TMC2130-XX-T [TRINAMIC]
POWER DRIVER FOR STEPPER MOTORS;![TMC2130-XX-T](http://pdffile.icpdf.com/pdf2/p00356/img/icpdf/TMC2130_2187534_icpdf.jpg)
型号: | TMC2130-XX-T |
厂家: | ![]() |
描述: | POWER DRIVER FOR STEPPER MOTORS 驱动 |
文件: | 总103页 (文件大小:2238K) |
中文: | 中文翻译 | 下载: | 下载PDF数据表文档文件 |
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POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2130 DATASHEET
Universal high voltage driver for two-phase bipolar stepper motor. StealthChop™ for quiet
movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI.
APPLICATIONS
Textile, Sewing Machines
Factory & Lab Automation
3D printers
Liquid Handling
Medical
Office Automation
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
FEATURES AND BENEFITS
DESCRIPTION
The TMC2130 is a high-performance driver
IC for two phase stepper motors. Standard
SPI and STEP/DIR simplify communication.
2-phase stepper motors up to 2.0A coil current (2.5A peak)
Step/Dir Interface with microstep interpolation MicroPlyer™
SPI Interface
TRINAMICs
sophisticated
StealthChop
Voltage Range 4.75… 46V DC
chopper ensures noiseless operation
combined with maximum efficiency and
best motor torque. CoolStep allows
reducing energy consumption by up to
75%. DcStep drives high loads as fast as
possible without step loss. Integrated
power MOSFETs handle motor currents up
to 1.2A RMS (QFN package) / 1.4A RMS
(TQFP) or 2.5A short time peak current per
coil. Protection and diagnostic features
support robust and reliable operation.
Industries’ most advanced stepper motor
driver enables miniaturized designs with
low external component count for cost-
effective and highly competitive solutions.
Highest Resolution 256 microsteps per full step
StealthChop™ for extremely quiet operation and smooth
motion
spreadCycle™ highly dynamic motor control chopper
DcStep™ load dependent speed control
StallGuard2™ high precision sensorless motor load detection
CoolStep™ current control for energy savings up to 75%
Integrated Current Sense Option
Passive Braking and freewheeling mode
Full Protection & Diagnostics
Small Size 5x6mm2 QFN36 package or TQFP48 package
BLOCK DIAGRAM
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
2
APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE
The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a
wide spectrum of applications from battery systems up to embedded applications with 2.0A motor
current per coil. Based on StallGuard2, CoolStep, DcStep, SpreadCycle, and StealthChop, the TMC2130
optimizes drive performance and keeps costs down. It considers velocity vs. motor load, realizes
energy savings, smoothness of the drive and noiselessness. Extensive support at the chip, board, and
software levels enables rapid design cycles and fast time-to-market with competitive products.
MINIATURIZED DESIGN FOR ONE STEPPER MOTOR
In this application, the CPU initializes the
TMC2130 motor driver via SPI interface and
controls motor movement by sending step
and direction signals. A real time software
realizes motion control.
0A+
N
S/D
SPI
High-Level
Interface
S
CPU
TMC2130 0A-
0B+
0B-
DESIGN FOR DEMANDING APPLICATIONS WITH S-SHAPED RAMP PROFILES
The CPU initializes the TMC4361 motion
controller and the TMC2130. Thereafter, it
sends target positions to the TMC4361. Now,
the TMC4361 takes control over the TMC2130.
Combining the TMC4361 and the TMC2130
offers diverse possibilities for demanding
applications including servo drive features.
0A+
N
SPI
TMC4361
SPI
High-Level
Interface
S
TMC2130 0A-
Motion
CPU
S/D
Controller
0B+
0B-
SPI
COMPACT DESIGN FOR UP TO THREE STEPPER MOTORS
Here, an application with up to three stepper
motors is shown. A single CPU combined
with a TMC429 motion controller manages
the whole stepper motor driver system. This
design is highly economical and space
saving if more than one stepper motor is
needed.
0A+
STEP/
DIR
N
N
N
TMC429
Motion
SPI
High-Level
Interface
S
S
S
CPU
TMC2130 0A-
Controller
0B+
0B-
SPI
SPI
SPI
STEP/
DIR
0A+
TMC2130 0A-
0B+
0B-
STEP/
DIR
0A+
TMC2130 0A-
0B+
0B-
ORDER CODES
Order code
TMC2130-LA
TMC2130-TA
TMC2130-xx-T
TMC2130-EVAL
TMC4361-EVAL
PN
Description
1-axis StealthChop driver; QFN36
1-axis StealthChop driver; TQFP48
-T denotes tape on reel packed devices (xx is LA or TA)
Evaluation board for TMC2130
S-Ramp Motion controller Evaluation board
Baseboard for evaluation board system
Connector board fitting to Landungsbrücke
Size [mm2]
5 x 6
7 x 7 (body)
00-0128
00-0151
…-T
40-0085
40-0139
85 x 55
85 x 55
85 x 55
61 x 38
LANDUNGSBRÜCKE 40-0167
ESELSBRÜCKE
40-0098
www.trinamic.com
TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
3
Table of Contents
1
PRINCIPLES OF OPERATION .........................5
8
ANALOG CURRENT CONTROL AIN.............54
SELECTING SENSE RESISTORS....................55
INTERNAL SENSE RESISTORS.................57
VELOCITY BASED MODE CONTROL.......59
DRIVER DIAGNOSTIC FLAGS..................61
1.1
KEY CONCEPTS................................................7
SPI CONTROL INTERFACE ...............................7
SOFTWARE......................................................7
MOVING THE MOTOR ......................................7
STEALTHCHOP DRIVER....................................8
STALLGUARD2 – MECHANICAL LOAD SENSING.
.......................................................................8
COOLSTEP – LOAD ADAPTIVE CURRENT
9
1.2
1.3
1.4
1.5
1.6
10
11
12
12.1 TEMPERATURE MEASUREMENT.......................61
12.2 SHORT TO GND PROTECTION.......................61
12.3 OPEN LOAD DIAGNOSTICS ...........................61
1.7
CONTROL......................................................................8
1.8
DCSTEP – LOAD DEPENDENT SPEED CONTROL9
14
STALLGUARD2 LOAD MEASUREMENT...62
2
3
PIN ASSIGNMENTS.........................................10
14.1 TUNING STALLGUARD2 THRESHOLD SGT.....63
14.2 STALLGUARD2 UPDATE RATE AND FILTER....65
14.3 DETECTING A MOTOR STALL.........................65
14.4 LIMITS OF STALLGUARD2 OPERATION..........65
2.1
2.2
PACKAGE OUTLINE........................................10
SIGNAL DESCRIPTIONS .................................11
SAMPLE CIRCUITS..........................................13
15
COOLSTEP OPERATION.............................66
3.1
STANDARD APPLICATION CIRCUIT ................13
REDUCED NUMBER OF COMPONENTS.............14
INTERNAL RDSON SENSING..........................14
EXTERNAL 5V POWER SUPPLY ......................15
PRE-REGULATOR FOR REDUCED POWER
15.1 USER BENEFITS.............................................66
15.2 SETTING UP FOR COOLSTEP..........................66
15.3 TUNING COOLSTEP.......................................68
3.2
3.3
3.4
3.5
16
STEP/DIR INTERFACE................................69
DISSIPATION..............................................................16
16.1 TIMING.........................................................69
16.2 CHANGING RESOLUTION...............................70
16.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION.......................................................71
3.6
3.7
3.8
5V ONLY SUPPLY..........................................17
HIGH MOTOR CURRENT.................................18
DRIVER PROTECTION AND EME CIRCUITRY...20
4
5
SPI INTERFACE................................................21
17
18
DIAG OUTPUTS...........................................72
DCSTEP..........................................................73
4.1
4.2
4.3
SPI DATAGRAM STRUCTURE .........................21
SPI SIGNALS................................................22
TIMING .........................................................23
18.1 USER BENEFITS.............................................73
18.2 DESIGNING-IN DCSTEP ................................73
18.3 DCSTEP WITH STEP/DIR INTERFACE...........74
18.4 STALL DETECTION IN DCSTEP MODE............77
REGISTER MAPPING.......................................24
5.1
5.2
GENERAL CONFIGURATION REGISTERS ..........25
VELOCITY DEPENDENT DRIVER FEATURE
19
SINE-WAVE LOOK-UP TABLE...................78
CONTROL REGISTER SET.............................................27
5.3
5.4
5.5
SPI MODE REGISTER....................................29
DCSTEP MINIMUM VELOCITY REGISTER........29
MOTOR DRIVER REGISTERS...........................30
19.1 USER BENEFITS.............................................78
19.2 MICROSTEP TABLE........................................78
20
EMERGENCY STOP......................................79
DC MOTOR OR SOLENOID.......................80
21.1 SOLENOID OPERATION..................................80
QUICK CONFIGURATION GUIDE............81
GETTING STARTED.....................................84
23.1 INITIALIZATION EXAMPLE.............................84
STANDALONE OPERATION......................85
EXTERNAL RESET ........................................88
CLOCK OSCILLATOR AND INPUT...........88
26.1 CONSIDERATIONS ON THE FREQUENCY..........88
ABSOLUTE MAXIMUM RATINGS............89
6
STEALTHCHOP™..............................................39
21
6.1
TWO MODES FOR CURRENT REGULATION......39
AUTOMATIC SCALING....................................40
VELOCITY BASED SCALING............................42
COMBINING STEALTHCHOP AND SPREADCYCLE.
