Datasheet

TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16) 5
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
spreadCycle &
stealthChop
chopper
VCC_IO
TMC5041
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
spreadCycle &
stealthChop
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
8-16MHz
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 TMC5041 motion controller and driver chip is an intelligent power component interfacing between
the CPU and one or two stepper motors. All stepper motor logic is completely within the TMC5041. No
software is required to control the motor – just provide target positions. The TMC5041 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 TMC5041 uses stealthChop, coolStep, and stallGuard2
automatically to optimize every motor movement. The clear concept and the comprehensive solution
save design time.
1.1 Key Concepts
The TMC5041 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.
stealthChop™ No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor.
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 offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.