Datasheet

TMC5160 DATASHEET (Rev. 1.01 / 2017-NOV-29) 5
www.trinamic.com
1 Principles of Operation
The TMC5160 motion controller and driver chip is an intelligent power component interfacing between
CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No
software is required to control the motor – just provide target positions. The TMC5160 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 TMC5160 uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the
TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents.
THE TMC5160 OFFERS THREE BASIC MODES OF OPERATION:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5160. 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 TMC5160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion. Tie SD_MODE high.
MODE 3: Simple Step & Direction Driver
The TMC5160 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 TMC5160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.
47R
47R
LS
VCC_IO
TMC5160
SPI interface
CSN
SCK
SDO
SDI
Ref. switch
processing
REFL/STEP REFR/DIR
DIAG / INT out
and
Single wire
interface
5V Voltage
regulator
charge pump
22n
100V
100n
16V
DIAG0/SWN
CLK_IN
DIAG1/SWP
+V
M
5VOUT
VSA
2.2µ
+V
IO
DRV_ENN
GNDD
GNDA
TST_MODE
DIE PAD
VCC
opt. ext. clock
12-16MHz
3.3V or 5V
I/O voltage
100n
100n
LS
stepper
motor
N
S
BMA2
100n
SRAH
C
E
2R2
470n
Encoder
unit
A B N
ENCB_DCEN
ENCA_DCIN
ENCN_DCO
Encoder input /
dcStep control in S/D
mode
SD_MODE
SPI_MODE
opt. driver enable
B.Dwersteg, ©
TRINAMIC 2014
R
S
SRAL
LA1
LA2
HA1
HA2
BMA1
HS
HS
CA1
C
B
CA2
C
B
+V
M
LS
LS
BMB2
SRBH
R
S
SRBL
LB1
LB2
HB1
HB2
BMB1
HS
HS
CB1
C
B
CB2
C
B
+V
M
Both GND: UART mode
CPI CPO VCP VS
11.5V Voltage
regulator
12VOUT
2.2µ
mode selection
470n
470n
R
G
R
G
R
G
R
G
R
G
R
G
R
G
R
G
47R
47R
+V
IO
pd pd pd
+V
IO
Stepper driver
Protection
& diagnostics
spreadCycle &
stealthChop
Chopper
programmable
sine table
4*256 entry
stallGuard2™
coolStep™
x
linear 6 point
RAMP generator
Step &
Direction pulse
generation
Control register
set
Interface
dcStep™
coolStep
&
stealthChop
motor driver
B.Dwersteg, ©
TRINAMIC 2014
Motion control
Figure 1.1 TMC5160 basic application block diagram (motion controller)