.....................................................................44
FLAGS IN STEALTHCHOP...............................45
FREEWHEELING AND PASSIVE MOTOR BRAKING
.....................................................................46
6.2
6.3
6.4
22
23
6.5
6.6
24
25
26
7
SPREADCYCLE AND CLASSIC CHOPPER...47
7.1
SPREADCYCLE CHOPPER................................48
CLASSIC CONSTANT OFF TIME CHOPPER.......51
RANDOM OFF TIME.......................................52
CHOPSYNC2 FOR QUIET 2-PHASE MOTOR.....53
7.2
7.3
7.4
27
www.trinamic.com
TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
4
28
ELECTRICAL CHARACTERISTICS.............89
30.1 DIMENSIONAL DRAWINGS QFN36 5X6.......97
30.2 DIMENSIONAL DRAWINGS TQFP-EP48.......99
30.3 PACKAGE CODES.........................................100
28.1 OPERATIONAL RANGE ...................................89
28.2 DC AND TIMING CHARACTERISTICS ..............90
28.3 THERMAL CHARACTERISTICS..........................93
31
32
33
34
35
36
DISCLAIMER...............................................101
ESD SENSITIVE DEVICE..........................101
DESIGNED FOR SUSTAINABILITY.......101
TABLE OF FIGURES..................................102
REVISION HISTORY.................................103
REFERENCES ...............................................103
29
LAYOUT CONSIDERATIONS.....................94
29.1 EXPOSED DIE PAD........................................94
29.2 WIRING GND...............................................94
29.3 SUPPLY FILTERING........................................94
29.4 LAYOUT EXAMPLE (QFN36)..........................95
30
PACKAGE MECHANICAL DATA................97
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
5
1 Principles of Operation
THE TMC2130 OFFERS THREE BASIC MODES OF OPERATION:
In Step/Direction Driver Mode, the TMC2130 is the microstep sequencer and power driver between a
motion controller and a two-phase stepper motor. Configuration of the TMC2130 is done via SPI. A
dedicated motion controller IC or the CPU sends step and direction signals to the TMC2130. The
TMC2130 provides the related motor coil currents to operate the motor. In Standalone Mode, the
TMC2130 can be configured using pins. In this mode of operation CPU interaction is not necessary.
The third mode of operation is the SPI Driver Mode, which is used in combination with TRINAMICs
TMC4361 motion controller chip. This mode of operation offers several possibilities for sophisticated
applications.
OPERATION MODE 1: Step/Direction Driver Mode
An external motion controller is used or a central CPU generates step and direction signals. The
motion controller (e.g. TMC429) controls the motor position by sending pulses on the STEP signal
while indicating the direction on the DIR signal. The TMC2130 provides a microstep counter and a sine
table to convert these signals into the coil currents which control the position of the motor. The
TMC2130 automatically takes care of intelligent current and mode control and delivers feedback on the
state of the motor. The MicroPlyer automatically smoothens motion. To optimize power consumption
and heat dissipation, software may also adjust CoolStep and StallGuard2 parameters in real-time, for
example to implement different tradeoffs between speed and power consumption.
step & dir input optional current scaling
5VOUT
RREF
Optional for internal current
sensing. RREF=9K1 allows for
maximum coil current.
+VM
100n
TMC2130
Stepper Motor Driver
VS
+VM
step multiplier
microPlyer
VCP
CPI
OA1
Half Bridge
Half Bridge
1
2
DAC Reference
IREF
100n
22n
charge pump
Standstill
current
reduction
ISENSE
ISENSE
CPO
VSA
OA2
BRA
5V Voltage
regulator
5VOUT
&
p
100n
e
h
t
t
o
S
l
o
o
4.7µ
2R2
c
p
o
h
r
d
r
VCC
C
RS
2R2 and 470n are optional
filtering components for
best chopper precision
l
a
e
PU=166K pullup resistor to VCC
PD=166k pull down resistor to GND
t
s
r
e
v
i
470n
GNDP
PU
CSN
SCK
SDI
t
IREF
o
m
current
PU
DRV_ENN
DAC
DAC
comparator
RS=0R15 allows for
maximum coil current.
Use low inductance
SMD resistor type.
Tie BRA and BRB to
GND for internal
spreadCycle
&
SPI interface
PU
SPI™
stealthChop
Chopper
programmable
sine table
4*256 entry
N
e
c
a
f
Control register
set
PU
SDO
r
x
S
e
t
n
I
Stepper driver
Protection
&
2 phase
stepper
motor
current sensing
current
diagnostics
B.Dwersteg, ©
TRINAMIC 2014
comparator
GNDP
IREF
PDD=100k pulldown
PMD=50k to VCC/2
coolStep™
RS
PDD
DIAG1
DIAG0
BRB
DIAG out
Diganostics
PMD
stallGuard2™
OB2
Half Bridge
2
1
ISENSE
dcStep™
opt. ext. clock
10-16MHz
CLK_IN
VCC_IO
OB1
VS
Half Bridge
CLK oscillator/
selector
+VIO
ISENSE
3.3V or 5V
I/O voltage
100n
+VM
100n
dcStep control
Tie DCEN to GND if
dcStep is not used
leave open
opt. driver enable
Figure 1.1 TMC2130 STEP/DIR application diagram
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
6
OPERATION MODE 2: Standalone Mode
The TMC2130 positions the motor based on step and 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 TMC2130. Optional feedback signals allow error detection
and synchronization.
step & dir input optional current scaling
5VOUT
RREF
Optional for internal current
sensing. RREF=9K1 allows for
maximum coil current.
+VM
F
=
60ns spike filter
CFG3
100n
TMC 2130 Standalone
Stepper Motor Driver
VS
+VM
CFG1
CFG2
step multiplier
microPlyer
VCP
CPI
OA1
Half Bridge 1
Half Bridge 2
DAC Reference
IREF
100n
22n
charge pump
Standstill
current
reduction
CFG6
ISENSE
ISENSE
CPO
VSA
OA2
BRA
5V Voltage
regulator
&
p
e
5VOUT
e
l
c
C
100n
y
h
r
C
t
o
d
a
t
a
e
r
4.7µ
2R2
p
s
o
i
h
VCC
RS
2R2 and 470n are optional
filtering components for
best chopper precision
l
e
t
s
r
470n
GNDP
v
r
d
TG= toggle with 166K resistor between VCC
and GND to detect open pin
IREF
o
TG
m
CFG0
CFG4
CFG5
CFG0
CFG1
CFG2
CFG3
CFG4
CFG5
current
CFG1
CFG2
DAC
DAC
comparator
spreadCycle &
stealthChop
Chopper
TG
RS=0R15 allows for
maximum coil
current;
Tie BRA and BRB to
GND for internal
current sensing
CFG1
CFG2
N
TG
sine table
4*256 entry
x
S
Configuration
TG
TRISTATE configuration
(GND, VCC_IO or open)
interface
with TRISTATE
detection
Stepper driver
Protection
2 phase
stepper
motor
DRV_ENN
TG
current
& diagnostics
comparator
TG
GNDP
B.Dwersteg, ©
TRINAMIC 2014
IREF
Opt. driver
enable input
TG
DRV_ENN_CFG6
RS
e
c
a
f
r
e
t
n
I
PDD=100k pulldown
PMD=50k to VCC/2
BRB
PDD
DIAG1
DIAG0
Index pulse
Driver error
OB2
Half Bridge 2
Half Bridge 1
PMD
Status out
(open drain)
ISENSE
opt. ext. clock
10-16MHz
CLK_IN
OB1
VS
CLK oscillator/
selector
+VIO
ISENSE
3.3V or 5V
I/O voltage
VCC_IO
100n
+VM
100n
Figure 1.2 TMC2130 standalone driver application diagram
OPERATION MODE 3: SPI Driver Mode
Together with the TMC4361A high-performance S-ramp motion controller the TMC2130 stepper motor
driver offers an SPI control mode, which gives full control over the motor coil currents to the
TMC4361A. Combining these two ICs offers several possibilities for demanding applications including
servo features. Please refer to Figure 1.1 for more information about the pinning, which is identical to
step/direction driver mode, except that the STEP & DIR pins are not required for operation.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
7
1.1 Key Concepts
The TMC2130 implements 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.
SpreadCycle™ High-precision chopper algorithm for highly dynamic motion and absolutely clean
current wave.
DcStep™
Load dependent speed control. The motor moves as fast as possible and never loses
a step.
StallGuard2™
CoolStep™
Sensorless stall detection and mechanical load measurement.
Load-adaptive current control reducing energy consumption by as much as 75%.
MicroPlyer™
Microstep interpolator for obtaining increased smoothness of microstepping when
using the STEP/DIR interface.
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.
1.2 SPI Control Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC2130 slave always consists of sending one 40-bit
command word and receiving one 40-bit status word.
The SPI command rate typically is a single initialization after power-on.
1.3 Software
From a software point of view the TMC2130 is a peripheral with a number of control and status
registers. Most of them can either be written only or read only. Some of the registers allow both read
and write access. In case read-modify-write access is desired for a write only register, a shadow
register can be realized in master software.
1.4 Moving the Motor
1.4.1 STEP/DIR Interface
The motor can be controlled by a step and direction input. Active edges on the STEP input can be
rising edges or both rising and falling edges as controlled by a mode bit (dedge). Using both edges
cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces
such as optically isolated interfaces. On each active edge, the state sampled from the DIR input
determines whether to step forward or back. Each step can be a fullstep or a microstep, in which
there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. A step impulse with a low state on
DIR increases the microstep counter and a high state decreases the counter by an amount controlled
by the microstep resolution. An internal table translates the counter value into the sine and cosine
values which control the motor current for microstepping.
1.4.2 SPI Direct Mode
The direct mode allows control of both motor coil currents and polarity via SPI. It mainly is intended
for use with a dedicated external motion controller IC with integrated sequencer. The sequencer
applies sine and cosine waves to the motor coils. This mode also allows control of DC motors, etc.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
8
1.5 StealthChop Driver
StealthChop is a voltage chopper-based principle. It guarantees absolutely quiet motor standstill and
silent slow motion, except for noise generated by ball bearings. StealthChop can be combined with
classic cycle-by-cycle chopper modes for best performance in all velocity ranges. Two additional
chopper modes are available: a traditional constant off-time mode and the SpreadCycle mode. The
constant off-time mode provides high torque at highest velocity, while SpreadCycle offers smooth
operation and good power efficiency over a wide range of speed and load. SpreadCycle automatically
integrates a fast decay cycle and guarantees smooth zero crossing performance. The extremely
smooth motion of StealthChop is beneficial for many applications.
Programmable microstep shapes allow optimizing the motor performance for low cost motors.
Benefits of using StealthChop:
-
-
-
-
Significantly improved microstepping with low cost motors
Motor runs smooth and quiet
Absolutely no standby noise
Reduced mechanical resonances yields improved torque
1.6 StallGuard2 – Mechanical Load Sensing
StallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as CoolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
1.7 CoolStep – Load Adaptive Current Control
CoolStep drives the motor at the optimum current. It uses the StallGuard2 load measurement
information to adjust the motor current to the minimum amount required in the actual load situation.
This saves energy and keeps the components cool.
Benefits are:
-
-
-
-
Energy efficiency
Motor generates less heat
Less or no cooling
power consumption decreased up to 75%
improved mechanical precision
improved reliability
Use of smaller motor
less torque reserve required → cheaper motor does the job
Figure 1.3 shows the efficiency gain of a 42mm stepper motor when using CoolStep compared to
standard operation with 50% of torque reserve. CoolStep is enabled above 60RPM in the example.
