Datasheet

TMC5130A DATASHEET (Rev. 1.14 / 2017-MAY-15) 3
www.trinamic.com
Table of Contents
1 PRINCIPLES OF OPERATION ......................... 5
1.1 KEY CONCEPTS ................................................ 7
1.2 CONTROL INTERFACES ..................................... 7
1.3 SOFTWARE ...................................................... 7
1.4 MOVING AND CONTROLLING THE MOTOR ........ 8
1.5 STEALTHCHOP DRIVER ..................................... 8
1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8
1.7 COOLSTEP – LOAD ADAPTIVE CURRENT
CONTROL ...................................................................... 9
1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9
1.9 ENCODER INTERFACE ....................................... 9
2 PIN ASSIGNMENTS ......................................... 10
2.1 PACKAGE OUTLINE ........................................ 10
2.2 SIGNAL DESCRIPTIONS ................................. 10
3 SAMPLE CIRCUITS .......................................... 13
3.1 STANDARD APPLICATION CIRCUIT ................ 13
3.2 REDUCED NUMBER OF COMPONENTS ............. 14
3.3 INTERNAL RDSON SENSING .......................... 14
3.4 EXTERNAL 5V POWER SUPPLY ...................... 15
3.5 PRE-REGULATOR FOR REDUCED POWER
DISSIPATION .............................................................. 16
3.6 5V ONLY SUPPLY .......................................... 17
3.7 HIGH MOTOR CURRENT ................................. 18
3.8 DRIVER PROTECTION AND EME CIRCUITRY ... 20
4 SPI INTERFACE ................................................ 21
4.1 SPI DATAGRAM STRUCTURE ......................... 21
4.2 SPI SIGNALS ................................................ 22
4.3 TIMING ......................................................... 23
5 UART SINGLE WIRE INTERFACE ................ 24
5.1 DATAGRAM STRUCTURE ................................. 24
5.2 CRC CALCULATION ....................................... 26
5.3 UART SIGNALS ............................................ 26
5.4 ADDRESSING MULTIPLE SLAVES .................... 27
6 REGISTER MAPPING ....................................... 29
6.1 GENERAL CONFIGURATION REGISTERS .......... 30
6.2 VELOCITY DEPENDENT DRIVER FEATURE
CONTROL REGISTER SET ............................................. 33
6.3 RAMP GENERATOR REGISTERS ....................... 35
6.4 ENCODER REGISTERS ..................................... 40
6.5 MOTOR DRIVER REGISTERS ........................... 42
7 STEALTHCHOP™ .............................................. 51
7.1 TWO MODES FOR CURRENT REGULATION ...... 51
7.2 AUTOMATIC SCALING .................................... 52
7.3 VELOCITY BASED SCALING ............................ 54
7.4 COMBINING STEALTHCHOP AND SPREADCYCLE
56
7.5 FLAGS IN STEALTHCHOP ................................ 57
7.6 FREEWHEELING AND PASSIVE BRAKING ........ 58
8 SPREADCYCLE AND CLASSIC CHOPPER ... 59
8.1 SPREADCYCLE CHOPPER ................................ 60
8.2 CLASSIC CONSTANT OFF TIME CHOPPER ...... 63
8.3 RANDOM OFF TIME ...................................... 64
8.4 CHOPSYNC2 FOR QUIET 2-PHASE MOTOR .... 65
9 ANALOG CURRENT CONTROL AIN ............. 66
10 SELECTING SENSE RESISTORS ............... 67
11 INTERNAL SENSE RESISTORS ................. 69
12 VELOCITY BASED MODE CONTROL ....... 71
13 DRIVER DIAGNOSTIC FLAGS .................. 73
13.1 TEMPERATURE MEASUREMENT ....................... 73
13.2 SHORT TO GND PROTECTION ....................... 73
13.3 OPEN LOAD DIAGNOSTICS ........................... 73
14 RAMP GENERATOR ..................................... 74
14.1 REAL WORLD UNIT CONVERSION ................. 74
14.2 MOTION PROFILES ........................................ 75
14.3 VELOCITY THRESHOLDS ................................. 77
14.4 REFERENCE SWITCHES .................................. 78
14.5 EXTERNAL STEP/DIR DRIVER ...................... 79
15 STALLGUARD2 LOAD MEASUREMENT ... 80
15.1 TUNING STALLGUARD2 THRESHOLD SGT ..... 81
15.2 STALLGUARD2 UPDATE RATE AND FILTER .... 83
15.3 DETECTING A MOTOR STALL ......................... 83
15.4 HOMING WITH STALLGUARD ......................... 83
15.5 LIMITS OF STALLGUARD2 OPERATION .......... 83
16 COOLSTEP OPERATION ............................. 84
16.1 USER BENEFITS ............................................. 84
16.2 SETTING UP FOR COOLSTEP .......................... 84
16.3 TUNING COOLSTEP ........................................ 86
17 STEP/DIR INTERFACE ................................ 87
17.1 TIMING ......................................................... 87
17.2 CHANGING RESOLUTION ............................... 88
17.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION ....................................................... 89
18 DIAG OUTPUTS ........................................... 90
18.1 STEP/DIR MODE ......................................... 90
18.2 MOTION CONTROLLER MODE ........................ 90
19 DCSTEP .......................................................... 92
19.1 USER BENEFITS ............................................. 92
19.2 DESIGNING-IN DCSTEP ................................. 92
19.3 DCSTEP INTEGRATION WITH THE MOTION
CONTROLLER .............................................................. 93
19.4 STALL DETECTION IN DCSTEP MODE ............ 93
19.5 MEASURING ACTUAL MOTOR VELOCITY IN
DCSTEP OPERATION ................................................... 94
19.6 DCSTEP WITH STEP/DIR INTERFACE ........... 95