Datasheet

TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28) 4
www.trinamic.com
1 Principles of Operation
Half Bridge 2
Half Bridge 1
Half Bridge 1
Half Bridge 2
+V
M
VS
2 x current
comparator
2 phase
stepper
motor
N
S
Stepper driver
Protection
& diagnostics
programmable
sine table
4*256 entry
2 x DAC
stallGuard2™
coolStep™
x
O1A1
O1A2
BR1A / B
R
SENSE
R
SENSE
O1B1
O1B2
chopper
VCC_IO
TMC5031
Dual stepper motor
driver / controller
SPI interface
CSN
SCK
SDO
SDI
2x linear 6 point
RAMP generator
reference switch
processing
Step &
Direction pulse
generation
REFL1
Stepper
#1
Motion control
coolStep motor
driver
REFR1
Half Bridge 2
Half Bridge 1
Half Bridge 1
Half Bridge 2
+V
M
VS
2 x current
comparator
2 phase
stepper
motor
N
S
programmable
sine table
4*256 entry
2 x DAC
stallGuard2™
coolStep™
x
O2A1
O2A2
BR2A / B
R
SENSE
R
SENSE
O2B1
O2B2
chopper
reference switch
processing
Step &
Direction pulse
generation
Stepper
#2
coolStep motor
driver
2x linear 6 point
RAMP generator
Motion control
Control register
set
CLK oscillator/
selector
5V Voltage
regulator
temperature
measurement
charge pump
CPO
CPI
VCP
22n
100n
CLK_IN
Interface
REFL2 REFR2
+V
M
5VOUT
VSA
4.7µ
+V
IO
INT
PP
INT & position
pulse output
DRV_ENN
DRV_ENN
SINGLEDRV
GNDP
GNDP
GND GNDA
FF
F F F = 60ns spike filter
TST_MODE DIE PAD
VCC
R
SENSE
=0R25 allows for
maximum coil current
SPI™
opt. ext. clock
12-16MHz
3.3V or 5V
I/O voltage
100n
100n
100n
100n
interrupt out
ref. / stop switches motor 2
ref. / stop switches motor 1
opt. driver enable
Figure 1.1 Basic application and block diagram
The TMC5031 motion controller and driver chip is an intelligent power component interfacing between
the CPU and up to two stepper motors. All stepper motor logic is completely within the TMC5031. No
software is required to control the motor – just provide target positions. The TMC5031 offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The sixPoint ramp generator of the TMC5031 uses coolStep and stallGuard2 automatically to
optimize every motor movement: TRINAMICs special features contribute toward lower system cost,
greater precision, greater energy efficiency, smoother motion, and cooler operation in stepper motor
applications. The clear concept and the comprehensive solution save design-in time.
1.1 Key Concepts
The TMC5031 implements several 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.
stallGuard2™ High-precision load measurement using the back EMF on the motor coils.
coolStep™ Load-adaptive current control which reduces energy consumption by as much as
75%.
spreadCycle™ High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm.
sixPoint™ Fast and precise positioning using a hardware ramp generator with a set of four
acceleration / deceleration settings. Quickest response due to dedicated hardware.
In addition to these performance enhancements, TRINAMIC motor drivers also offer safeguards to
detect and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.