0,9
Efficiency with coolStep
0,8
0,7
0,6
0,5
0,4
0,3
0,2
0,1
0
Efficiency with 50% torque reserve
Efficiency
0
50
100
150
200
250
300
350
Velocity [RPM]
Figure 1.3 Energy efficiency with CoolStep (example)
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
9
1.8 DcStep – Load Dependent Speed Control
DcStep allows the motor to run near its load limit and at its velocity limit without losing a step. If
the mechanical load on the motor increases to the stalling load, the motor automatically decreases
velocity so that it can still drive the load. With this feature, the motor will never stall. In addition to
the increased torque at a lower velocity, dynamic inertia will allow the motor to overcome mechanical
overloads by decelerating. DcStep feeds back status information to the external motion controller or
to the system CPU, so that the target position will be reached, even if the motor velocity needs to be
decreased due to increased mechanical load. A dynamic range of up to factor 10 or more can be
covered by DcStep without any step loss. By optimizing the motion velocity in high load situations,
this feature further enhances overall system efficiency.
Benefits are:
-
-
-
-
-
-
Motor does not loose steps in overload conditions
Application works as fast as possible
Highest possible acceleration automatically
Highest energy efficiency at speed limit
Highest possible motor torque using fullstep drive
Cheaper motor does the job
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
10
2 Pin Assignments
2.1 Package Outline
1
CLK
28
27
26
25
24
23
22
21
20
19
CPI
2
CSN_CFG3
CPO
3
SCK_CFG2
VCC
4
SDI_CFG1
5VOUT
GNDA
TMC2130-LA
5
SDO_CFG0
QFN-36
6
STEP
AIN_IREF
DRV_ENN_CFG6
DIAG1
5mm x 6mm
7
DIR
8
VCC_IO
9
-
PAD = GNDD
DIAG0
10
SPI_MODE
DCIN_CFG5
Figure 2.1 TMC2130-LA package and pinning QFN36 (5x6mm² body)
36
35
34
33
32
31
30
29
28
27
26
25
1
2
TST_MODE
CLK
-
CPO
3
CSN_CFG3
SCK_CFG2
SDI_CFG1
-
VCC
4
5VOUT
GNDA
-
5
TMC2130-TA
TQFP-48
9mm x 9mm
6
7
SDO_CFG0
STEP
AIN_IREF
DRV_ENN_CFG6
-
8
9
DIR
10
11
12
VCC_IO
-
DIAG1
DIAG0
DCIN_CFG5
PAD = GNDD
SPI_MODE
Figure 2.2 TMC2130-TA package and pinning TQFP-EP 48-EP (7x7mm² body, 9x9mm² with leads)
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
11
2.2 Signal Descriptions
Pin
QFN36 TQFP48
Type Function
CLK input. Tie to GND using short wire for internal clock
or supply external clock.
SPI chip select input (negative active) (SPI_MODE=1) or
CLK
1
2
3
4
5
2
3
4
5
7
DI
DI
CSN_CFG3
SCK_CFG2
SDI_CFG1
SDO_CFG0
(tpu) Configuration input (SPI_MODE=0) (tristate detection).
DI SPI serial clock input (SPI_MODE=1) or
(tpu) Configuration input (SPI_MODE=0) (tristate detection).
DI SPI data input (SPI_MODE=1) or
(tpu) Configuration input (SPI_MODE=0) (tristate detection).
DIO SPI data output (tristate) (SPI_MODE=1) or
(tpu) Configuration input (SPI_MODE=0) (tristate detection).
STEP
DIR
VCC_IO
6
7
8
8
9
10
DI
DI
STEP input
DIR input
3.3V to 5V IO supply voltage for all digital pins.
Do not connect. Leave open to ensure highest distance
for high voltage pins in TQFP package!
11, 14, 16,
18, 20, 22,
28, 41, 43,
45, 47
DNC
9
-
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 interface is available
for control. Integrated pull-up resistor.
Unused pin, connect to GND for compatibility to future
versions.
DI
(pu)
SPI_MODE
N.C.
10
11
12
6, 31, 36
GNDP
OB1
12, 35 13, 48
Power GND. Connect to GND plane near pin.
Motor coil B output 1
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.
Motor coil B output 2
Motor supply voltage. Provide filtering capacity near pin
with short loop to nearest GNDP pin (respectively via GND
plane).
13
14
15
15
17
19
BRB
OB2
VS
16, 31 21, 40
DCO
17
23
24
DIO
DcStep ready output
DcStep enable input (SPI_MODE=1) - tie to GND for normal
operation (no DcStep) or
Configuration input (SPI_MODE=0) (tristate detection).
DcStep gating input for axis synchronization (SPI_MODE=1)
or
Configuration input (SPI_MODE=0) (tristate detection).
Diagnostics output DIAG0. Use external pull-up resistor
with 47k or less in open drain mode.
DI
(tpu)
DCEN_CFG4 18
DI
(tpu)
DCIN_CFG5
19
25
DIAG0
DIAG1
20
21
26
27
DIO
DIO
Diagnostics output DIAG1. Use external pull-up resistor
with 47k or less in open drain mode.
Enable input (SPI_MODE=1) or
configuration / Enable input (SPI_MODE=0) (tristate
detection).
DRV_ENN_
CFG6
DI
(tpu)
22
23
29
30
The power stage becomes switched off (all motor outputs
floating) when this pin becomes driven to a high level.
Analog reference voltage for current scaling (optional
mode) or reference current for use of internal sense
resistors
AIN_IREF
AI
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
12
Pin
QFN36 TQFP48
Type Function
Analog GND. Tie to GND plane.
GNDA
24
32
Output of internal 5V regulator. Attach 2.2µF or larger
ceramic capacitor to GNDA near to pin for best
performance. May be used to supply VCC of chip.
5V supply input for digital circuitry within chip and
charge pump. Attach 470nF capacitor to GND (GND plane).
May be supplied by 5VOUT. A 2.2 or 3.3 Ohm resistor is
recommended for decoupling noise from 5VOUT. When
using an external supply, make sure, that VCC comes up
before or in parallel to 5VOUT or VCC_IO, whichever
comes up later!
5VOUT
25
33
VCC
26
34
CPO
CPI
27
28
29
30
32
35
37
38
39
42
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22nF 50V
capacitor.
Charge pump voltage. Tie to VS using 100nF capacitor.
Analog supply voltage for 5V regulator. Normally tied to
VS. Provide a 100nF filtering capacitor.
VCP
VSA
OA2
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor
to GND near pin. An additional 100nF capacitor to GND
(GND plane) is recommended for best performance.
Motor coil A output 1
Test mode input. Tie to GND using short wire.
Connect the exposed die pad to a GND plane. Provide as
many as possible vias for heat transfer to GND plane.
Serves as GND pin for digital circuitry.
BRA
33
44
OA1
TST_MODE
34
36
46
1
DI
Exposed
die pad
-
-
*(pu) denominates a pin with pullup resistor; (tpu) denominates a pin with pullup resistor or toggle
detection. Toggle detection is active in standalone mode, only (SPI_MODE=0)
* Digital Pins: All pins of type DI, DI(pu), DI(tpu), DIO and DIO(tpu) refer to VCC_IO and have intrinsic
protective clamping diodes to GND and VCC_IO and use Schmitt trigger inputs.
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13
3 Sample Circuits
The sample circuits show the connection of external components in different operation and supply
modes. The connection of the bus interface and further digital signals is left out for clarity.
3.1 Standard Application Circuit
22n
63V
100n
16V
+VM
Optional use lower
voltage down to 6V
+VM
VS
VSA
5V Voltage
regulator
100n
100n
100µF
charge pump
Full Bridge A
Step & Dir input
with microPlyer
DAC Reference
IREF
5VOUT
100n
4.7µ
2R2
VCC
OA1
OA2
470n
N
TMC2130
stepper
motor
S
CSN
SCK
SDI
SPI interface
Use low inductivity SMD
type, e.g. 1206, 0.5W
SDO
RSA
BRA
Sequencer
Driver
B.Dwersteg, ©
TRINAMIC 2014
DIAG1
DIAG0
DIAG / INT out
OB1
OB2
Full Bridge B
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
dcStep Controller
Interface
Use low inductivity SMD
type, e.g. 1206, 0.5W
+VIO
RSB
3.3V or 5V
BRB
I/O voltage
100n
leave open
opt. dcStep control
opt. driver enable
Figure 3.1 Standard application circuit
The standard application circuit uses a minimum set of additional components. Two sense resistors
set the motor coil current. See chapter 9 to choose the right sense resistors. Use low ESR capacitors
for filtering the power supply. The capacitors need to cope with the current ripple cause by chopper
operation. A minimum capacity of 100µF near the driver is recommended for best performance.
Current ripple in the supply capacitors also depends on the power supply internal resistance and
cable length. VCC_IO can be supplied from 5VOUT, or from an external source, e.g. a low drop 3.3V
regulator. In order to minimize linear voltage regulator power dissipation of the internal 5V voltage
regulator in applications where VM is high, a different (lower) supply voltage can be used for VSA, if
available. For example, many applications provide a 12V supply in addition to a higher driver supply
voltage. Using the 12V supply for VSA rather than 24V will reduce the power dissipation of the
internal 5V regulator to about 37% of the dissipation caused by supply with the full motor voltage.
Basic layout hints
Place sense resistors and all filter capacitors as close as possible to the related IC pins. Use a solid
common GND for all GND connections, also for sense resistor GND. Connect 5VOUT filtering capacitor
directly to 5VOUT and GNDA pin. See layout hints for more details. Low ESR electrolytic capacitors are
recommended for VS filtering.
Attention
In case VSA is supplied by a different voltage source, make sure that VSA does not exceed VS by
more than one diode drop, especially also upon power up or power down.
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3.2 Reduced Number of Components
Optional use lower
voltage down to 6V
+VM
VSA
5V Voltage
5VOUT
VCC
regulator
100n
4.7µ
Figure 3.2 Reduced number of filtering components
The standard application circuit uses RC filtering to de-couple the output of the internal linear
regulator from high frequency ripple caused by digital circuitry supplied by the VCC input. For cost
sensitive applications, the RC-Filtering on VCC can be eliminated. This leads to more noise on 5VOUT
caused by operation of the charge pump and the internal digital circuitry. There is a slight impact on
microstep vibration and chopper noise performance.
