Datasheet
TMC5130A DATASHEET (Rev. 1.11 / 2015-OCT-08) 5
www.trinamic.com
1 Principles of Operation
The TMC5130A motion controller and driver chip is an intelligent power component interfacing
between CPU and stepper motor. All stepper motor logic is completely within the TMC5130A. No
software is required to control the motor – just provide target positions. The TMC5130A 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 TMC5130A uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement.
THE TMC5130A OFFERS THREE BASIC MODES OF OPERATION:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5130A. No software is required to control the
motor – just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5130A takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion. Leave open SD_MODE and SPI_MODE.
MODE 3: Simple Step & Direction Driver
The TMC5130A positions the motor based on step & direction signals. The microPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5130A. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying low pin SPI_MODE.
Diff. Tranceiver
Half Bridge 1
Half Bridge 2
+V
M
VS
current
comparator
2 phase
stepper
motor
N
S
Stepper driver
Protection
& diagnostics
programmable
sine table
4*256 entry
DAC
stallGuard2™
coolStep™
x
OA1
OA2
BRA
spreadCycle &
stealthChop
Chopper
VCC_IO
TMC 5130A
Stepper motor driver /
controller
SPI interface
CSN
SCK
SDO/NAO
SDI/NAI
linear 6 point RAMP
generator
reference switch
processing
Step &
Direction pulse
generation
REFL
Motion control
REFR
Half Bridge 1
Half Bridge 2
VS
current
comparator
DAC
OB1
OB2
BRB
Control register
set
Single wire
interface
(-TA pckg only)
CLK oscillator/
selector
5V Voltage
regulator
charge pump
CPO
CPI
VCP
22n
100n
SWN_DIAG0
SW_SEL
CLK_IN
Interface
SWP_DIAG1
+V
M
5VOUT
VSA
4.7µ
+V
IO
Encoder
unit
A B N
INT & position
pulse output
DRV_ENN
DRV_ENN
GNDP
GNDP
GNDA
F
F
F = 60ns spike filter
TST_MODE
dcStep™
DIE PAD
SPI™
single wire
UART
opt. ext. clock
10-16MHz
3.3V or 5V
I/O voltage
100n
100n
100n
100n
interface selection
(-TA package only)
Opt. interrupt out
reference / stop switches
opt. driver enable
R
S
R
S
ENCB
ENCA
ENCN
ISENSE
ISENSE
ISENSE
ISENSE
+V
M
DAC Reference
AIN_IREF
IREF
IREF
IREF
SD_MODE
SPI_MODE
PU
PU
PU
PU
PD
PDD
PMD
PU=166K pullup resistor to VCC
PD=166k pull down resistor to GND
PDD=100k pulldown
PMD=50k to VCC/2
PU
PU
PU
PU
PU=166K pullup to VCC
PU
Opt. poscomp out
leave open
optional current scaling
Optional for internal
current sensing.
R
REF
=9K1 allows for
maximum coil current.
R
S
=0R15 allows for
maximum coil current;
Use low inductance
SMD resistor type.
Tie BRA and BRB to
GND for internal
current sensing
R
REF
5VOUT
2R2
470n
2R2 and 470n are optional
filtering components for
best chopper precision
VCC
Optional incremental
encoder inputs
coolStep
&
stealthChop
motor driver
Figure 1.1 TMC5130A basic application block diagram with motion controller