Datasheet

TMC2300 DATASHEET (Rev. 1.02 / 2019-NOV-06) 6
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1.1 Key Concepts
The TMC2300 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.
StallGuard™ Sensorless motor load measurement. It allows sensorless homing of a drive by
sensing mechanical obstacles. Further, mechanics can be validated by monitoring
motor load.
MicroPlyer™ Microstep interpolator for obtaining full 256 microstep smoothness with lower
resolution step inputs starting from fullstep
CoolStep™ Uses StallGuard measurement in order to adapt the motor current for best efficiency
and lowest heat-up of motor and driver
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 TMC2300 supports both, discrete control lines for basic mode selection and a UART based single
wire interface with CRC checking.
1.2.1 UART Interface
The single wire interface allows unidirectional operation (for parameter setting only), or bi-directional
operation for full control and diagnostics. It can be driven by any standard microcontroller UART or
even by bit banging in software. Baud rates from 9600 Baud to 500k Baud may be used. No baud rate
configuration is required, as the TMC2300 automatically adapts to the masters’ baud rate. The frame
format is identical to the intelligent TRINAMIC controller & driver ICs TMC51XX and TMC22XX. A CRC
checksum allows data transmission over longer distance. For fixed initialization sequences, store the
data including CRC into the µC, thus consuming only a few 100 bytes of code for a full initialization.
CRC may be ignored during read access, if not desired. This makes CRC use an optional feature! The IC
has a fixed address selected by 2 pins. Multiple drivers can be programmed in parallel by tying
together all interface pins, in case no read access is required. An optional addressing can be provided
by analog multiplexers, like 74HC4066.
From a software point of view the TMC2300 is a peripheral with a number of control and status
registers. Most of them can either be written only or are 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.
1.3 Moving and Controlling the Motor
1.3.1 STEP/DIR Interface
The motor is 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 special 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. The state sampled from the DIR input upon an active STEP edge
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 state decreases the counter by an amount controlled
UART