3.3 Internal RDSon Sensing
For cost critical or space limited applications, sense resistors can be omitted. For internal current
sensing, a reference current set by a tiny external resistor programs the output current. For calculation
of the reference resistor, refer chapter 10.
RREF
DAC Reference
IREF
OA1
N
Full Bridge A
stepper
motor
OA2
S
BRA
Driver
OB1
OB2
Full Bridge B
BRB
Figure 3.3 RDSon based sensing eliminates high current sense resistors
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3.4 External 5V Power Supply
When an external 5V power supply is available, the power dissipation caused by the internal linear
regulator can be eliminated. This especially is beneficial in high voltage applications, and when
thermal conditions are critical. There are two options for using an external 5V source: either the
external 5V source is used to support the digital supply of the driver by supplying the VCC pin, or the
complete internal voltage regulator becomes bridged and is replaced by the external supply voltage.
3.4.1 Support for the VCC Supply
This scheme uses an external supply for all digital circuitry within the driver (Figure 3.4). As the digital
circuitry makes up for most of the power dissipation, this way the internal 5V regulator sees only low
remaining load. The precisely regulated voltage of the internal regulator is still used as the reference
for the motor current regulation as well as for supplying internal analog circuitry.
When cutting VCC from 5VOUT, make sure that the VCC supply comes up before or synchronously
with the 5VOUT supply to ensure a correct power up reset of the internal logic. A simple schematic
uses two diodes forming an OR of the internal and the external power supplies for VCC. In order to
prevent the chip from drawing part of the power from its internal regulator, a low drop 1A Schottky
diode is used for the external 5V supply path, while a silicon diode is used for the 5VOUT path. An
enhanced solution uses a dual PNP transistor as an active switch. It minimizes voltage drop and thus
gives best performance.
In certain setups, switching of VCC voltage can be eliminated. A third variant uses the VCC_IO supply
to ensure power-on reset. This is possible, if VCC_IO comes up synchronously with or delayed to VCC.
Use a linear regulator to generate a 3.3V VCC_IO from the external 5V VCC source. This 3.3V regulator
will cause a certain voltage drop. A voltage drop in the regulator of 0.9V or more (e.g. LD1117-3.3)
ensures that the 5V supply already has exceeded the lower limit of about 3.0V once the reset
conditions ends. The reset condition ends earliest, when VCC_IO exceeds the undervoltage limit of
minimum 2.1V. Make sure that the power-down sequence also is safe. Undefined states can result
when VCC drops well below 4V without safely triggering a reset condition. Triggering a reset upon
power-down can be ensured when VSA goes down synchronously with or before VCC.
+VM
+VM
VSA
VSA
5V Voltage
regulator
5V Voltage
regulator
5VOUT
5VOUT
100n
100n
4.7µ
4.7µ
LL4448
+5V
+5V
VCC
VCC
MSS1P3
VCC_IO
3.3V
regulator
470n
470n
100n
3.3V
VCC supplied from external 5V. 5V or 3.3V IO voltage.
VCC supplied from external 5V. 3.3V IO voltage generated from same source.
+VM
VSA
5V Voltage
regulator
5VOUT
100n
4.7µ
BAT54
+5V
10k
VCC
2x BC857 or
1x BC857BS
470n
4k7
VCC supplied from external 5V using active switch. 5V or 3.3V IO voltage.
Figure 3.4 Using an external 5V supply for digital circuitry of driver (different options)
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3.4.2 Internal Regulator Bridged
In case a clean external 5V supply is available, it can be used for complete supply of analog and
digital part (Figure 3.5). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1%
regulator. A precise supply guarantees increased motor current precision, because the voltage at
5VOUT directly is the reference voltage for all internal units of the driver, especially for motor current
control. For best performance, the power supply should have low ripple to give a precise and stable
supply at 5VOUT pin with remaining ripple well below 5mV. Some switching regulators have a higher
remaining ripple, or different loads on the supply may cause lower frequency ripple. In this case,
increase capacity attached to 5VOUT. In case the external supply voltage has poor stability or low
frequency ripple, this would affect the precision of the motor current regulation as well as add
chopper noise.
Well-regulated, stable
supply, better than +-5%
+5V
VSA
5V Voltage
regulator
5VOUT
4.7µ
10R
VCC
470n
Figure 3.5 Using an external 5V supply to bypass internal regulator
3.5 Pre-Regulator for Reduced Power Dissipation
When operating at supply voltages up to 46V for VS and VSA, the internal linear regulator will
contribute with up to 1W to the power dissipation of the driver. This will reduce the capability of the
chip to continuously drive high motor current, especially at high environment temperatures. When no
external power supply in the range 5V to 24V is available, an external pre-regulator can be built with
a few inexpensive components in order to dissipate most of the voltage drop in external components.
Figure 3.6 shows different examples. In case a well-defined supply voltage is available, a single 1W or
higher power Zener diode also does the job.
+VM
+VM
22k
BCX56 or
similar
22k
4k7
Z5.6V e.g.
MM5Z5V6
BCX56 or
similar
100R
VSA
VSA
5V Voltage
regulator
5V Voltage
regulator
5VOUT
5VOUT
470n
16V
470n
16V
4.7µ
4.7µ
2R2
2R2
VCC
VCC
470n
470n
Simple pre-regulator for 24V up to 46V
Simple short circuit protected pre-regulator for 24V up to 46V
Figure 3.6 Examples for simple pre-regulators
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17
3.6 5V Only Supply
22n
63V
100n
16V
+5V
+5V
VS
VSA
5V Voltage
regulator
100n
100n
100µF
charge pump
Full Bridge A
Step & Dir input
with microPlyer
DAC Reference
IREF
5VOUT
4.7µ
VCC
OA1
OA2
N
TMC2130
470n
stepper
motor
S
CSN
SCK
SDI
SPI interface
Use low inductivity SMD
type, e.g. 1206, 0.5W
SDO
RSA
BRA
Sequencer
Driver
DIAG1
DIAG0
DIAG / INT out
OB1
OB2
Full Bridge B
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
dcStep Controller
Interface
Use low inductivity SMD
type, e.g. 1206, 0.5W
+VIO
A
B
N
RSB
3.3V or 5V
I/O voltage
BRB
100n
leave open
opt. dcStep control
opt. driver enable
Figure 3.7 5V only operation
While the standard application circuit is limited to roughly 5.5 V lower supply voltage, a 5 V only
application lets the IC run from a normal 5 V +/-5% supply. In this application, linear regulator drop
must be minimized. Therefore, the major 5 V load is removed by supplying VCC directly from the
external supply. In order to keep supply ripple away from the analog voltage reference, 5VOUT should
have an own filtering capacity and the 5VOUT pin does not become bridged to the 5V supply.
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3.7 High Motor Current
When operating at a high motor current, the driver power dissipation due to MOSFET switch on-
resistance significantly heats up the driver. This power dissipation will heat up the PCB cooling
infrastructure also, if operated at an increased duty cycle. This in turn leads to a further increase of
driver temperature. An increase of temperature by about 100°C increases MOSFET resistance by
roughly 50%. This is a typical behavior of MOSFET switches. Therefore, under high duty cycle, high
load conditions, thermal characteristics have to be carefully taken into account, especially when
increased environment temperatures are to be supported. Refer the thermal characteristics and the
layout hints for more information. As a thumb rule, thermal properties of the PCB design become
critical for the QFN-36 at or above about 1000mA RMS motor current for increased periods of time.
Keep in mind that resistive power dissipation raises with the square of the motor current. On the
other hand, this means that a small reduction of motor current significantly saves heat dissipation
and energy.
An effect which might be perceived at medium motor velocities and motor sine wave peak currents
above roughly 1.2A peak is a slight sine distortion of the current wave when using SpreadCycle. It
results from an increasing negative impact of parasitic internal diode conduction, which in turn
negatively influences the duration of the fast decay cycle of the SpreadCycle chopper. This is, because
the current measurement does not see the full coil current during this phase of the sine wave,
because an increasing part of the current flows directly from the power MOSFETs’ drain to GND and
does not flow through the sense resistor. This effect with most motors does not negatively influence
the smoothness of operation, as it does not impact the critical current zero transition. The effect does
not occur with StealthChop.
3.7.1 Reduce Linear Regulator Power Dissipation
When operating at high supply voltages, as a first step the power dissipation of the integrated 5V
linear regulator can be reduced, e.g. by using an external 5V source for supply. This will reduce overall
heating. It is advised to reduce motor stand still current in order to decrease overall power
dissipation. If applicable, also use CoolStep. A decreased clock frequency will reduce power
dissipation of the internal logic. Further a decreased chopper frequency also can reduce power
dissipation.
3.7.2 Operation near to / above 2A Peak Current
The driver can deliver up to 2.5A motor peak current. Considering thermal characteristics, this only is
possible in duty cycle limited operation. When a peak current up to 2.5A is to be driven, the driver
chip temperature is to be kept at a maximum of 105°C. Linearly derate the design peak temperature
from 125°C to 105°C in the range 2A to 2.5A output current (see Figure 3.8). Exceeding this may lead
to triggering the short circuit detection.
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Die
19
Limit by lower limit of
Temperature
overtemperature threshold
O
135°C
p
f
e
o
a
r
r
High temperature
range
a
t
i
n
i
c
o
r
n
e
a
n
s
o
e
d
t
125°C
115°C
105°C
r
p
e
e
c
o
r
i
m
o
d
m
s
Specified operational
range for max. 125°C
e
o
n
f
d
t
i
e
m
d
e
Derating
for >2A
Peak coil
current
1.5A 1.75A 2A 2.25A 2.5A
Figure 3.8 Derating of maximum sine wave peak current at increased die temperature
3.7.3 Reduction of Resistive Losses by Adding Schottky Diodes
Schottky Diodes can be added to the circuit to reduce driver power dissipation when driving high
motor currents (see Figure 3.9). The Schottky diodes have a conduction voltage of about 0.5V and will
take over more than half of the motor current during the negative half wave of each output in slow
decay and fast decay phases, thus leading to a cooler motor driver. This effect starts from a few
percent at 1.2A and increases with higher motor current rating up to roughly 20%. As a 30V Schottky
diode has a lower forward voltage than a 50V or 60V diode, it makes sense to use a 30V diode when
the supply voltage is below 30V. The diodes will have less effect when working with StealthChop due
to lower times of diode conduction in the chopper cycle. At current levels below 1.2A coil current, the
effect of the diodes is negligible.
