnostics and thermal management
+ Passive braking and freewheeling for flexible, lowest power stop modes
+ More options for microstep resolution setting (fullstep to 256 microstep)
+ Software controlled motor current setting and more chopper options
+ Use StallGuard for sensorless homing and CoolStep for adaptive motor current and cool motor
This mode allows replacing all control lines like ENN, DIAG, INDEX, MS1, MS2, and analog current
setting VREF by a single interface line. This way, only three signals are required for full control: STEP,
DIR and PDN_UART. Even motion without external STEP pulses is provided by an internal
programmable step pulse generator: Just set the desired motor velocity. However, no ramping is
provided by the TMC2209.
1.1 Key Concepts
The TMC2209 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 cycle-by-cycle current control for highest dynamic movements.
MicroPlyer™ Microstep interpolator for obtaining full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
StallGuard4™ Sensorless homing safes end switches and warns in case of motor overload
CoolStep™ Uses StallGuard measurement in order to adapt the motor current for best efficiency
and lowest heat-up of motor and driver
UART
UART OTP