Datasheet

TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 11
www.trinamic.com
Pin
Number
Type
Function
REFL_STEP
8
DI
Left reference input (SPI_MODE=1, SD_MODE=0) or
STEP input when (SD_MODE=1 or SPI_MODE=0).
REFR_DIR
9
DI
Right reference input (SPI_MODE=1, SD_MODE=0) or
DIR input (SD_MODE=1 or SPI_MODE=0).
VCC_IO
10
3.3V to 5V IO supply voltage for all digital pins.
SD_MODE
11
DI
(pu)
Mode selection input with pullup resistor. When tied low, the
internal ramp generator generates step pulses. When tied high,
the STEP/DIR inputs control the driver. Integrated pullup resistor.
SPI_MODE
12
DI
(pu)
Mode selection input with pullup resistor. When tied low, the
chip is in standalone mode and pins have their CFG functions.
When tied high, the SPI or UART interfaces are available for
control. Integrated pullup resistor.
GNDP
13, 48
Power GND. Connect to GND plane near pin.
DNC.
14, 16, 18,
20, 22, 41,
43, 45, 47
Do not connect these pins. Provided to increase creeping
distance on PCB in order to allow higher supply voltage without
coating.
OB1
15
Motor coil B output 1
BRB
17
Sense resistor connection for coil B. Place sense resistor to GND
near pin. An additional 100nF capacitor to GND (GND plane) is
recommended for best performance.
OB2
19
Motor coil B output 2
VS
21, 40
Motor supply voltage. Provide filtering capacity near pin with
short loop to nearest GNDP pin (respectively via GND plane).
ENCN_DCO
23
DIO
Encoder N-channel input (SD_MODE=0) or
dcStep ready output (SD_MODE=1).
With SD_MODE=0, pull to GND or VCC_IO, if the pin is not used.
ENCB_DCEN_
CFG4
24
DI
(tpu)
Encoder B-channel input (SD_MODE=0, SPI_MODE=1) or
dcStep enable input (SD_MODE=1, SPI_MODE=1) - tie to GND for
normal operation (no dcStep).
Configuration input (SPI_MODE=0) (tristate detection)
ENCA_DCIN_
CFG5
25
DI
(tpu)
Encoder A-channel input (SD_MODE=0, SPI_MODE=1) or
dcStep gating input for axis synchronization (SD_MODE=1,
SPI_MODE=1) or
Configuration input (SPI_MODE=0) (tristate detection).
SWN_DIAG0
26
DIO
Diagnostics output DIAG0.
Interrupt or STEP output for motion controller (SD_MODE=0,
SPI_MODE=1).
Use external pullup resistor with 47k or less in open drain mode.
Single wire I/O (negative) (only with SWSEL=1)
SWP_DIAG1
27
DIO
Diagnostics output DIAG1.
Position compare or DIR output for motion controller
(SD_MODE=0, SPI_MODE=1).
Use external pullup resistor with 47k or less in open drain mode.
Single wire I/O (positive) (only with SWSEL=1)
SWSEL
28
DI
(pd)
Single wire interface select input, tie high for use of single wire
interface (only when SPI_MODE=1). Integrated pull-down resistor.
DRV_ENN_
CFG6
29
DI
(tpu)
Enable input or configuration / Enable input. The power stage
becomes switched off (all motor outputs floating) when this pin
becomes driven to a high level.
AIN_IREF
30
AI
Analog reference voltage for current scaling (optional mode) or
reference current for use of internal sense resistors
GNDA
32
Analog GND. Tie to GND plane.