OA1
N
Full Bridge A
stepper
motor
OA2
S
RSA
BRA
Driver
OB1
OB2
Full Bridge B
1A Schottky Diodes like MSS1P6
or MSS1P3 (VM limited to 30V)
RSB
BRB
Figure 3.9 Schottky diodes reduce power dissipation at high peak currents up to 2A (2.5A)
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3.8 Driver Protection and EME Circuitry
Some applications have to cope with ESD events caused by motor operation or external influence.
Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset
or even a destruction of the motor driver, depending on their energy. Especially plastic housings and
belt drive systems tend to cause ESD events of several kV. It is best practice to avoid ESD events by
attaching all conductive parts, especially the motors themselves to PCB ground, or to apply electrically
conductive plastic parts. In addition, the driver can be protected up to a certain degree against ESD
events or live plugging / pulling the motor, which also causes high voltages and high currents into
the motor connector terminals. A simple scheme uses capacitors at the driver outputs to reduce the
dV/dt caused by ESD events. Larger capacitors will bring more benefit concerning ESD suppression,
but cause additional current flow in each chopper cycle, and thus increase driver power dissipation,
especially at high supply voltages. The values shown are example values – they might be varied
between 100pF and 1nF. The capacitors also dampen high frequency noise injected from digital parts
of the application PCB circuitry and thus reduce electromagnetic emission. A more elaborate scheme
uses LC filters to de-couple the driver outputs from the motor connector. Varistors in between of the
coil terminals eliminate coil overvoltage caused by live plugging. Optionally protect all outputs by a
varistor against ESD voltage.
470pF
100V
50Ohm
100MHz
@
V1A
V1B
OA1
OA2
OA1
OA2
N
N
V1
Full Bridge
A
stepper
motor
Full Bridge
A
stepper
motor
S
S
50Ohm
100MHz
@
470pF
100V
470pF
100V
470pF
100V
BRA
100nF
16V
Driver
Driver
RSA
470pF
100V
50Ohm
100MHz
@
V2A
V2B
OB1
OB2
OB1
OB2
V2
Full Bridge
B
Full Bridge B
50Ohm
100MHz
@
Varistors V1 and V2 protect
against inductive motor coil
overvoltage.
470pF
100V
470pF
100V
470pF
100V
BRB
Fit varistors to supply voltage
rating. SMD inductivities
conduct full motor coil
current.
V1A, V1B, V2A, V2B:
Optional position for varistors
in case of heavy ESD events.
100nF
16V
RSB
Figure 3.10 Simple ESD enhancement and more elaborate motor output protection
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21
4 SPI Interface
4.1 SPI Datagram Structure
The TMC2130 uses 40 bit SPI™ (Serial Peripheral Interface, SPI is Trademark of Motorola) datagrams
for communication with a microcontroller. Microcontrollers which are equipped with hardware SPI are
typically able to communicate using integer multiples of 8 bit. The NCS line of the device must be
handled in a way, that it stays active (low) for the complete duration of the datagram transmission.
Each datagram sent to the device is composed of an address byte followed by four data bytes. This
allows direct 32 bit data word communication with the register set. Each register is accessed via 32
data bits even if it uses less than 32 data bits.
For simplification, each register is specified by a one byte address:
-
-
For a read access the most significant bit of the address byte is 0.
For a write access the most significant bit of the address byte is 1.
Most registers are write only registers, some can be read additionally, and there are also some read
only registers.
SPI DATAGRAM STRUCTURE
MSB (transmitted first)
40 bit
LSB (transmitted last)
... 0
39 ...
→ 8 bit address
8 bit SPI status
39 ... 32
→ 32 bit data
31 ... 0
→ to TMC2130
RW + 7 bit address
8 bit data
31 ... 24
8 bit data
23 ... 16
8 bit data
15 ... 8
8 bit data
7 ... 0
from TMC2130
8 bit SPI status
39 / 38 ... 32
W
38...32
31...28
27...24
23...20
19...16
15...12
11...8
7...4
3...0
3 3 3 3 3 3 3 3 3 3 2 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1
9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0
9 8 7 6 5 4 3 2 1 0
4.1.1 Selection of Write / Read (WRITE_notREAD)
The read and write selection is controlled by the MSB of the address byte (bit 39 of the SPI
datagram). This bit is 0 for read access and 1 for write access. So, the bit named W is a
WRITE_notREAD control bit. The active high write bit is the MSB of the address byte. So, 0x80 has to
be added to the address for a write access. The SPI interface always delivers data back to the master,
independent of the W bit. The data transferred back is the data read from the address which was
transmitted with the previous datagram, if the previous access was a read access. If the previous
access was a write access, then the data read back mirrors the previously received write data. So, the
difference between a read and a write access is that the read access does not transfer data to the
addressed register but it transfers the address only and its 32 data bits are dummies, and, further the
following read or write access delivers back the data read from the address transmitted in the
preceding read cycle.
A read access request datagram uses dummy write data. Read data is transferred back to the master
with the subsequent read or write access. Hence, reading multiple registers can be done in a
pipelined fashion.
Whenever data is read from or written to the TMC2130, the MSBs delivered back contain the SPI
status, SPI_STATUS, a number of eight selected status bits.
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22
Example:
For a read access to the register (DRV_STATUS) with the address 0x6F, the address byte has
to be set to 0x6F in the access preceding the read access. For a write access to the register
(CHOPCONF), the address byte has to be set to 0x80 + 0x6C = 0xEC. For read access, the data
bit might have any value (-). So, one can set them to 0.
action
data sent to TMC2130 data received from TMC2130
read DRV_STATUS
read DRV_STATUS
write CHOPCONF:= 0x00ABCDEF → 0xEC00ABCDEF
write CHOPCONF:= 0x00123456 → 0xEC00123456
→ 0x6F00000000
→ 0x6F00000000
0xSS & unused data
0xSS & DRV_STATUS
0xSS & DRV_STATUS
0xSS00ABCDEF
*)S: is a placeholder for the status bits SPI_STATUS
4.1.2 SPI Status Bits Transferred with Each Datagram Read Back
New status information becomes latched at the end of each access and is available with the next SPI
transfer.
SPI_STATUS – status flags transmitted with each SPI access in bits 39 to 32
Bit Name
Comment
7
6
5
4
3
2
1
0
-
-
-
-
unused
unused
unused
unused
standstill
sg2
driver_error
reset_flag
DRV_STATUS[31] – 1: Signals motor stand still
DRV_STATUS[24] – 1: Signals StallGuard flag active
GSTAT[1] – 1: Signals driver 1 driver error (clear by reading GSTAT)
GSTAT[0] – 1: Signals, that a reset has occurred (clear by reading GSTAT)
4.1.3 Data Alignment
All data are right aligned. Some registers represent unsigned (positive) values, some represent integer
values (signed) as two’s complement numbers, single bits or groups of bits are represented as single
bits respectively as integer groups.
4.2 SPI Signals
The SPI bus on the TMC2130 has four signals:
-
-
-
-
SCK – bus clock input
SDI – serial data input
SDO – serial data output
CSN – chip select input (active low)
The slave is enabled for an SPI transaction by a low on the chip select input CSN. Bit transfer is
synchronous to the bus clock SCK, with the slave latching the data from SDI on the rising edge of SCK
and driving data to SDO following the falling edge. The most significant bit is sent first. A minimum
of 40 SCK clock cycles is required for a bus transaction with the TMC2130.
If more than 40 clocks are driven, the additional bits shifted into SDI are shifted out on SDO after a
40-clock delay through an internal shift register. This can be used for daisy chaining multiple chips.
CSN must be low during the whole bus transaction. When CSN goes high, the contents of the internal
shift register are latched into the internal control register and recognized as a command from the
master to the slave. If more than 40 bits are sent, only the last 40 bits received before the rising edge
of CSN are recognized as the command.
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4.3 Timing
The SPI interface is synchronized to the internal system clock, which limits the SPI bus clock SCK to
half of the system clock frequency. If the system clock is based on the on-chip oscillator, an additional
10% safety margin must be used to ensure reliable data transmission. All SPI inputs as well as the
ENN input are internally filtered to avoid triggering on pulses shorter than 20ns. Figure 4.1 shows the
timing parameters of an SPI bus transaction, and the table below specifies their values.
CSN
tCC
tCL
tCH
tCH
tCC
SCK
SDI
tDU
tDH
bit39
bit38
bit0
bit0
tDO
tZC
bit39
bit38
SDO
Figure 4.1 SPI timing
Hint
Usually this SPI timing is referred to as SPI MODE 3
SPI interface timing
AC-Characteristics
clock period: tCLK
Parameter
Symbol Conditions
Min
Typ
Max
Unit
SCK valid before or after change
of CSN
tCC
10
ns
*) Min time is for
synchronous CLK
with SCK high one
tCH before CSN high
only
*)
CSN high time
tCSH
tCLK
>2tCLK+10
ns
*) Min time is for
synchronous CLK
only
*) Min time is for
synchronous CLK
only
*)
SCK low time
SCK high time
tCL
tCLK
>tCLK+10
>tCLK+10
ns
ns
*)
tCH
tCLK
assumes minimum
OSC frequency
SCK frequency using internal
clock
SCK frequency using external
16MHz clock
SDI setup time before rising
edge of SCK
SDI hold time after rising edge
of SCK
fSCK
fSCK
tDU
4
8
MHz
MHz
ns
assumes
synchronous CLK
10
10
tDH
ns
no capacitive load
on SDO
Data out valid time after falling
SCK clock edge
SDI, SCK and CSN filter delay
time
tDO
tFILT
tFILT+5
30
ns
rising and falling
edge
12
20
ns
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
24
5 Register Mapping
This chapter gives an overview of the complete register set. Some of the registers bundling a number
of single bits are detailed in extra tables. The functional practical application of the settings is detailed
in dedicated chapters.
Note
- All registers become reset to 0 upon power up, unless otherwise noted.
- Add 0x80 to the address Addr for write accesses!
NOTATION OF HEXADECIMAL AND BINARY NUMBERS
0x
%
precedes a hexadecimal number, e.g. 0x04
precedes a multi-bit binary number, e.g. %100
NOTATION OF R/W FIELD
R
Read only
W
Write only
R/W
R+C
Read- and writable register
Clear upon read
OVERVIEW REGISTER MAPPING
REGISTER
DESCRIPTION
General Configuration Registers
These registers contain
-
-
-
-
global configuration
global status flags
interface configuration
and I/O signal configuration
Velocity Dependent Driver Feature Control Register This register set offers registers for
Set
-
-
-
-
driver current control
setting thresholds for CoolStep operation
setting thresholds for different chopper modes
setting thresholds for DcStep operation
Motor Driver Register Set
This register set offers registers for
-
setting / reading out microstep table and
counter
-
-
-
-
chopper and driver configuration
CoolStep and StallGuard2 configuration
DcStep configuration
reading out StallGuard2 values and driver error
flags
DcStep Minimum Velocity
Setting for minimum DcStep velocity
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5.1 General Configuration Registers
GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
Bit GCONF – Global configuration flags
0 I_scale_analog
0:
Normal operation, use internal reference voltage
1:
Use voltage supplied to AIN as current reference
1 internal_Rsense
0:
Normal operation
Internal sense resistors. Use current supplied into
AIN as reference for internal sense resistor
2 en_pwm_mode
1: StealthChop voltage PWM mode enabled
1:
(depending on velocity thresholds). Switch from
off to on state while in stand still, only.
3 enc_commutation (Special mode - do not use, leave 0)
1:
Enable commutation by full step encoder
(DCIN_CFG5 = ENC_A, DCEN_CFG4 = ENC_B)
4 shaft
1:
Inverse motor direction
5 diag0_error
1: Enable DIAG0 active on driver errors:
Over temperature (ot), short to GND (s2g),
undervoltage chargepump (uv_cp)
DIAG0 always shows the reset-status, i.e. is active low
during reset condition.
6 diag0_otpw
1:
Enable DIAG0 active on driver over temperature
prewarning (otpw)
RW
0x00
17
GCONF
7 diag0_stall
1: Enable DIAG0 active on motor stall (set
TCOOLTHRS before using this feature)
8 diag1_stall
1: Enable DIAG1 active on motor stall (set
TCOOLTHRS before using this feature)
9 diag1_index
1: Enable DIAG1 active on index position (microstep
look up table position 0)
10 diag1_onstate
1: Enable DIAG1 active when chopper is on (for the
coil which is in the second half of the fullstep)
11 diag1_steps_skipped
1: Enable output toggle when steps are skipped in
DcStep mode (increment of LOST_STEPS). Do not
enable in conjunction with other DIAG1 options.
12 diag0_int_pushpull
0:
1:
DIAG0 is open collector output (active low)
Enable DIAG0 push pull output (active high)
13 diag1_pushpull
0:
DIAG1 is open collector output (active low)
1:
Enable DIAG1 push pull output (active high)
14 small_hysteresis
0:
1:
Hysteresis for step frequency comparison is 1/16
Hysteresis for step frequency comparison is 1/32
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GENERAL CONFIGURATION REGISTERS (0X00…0X0F)
R/W
Addr
n
Register
Description / bit names
15 stop_enable
0:
1:
Normal operation
Emergency stop: DCIN stops the sequencer when
tied high (no steps become executed by the
sequencer, motor goes to standstill state).
16 direct_mode
0:
Normal operation
1:
Motor coil currents and polarity directly
programmed via serial interface: Register XDIRECT
(0x2D) specifies signed coil A current (bits 8..0)
and coil B current (bits 24..16). In this mode, the
current is scaled by IHOLD setting. Velocity based
current regulation of StealthChop is not available
in this mode. The automatic StealthChop current
regulation will work only for low stepper motor
velocities.
17 test_mode
0:
1:
Normal operation
Enable analog test output on pin DCO. IHOLD[1..0]
selects the function of DCO:
0…2: T120, DAC, VDDH
Attention: Not for user, set to 0 for normal operation!
Bit
GSTAT – Global status flags
0 reset
1:
Indicates that the IC has been reset since the last
read access to GSTAT. All registers have been
cleared to reset values.
1 drv_err
1:
Indicates, that the driver has been shut down
R+C
0x01
3
GSTAT
due to overtemperature or short circuit detection
since the last read access. Read DRV_STATUS for
details. The flag can only be reset when all error
conditions are cleared.
2 uv_cp
1:
Indicates an undervoltage on the charge pump.
The driver is disabled in this case.
Bit
INPUT
Reads the state of all input pins available
0 STEP
1 DIR
2 DCEN_CFG4
3 DCIN_CFG5
4 DRV_ENN_CFG6
5 DCO
8
+
8
R
0x04
IOIN
6 This bit always shows 1.
7 Don’t care.
31.. VERSION: 0x11=first version of the IC
24 Identical numbers mean full digital compatibility.
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5.2 Velocity Dependent Driver Feature Control Register Set
VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
Bit IHOLD_IRUN – Driver current control
4..0 IHOLD
Standstill current (0=1/32…31=32/32)
In combination with StealthChop mode, setting
IHOLD=0 allows to choose freewheeling or coil
short circuit for motor stand still.
12..8 IRUN
Motor run current (0=1/32…31=32/32)
5
+
5
Hint: Choose sense resistors in a way, that normal
IRUN is 16 to 31 for best microstep performance.
W
0x10
IHOLD_IRUN
+
4
19..16 IHOLDDELAY
Controls the number of clock cycles for motor
power down after a motion as soon as standstill is
detected (stst=1) and TPOWERDOWN has expired.
The smooth transition avoids a motor jerk upon
power down.
0:
instant power down
1..15:
Delay per current reduction step in multiple
of 2^18 clocks
TPOWERDOWN sets the delay time after stand still (stst) of the
motor to motor current power down. Time range is about 0 to
4 seconds.
TPOWER
DOWN
W
0x11
8
0: no delay, 1: minimum delay,
2..255: (TPOWERDOWN-1) * 2^18 tCLK
Actual measured time between two 1/256 microsteps derived
from the step input frequency in units of 1/fCLK. Measured
value is (2^20)-1 in case of overflow or stand still.
All TSTEP related thresholds use a hysteresis of 1/16 of the
compare value to compensate for jitter in the clock or the step
frequency. The flag small_hysteresis modifies the hysteresis to
a smaller value of 1/32.
(Txxx*15/16)-1 or
R
0x12
20 TSTEP
(Txxx*31/32)-1 is used as a second compare value for each
comparison value.
This means, that the lower switching velocity equals the
calculated setting, but the upper switching velocity is higher as
defined by the hysteresis setting.
In DcStep mode TSTEP will not show the mean velocity of the
motor, but the velocities for each microstep, which may not be
stable and thus does not represent the real motor velocity in
case it runs slower than the target velocity.
This is the upper velocity for StealthChop voltage PWM mode.
TSTEP ≥ TPWMTHRS
W
0x13
20 TPWMTHRS
-
StealthChop PWM mode is enabled, if configured
DcStep is disabled
-
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VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F)
R/W
Addr
n
Register
Description / bit names
This is the lower threshold velocity for switching on smart
energy CoolStep and StallGuard feature. (unsigned)
Set this parameter to disable CoolStep at low speeds, where it
cannot work reliably. The stall detection and StallGuard output
signal becomes enabled when exceeding this velocity. In non-
DcStep mode, it becomes disabled again once the velocity falls
below this threshold.
W
0x14
20 TCOOLTHRS
TCOOLTHRS ≥ TSTEP ≥ THIGH:
-
CoolStep is enabled, if configured
-
StealthChop voltage PWM mode is disabled
TCOOLTHRS ≥ TSTEP
StallGuard status output signal is enabled, if
configured
-
This velocity setting allows velocity dependent switching into
a different chopper mode and fullstepping to maximize torque.
(unsigned)
The stall detection feature becomes switched off for 2-3
electrical periods whenever passing THIGH threshold to
compensate for the effect of switching modes.
TSTEP ≤ THIGH:
W
0x15
20 THIGH
-
CoolStep is disabled (motor runs with normal current
scale)
-
-
StealthChop voltage PWM mode is disabled
If vhighchm is set, the chopper switches to chm=1
with TFD=0 (constant off time with slow decay, only).
chopSync2 is switched off (SYNC=0)
If vhighfs is set, the motor operates in fullstep mode
and the stall detection becomes switched over to
DcStep stall detection.
-
-
microstep velocity time reference t for velocities: TSTEP = fCLK / fSTEP
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5.3 SPI Mode Register
This register cannot be used in STEP/DIR mode.
SPI MODE REGISTER (0X2D)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
direct_mode
±255
for both coils
0:
Normal operation
1:
Directly SPI driven motor current
Direct mode operation:
XDIRECT specifies Motor coil currents and
polarity directly programmed via the serial
interface. Use signed, two’s complement
numbers.
Coil A current (bits 8..0) (signed)
Coil B current (bits 24..16) (signed)
Range: +-248 for normal operation, up to +-255
with StealthChop
RW
0x2D
32 XDIRECT
In this mode, the current is scaled by IHOLD
setting. Velocity based current regulation of
voltage PWM is not available in this mode. The
automatic voltage PWM current regulation will
work only for low stepper motor velocities.
DcStep is not available in this mode. CoolStep
and StallGuard only can be used, when
additionally supplying a STEP signal. This will
also enable automatic current scaling.
5.4 DcStep Minimum Velocity Register
DCSTEP MINIMUM VELOCITY REGISTER (0X33)
R/W
Addr
n
Register
Description / bit names
The automatic commutation DcStep becomes enabled by the
external signal DCEN. VDCMIN is used as the minimum step
velocity when the motor is heavily loaded.
W
0x33
23 VDCMIN
Hint: Also set DCCTRL parameters in order to operate DcStep.
time reference t for VDCMIN: t = 2^24 / fCLK
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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5.5 Motor Driver Registers
MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
MSLUT[0]
Each bit gives the difference between entry x 32x 0 or 1
and entry x+1 when combined with the cor- reset default=
W
0x60
32 microstep
responding MSLUTSEL W bits:
sine wave
table
table entries 0: W= %00: -1
0…31
%01: +0
%10: +1
7x
%11: +2
32x 0 or 1
reset default=
sine wave
table
1: W= %00: +0
%01: +1
%10: +2
%11: +3
MSLUT[1...7]
0x61
…
7
x
This is the differential coding for the first
W
microstep
0x67
32 table entries quarter of a wave. Start values for CUR_A and
CUR_B are stored for MSCNT position 0 in
START_SIN and START_SIN90.
ofs31, ofs30, …, ofs01, ofs00
…
32…255
ofs255, ofs254, …, ofs225, ofs224
This register defines four segments within 0<X1<X2<X3
each quarter MSLUT wave. Four 2 bit entries reset default=
determine the meaning of a 0 and a 1 bit in sine wave
W
W
0x68
0x69
32 MSLUTSEL
the corresponding segment of MSLUT.
table
See separate table!
bit 7… 0:
bit 23… 16: START_SIN90
START_SIN
START_SIN
reset default
START_SIN gives the absolute current at =0
microstep table entry 0.
8
+
8
MSLUTSTART START_SIN90 gives the absolute current for START_SIN 90
microstep table entry at positions 256. reset default
Start values are transferred to the microstep =247
registers CUR_A and CUR_B, whenever the
reference position MSCNT=0 is passed.
Microstep counter. Indicates actual position 0…1023
in the microstep table for CUR_A. CUR_B uses
an offset of 256 (2 phase motor).
Hint: Move to a position where MSCNT is
zero before re-initializing MSLUTSTART or
MSLUT and MSLUTSEL.
R
R
0x6A
0x6B
10 MSCNT
bit 8… 0:
CUR_A (signed):
+/-0...255
Actual microstep current for
motor phase A as read from
MSLUT (not scaled by current)
9
+
MSCURACT
bit 24… 16: CUR_B (signed):
9
Actual microstep current for
motor phase B as read from
MSLUT (not scaled by current)
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
31
DRIVER REGISTER SET (0X6C…0X7F)
R/W
Addr
n
Register
Description / bit names
Range [Unit]
chopper and driver configuration
See separate table!
RW
0x6C
32 CHOPCONF
CoolStep smart current control register
and StallGuard2 configuration
See separate table!
W
0x6D
25 COOLCONF
DcStep
(DC)
automatic
commutation
configuration register (enable via pin DCEN
or via VDCMIN):
bit 9… 0:
DC_TIME: Upper PWM on time
limit for commutation (DC_TIME *
1/fCLK). Set slightly above effective
blank time TBL.
bit 23… 16: DC_SG: Max. PWM on time for
step loss detection using DcStep
StallGuard2 in DcStep mode.
(DC_SG * 16/fCLK)
W
0x6E
24 DCCTRL
Set
slightly
higher
than
DC_TIME/16
0=disable
Attention: Using
a
higher microstep
resolution or interpolated operation, DcStep
delivers a better StallGuard signal.
DC_SG is also available above VHIGH if
vhighfs is activated. For best result also set
vhighchm.
DRV_
32
StallGuard2 value and driver error flags
See separate table!
Voltage PWM mode chopper configuration
See separate table!
R
0x6F
0x70
STATUS
reset default=
0x00050480
0…255
W
22 PWMCONF
Actual PWM amplitude scaler
(255=max. Voltage)
R
0x71
8
PWM_SCALE
In voltage mode PWM, this value allows to
detect a motor stall.
Encoder mode configuration for a special
mode (enc_commutation), not for normal
use.
Bit 0:
inv: Invert encoder inputs
Bit 1:
maxspeed: Ignore Step input. If
set, the hold current IHOLD
determines the motor current,
unless a step source is activated.
W
0x72
2
ENCM_CTRL
The direction in this mode is determined by
the shaft bit in GCONF or by the inv bit.
Number of input steps skipped due to higher
load in DcStep operation, if step input does
not stop when DC_OUT is low. This counter
wraps around after 2^20 steps. Counts up or
down depending on direction. Only with
SDMODE=1.
R
0x73
20 LOST_STEPS
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
32
MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT
푖
푃퐼
푟표푢푛푑 (248 ∗ 푠푖푛 ꢀ2 ∗ 푃퐼 ∗
+
)ꢁ − 1
1024 1024
-
-
i:[0… 255] is the table index
The amplitude of the wave is 248. The resulting maximum positive value is 247 and the
maximum negative value is -248.
The round function rounds values from 0.5 to 1.4999 to 1
-
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5.5.1 MSLUTSEL – Look up Table Segmentation Definition
0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION
Bit Name
Function
Comment
31 X3
30
29
28
LUT segment 3 start
The sine wave look up table can be divided into up to
four segments using an individual step width control
entry Wx. The segment borders are selected by X1, X2
and X3.
27
26
25
24
23 X2
22
21
Segment 0 goes from 0 to X1-1.
Segment 1 goes from X1 to X2-1.
Segment 2 goes from X2 to X3-1.
Segment 3 goes from X3 to 255.
LUT segment 2 start
For defined response the values shall satisfy:
0<X1<X2<X3
20
19
18
17
16
15 X1
14
LUT segment 1 start
13
12
11
10
9
8
7
6
5
4
3
2
1
0
W3
W2
W1
W0
LUT width select from
ofs(X3) to ofs255
Width control bit coding W0…W3:
%00:
%01:
%10:
%11:
MSLUT entry 0, 1 select: -1, +0
MSLUT entry 0, 1 select: +0, +1
MSLUT entry 0, 1 select: +1, +2
MSLUT entry 0, 1 select: +2, +3
LUT width select from
ofs(X2) to ofs(X3-1)
LUT width select from
ofs(X1) to ofs(X2-1)
LUT width select from
ofs00 to ofs(X1-1)
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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5.5.2 CHOPCONF – Chopper Configuration
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
31
Function
-
Comment
Reserved, set to 0
-
30 diss2g
29 dedge
28 intpol
short to GND
protection disable
enable double edge
step pulses
interpolation to 256
microsteps
0: Short to GND protection is on
1: Short to GND protection is disabled
1: Enable step impulse at each step edge to reduce step
frequency requirement.
1: The actual microstep resolution (MRES) becomes
extrapolated to 256 microsteps for smoothest motor
operation.
27 mres3
26 mres2
25 mres1
24 mres0
MRES
%0000:
micro step resolution
Native 256 microstep setting.
%0001 … %1000:
128, 64, 32, 16, 8, 4, 2, FULLSTEP
Reduced microstep resolution for STEP/DIR operation.
The resolution gives the number of microstep entries per
sine quarter wave.
The driver automatically uses microstep positions which
result in a symmetrical wave, when choosing a lower
microstep resolution.
step width=2^MRES [microsteps]
This register allows synchronization of the chopper for
both phases of a two phase motor in order to avoid the
occurrence of a beat, especially at low motor velocities. It
is automatically switched off above VHIGH.
%0000: Chopper sync function chopSync off
%0001 … %1111:
23 sync3
22 sync2
21 sync1
20 sync0
SYNC
PWM synchronization
clock
Synchronization with fSYNC = fCLK/(sync*64)
Hint: Set TOFF to a low value, so that the chopper cycle is
ended, before the next sync clock pulse occurs. Set for the
double desired chopper frequency for chm=0, for the
desired base chopper frequency for chm=1.
This bit enables switching to chm=1 and fd=0, when VHIGH
is exceeded. This way, a higher velocity can be achieved.
Can be combined with vhighfs=1. If set, the TOFF setting
automatically becomes doubled during high velocity
operation in order to avoid doubling of the chopper
frequency.
19 vhighchm high velocity chopper
mode
18 vhighfs
17 vsense
high velocity fullstep
selection
This bit enables switching to fullstep, when VHIGH is
exceeded. Switching takes place only at 45° position.
The fullstep target current uses the current value from
the microstep table at the 45° position.
0: Low sensitivity, high sense resistor voltage
1: High sensitivity, low sense resistor voltage
%00 … %11:
sense resistor voltage
based current scaling
TBL
16 tbl1
15 tbl0
blank time select
Set comparator blank time to 16, 24, 36 or 54 clocks
Hint: %01 or %10 is recommended for most applications
14 chm
chopper mode
0
Standard mode (SpreadCycle)
1
Constant off time with fast decay time.
Fast decay time is also terminated when the
negative nominal current is reached. Fast decay is
after on time.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
35
0X6C: CHOPCONF – CHOPPER CONFIGURATION
Bit Name
Function
Comment
13 rndtf
random TOFF time
0
1
Chopper off time is fixed as set by TOFF
Random mode, TOFF is random modulated by
dNCLK= -12 … +3 clocks.
12 disfdcc
fast decay mode
chm=1:
disfdcc=1 disables current comparator usage for termi-
nation of the fast decay cycle
chm=1:
11 fd3
TFD [3]
MSB of fast decay time setting TFD
10 hend3
HEND
hysteresis low value
OFFSET
sine wave offset
chm=0
chm=1
chm=0
%0000 … %1111:
Hysteresis is -3, -2, -1, 0, 1, …, 12
(1/512 of this setting adds to current setting)
This is the hysteresis value which becomes
used for the hysteresis chopper.
%0000 … %1111:
9
8
7
hend2
hend1
hend0
Offset is -3, -2, -1, 0, 1, …, 12
This is the sine wave offset and 1/512 of the
value becomes added to the absolute value
of each sine wave entry.
6
5
4
hstrt2
hstrt1
hstrt0
HSTRT
hysteresis start value
added to HEND
%000 … %111:
Add 1, 2, …, 8 to hysteresis low value HEND
(1/512 of this setting adds to current setting)
Attention: Effective HEND+HSTRT ≤ 16.
Hint: Hysteresis decrement is done each 16
clocks
TFD [2..0]
fast decay time setting
chm=1
Fast decay time setting (MSB: fd3):
%0000 … %1111:
Fast decay time setting TFD with
NCLK= 32*TFD (%0000: slow decay only)
3
2
1
0
toff3
toff2
toff1
toff0
TOFF off time
and driver enable
Off time setting controls duration of slow decay phase
NCLK= 24 + 32*TOFF
%0000: Driver disable, all bridges off
%0001: 1 – use only with TBL ≥ 2
%0010 … %1111: 2 … 15
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
36
5.5.3 COOLCONF – Smart Energy Control CoolStep and StallGuard2
0X6D: COOLCONF – SMART ENERGY CONTROL COOLSTEP AND STALLGUARD2
Bit Name
Function
Comment
…
-
reserved
set to 0
24 sfilt
StallGuard2 filter
enable
0
Standard mode, high time resolution for
StallGuard2
1
Filtered mode, StallGuard2 signal updated for each
four fullsteps (resp. six fullsteps for 3 phase motor)
only to compensate for motor pole tolerances
23
-
reserved
set to 0
22 sgt6
21 sgt5
20 sgt4
19 sgt3
18 sgt2
17 sgt1
16 sgt0
15 seimin
StallGuard2 threshold
value
This signed value controls StallGuard2 level for stall
output and sets the optimum measurement range for
readout. A lower value gives a higher sensitivity. Zero is
the starting value working with most motors.
-64 to +63: A higher value makes StallGuard2 less
sensitive and requires more torque to
indicate a stall.
minimum current for
smart current control
current down step
speed
0: 1/2 of current setting (IRUN)
1: 1/4 of current setting (IRUN)
14 sedn1
13 sedn0
%00: For each 32 StallGuard2 values decrease by one
%01: For each 8 StallGuard2 values decrease by one
%10: For each 2 StallGuard2 values decrease by one
%11: For each StallGuard2 value decrease by one
set to 0
12
-
reserved
11 semax3
10 semax2
StallGuard2 hysteresis
value for smart current (SEMIN+SEMAX+1)*32, the motor current becomes
control
If the StallGuard2 result is equal to or above
decreased to save energy.
%0000 … %1111: 0 … 15
set to 0
Current increment steps per measured StallGuard2 value
%00 … %11: 1, 2, 4, 8
set to 0
9
8
7
6
5
4
3
2
1
0
semax1
semax0
-
seup1
seup0
-
semin3
semin2
semin1
semin0
reserved
current up step width
reserved
minimum StallGuard2
value for smart current current becomes increased to reduce motor load angle.
control and
If the StallGuard2 result falls below SEMIN*32, the motor
%0000: smart current control CoolStep off
%0001 … %1111: 1 … 15
smart current enable
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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5.5.4 PWMCONF – Voltage PWM Mode StealthChop
0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP
Bit Name
Function
Comment
…
21
20
-
reserved
Allows different
set to 0
freewheel1
freewheel0 standstill modes
Stand still option when motor current setting is zero
(I_HOLD=0).
%00: Normal operation
%01: Freewheeling
%10: Coil shorted using LS drivers
%11: Coil shorted using HS drivers
19 pwm_
symmetric
Force symmetric PWM
0
The PWM value may change within each PWM cycle
(standard mode)
1
0
A symmetric PWM cycle is enforced
User defined PWM amplitude. The current settings
have no influence.
18 pwm_
autoscale
PWM automatic
amplitude scaling
1
Enable automatic current control
Attention: When using a user defined sine wave
table, the amplitude of this sine wave table should
not be less than 244. Best results are obtained with
247 to 252 as peak values.
pwm_freq1
pwm_freq0
17
16
PWM frequency
selection
%00: fPWM=2/1024 fCLK
%01: fPWM=2/683 fCLK
%10: fPWM=2/512 fCLK
%11: fPWM=2/410 fCLK
pwm_
autoscale=0
15 PWM_
User defined amplitude
(gradient)
or regulation loop
gradient
Velocity dependent gradient for PWM
amplitude:
GRAD
14
13
12
11
10
9
PWM_GRAD * 256 / TSTEP
is added to PWM_AMPL
pwm_
autoscale=1
User defined maximum PWM amplitude
change per half wave (1 to 15)
8
7
6
pwm_
autoscale=0
PWM_
AMPL
User defined amplitude
(offset)
User defined PWM amplitude offset (0-255)
The resulting amplitude (limited to 0…255)
is:
5
PWM_AMPL + PWM_GRAD * 256 / TSTEP
User defined maximum PWM amplitude
when switching back from current chopper
mode to voltage PWM mode (switch over
velocity defined by TPWMTHRS). Do not set
too low values, as the regulation cannot
measure the current when the actual PWM
value goes below a setting specific value.
Settings above 0x40 recommended.
4
3
2
1
pwm_
autoscale=1
0
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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5.5.5 DRV_STATUS – StallGuard2 Value and Driver Error Flags
0X6F: DRV_STATUS – STALLGUARD2 VALUE AND DRIVER ERROR FLAGS
Bit Name
31 stst
Function
standstill indicator
Comment
This flag indicates motor stand still in each operation mode.
This occurs 2^20 clocks after the last step pulse.
1: Open load detected on phase A or B.
30 olb
open load indicator
phase B
open load indicator
phase A
Hint: This is just an informative flag. The driver takes no action
upon it. False detection may occur in fast motion and
standstill. Check during slow motion, only.
29 ola
1: Short to GND detected on phase A or B. The driver becomes
disabled. The flags stay active, until the driver is disabled by
software (TOFF=0) or by the ENN input.
28 s2gb
27 s2ga
26 otpw
short to ground
indicator phase B
short to ground
indicator phase A
overtemperature pre-
warning flag
1: Overtemperature pre-warning threshold is exceeded.
The overtemperature pre-warning flag is common for both
bridges.
1: Overtemperature limit has been reached. Drivers become
disabled until otpw is also cleared due to cooling down of the
25 ot
overtemperature flag
IC.
The overtemperature flag is common for both bridges.
1: Motor stall detected (SG_RESULT=0) or DcStep stall in DcStep
mode.
24 StallGuard StallGuard2 status
Ignore these bits
23
22
21
-
reserved
Actual current control scaling, for monitoring smart energy
current scaling controlled via settings in register COOLCONF, or
for monitoring the function of the automatic current scaling.
20 CS
actual motor current /
smart energy current
ACTUAL
19
18
17
16
1: Indicates that the driver has switched to fullstep as defined
by chopper mode settings and velocity thresholds.
15 fsactive
full step active
indicator
reserved
Ignore these bits
14
13
12
11
10
9
-
Mechanical load measurement:
SG_
StallGuard2 result
The StallGuard2 result gives a means to measure mechanical
motor load. A higher value means lower mechanical load. A
value of 0 signals highest load. With optimum SGT setting,
this is an indicator for a motor stall. The stall detection
compares SG_RESULT to 0 in order to detect a stall. SG_RESULT
is used as a base for CoolStep operation, by comparing it to a
programmable upper and a lower limit. It is not applicable in
StealthChop mode.
RESULT
respectively PWM on
time for coil A in stand
still for motor
8
7
6
5
4
3
2
temperature detection
1
0
SG_RESULT is ALSO applicable when DcStep is active.
StallGuard2 works best with microstep operation.
Temperature measurement:
In standstill, no StallGuard2 result can be obtained. SG_RESULT
shows the chopper on-time for motor coil A instead. If the
motor is moved to a determined microstep position at a
certain current setting, a comparison of the chopper on-time
can help to get a rough estimation of motor temperature. As
the motor heats up, its coil resistance rises and the chopper
on-time increases.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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6 StealthChop™
StealthChop is an extremely quiet mode of operation for stepper motors. It is based on a
voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely
noiseless. Thus, StealthChop operated stepper motor applications are very suitable for
indoor or home use. The motor operates absolutely free of vibration at low velocities.
With StealthChop, the motor current is applied by driving a certain effective voltage into
the coil, using a voltage mode PWM. There are no more configurations required except for the PWM
voltage regulator response to a change of motor current. Two algorithms are provided, a manual and
an automatic mode.
Figure 6.1 Motor coil sine wave current with StealthChop (measured with current probe)
6.1 Two Modes for Current Regulation
In order to match the motor current to a certain level, the StealthChop PWM voltage must be scaled
depending on the actual motor velocity. Several additional factors influence the required voltage level
to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional
to its velocity) as well as actual level of the supply voltage. For the ease of use, two modes of PWM
regulation are provided: An automatic mode using current feedback (pwm_autoscale = 1) and a feed
forward velocity controlled mode (pwm_autoscale = 0). The feed forward velocity controlled mode will
not react to a change of the supply voltage or to events like a motor stall, but it provides very stable
amplitude. It does not use nor require any means of current measurement. This is perfect when
motor type and supply voltage are well known. Since this mode does not measure the actual current,
it will not respond to modification of the current setting, like stand still current reduction. Therefore
we recommend the automatic mode, unless current regulation is not satisfying in the given operating
conditions.
The PWM frequency can be chosen in a range in four steps in order to adapt the frequency divider to
the frequency of the clock source. A setting in the range of 30-50kHz is good for many applications. It
balances low current ripple and good higher velocity performance vs. dynamic power dissipation.
CHOICE OF PWM FREQUENCY FOR STEALTHCHOP
Clock frequency
fCLK
18MHz
PWM_FREQ=%00
fPWM=2/1024 fCLK
35.2kHz
PWM_FREQ=%01
fPWM=2/683 fCLK
52.7kHz
PWM_FREQ=%10
fPWM=2/512 fCLK
70.3kHz
PWM_FREQ=%11
fPWM=2/410 fCLK
87.8kHz
16MHz
31.3kHz
46.9kHz
62.5kHz
78.0kHz
(internal)
26kHz
38kHz
52kHz
64kHz
12MHz
23.4kHz
35.1kHz
46.9kHz
58.5kHz
10MHz
19.5kHz
29.3kHz
39.1kHz
48.8kHz
8MHz
15.6kHz
23.4kHz
31.2kHz
39.0kHz
Table 6.1 Choice of PWM frequency – green: recommended
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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6.2 Automatic Scaling
In StealthChop voltage PWM mode, the autoscaling function (pwm_autoscale = 1) regulates the motor
current to the desired current setting. The driver measures the motor current during the chopper on
time and uses a proportional regulator to regulate the PWM_SCALE in order match the motor current
to the target current. PWM_GRAD is the proportionality coefficient for this regulator. Basically, the
proportionality coefficient should be as small as possible in order to get a stable and soft regulation
behavior, but it must be large enough to allow the driver to quickly react to changes caused by
variation of the motor target current, the motor velocity or effects resulting from changes of the
supply voltage. As the supply voltage level and motor temperature normally change only slowly, a
minimum setting of the regulation gradient often is sufficient (PWM_GRAD=1). If StealthChop
operation is desired for a higher velocity range, variations of the motor back EMF caused by motor
acceleration and deceleration may require a quicker regulation. Therefore, PWM_GRAD setting should
be optimized for the fastest required acceleration and deceleration ramp (see Figure 6.4). The quality
of a given setting can be examined when monitoring PWM_SCALE and motor velocity. Just as in the
acceleration phase, during a deceleration phase the voltage PWM amplitude must be adapted in order
to keep the motor coil current constant. When the upper acceleration and the upper deceleration used
in the application are identical, the value determined for the acceleration phase will already be
optimum for both.
Figure 6.2 Scope shot: good setting for PWM_GRAD
Figure 6.3 Scope shot: too small setting for PWM_GRAD
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
41
Motor current
PWM scale
Velocity
PWM reaches
max. amplitude
255
RMS current
constant
P
W
M
Nominal current
_
G
(sine wave RMS)
R
k
A
o
D
D
A
o
Current may drop due
to high velocity
R
k
G
_
M
W
P
Stand still
PWM scale
0
0
Time
Setting for PWM_GRAD ok.
Motor current
PWM scale
Velocity
Current overshoots
due to too small
PWM_GRAD
255
Nominal current
(sine wave RMS)
Current drops due to
too small PWM_GRAD
Stand still
PWM scale
0
0
Time
Setting for PWM_GRAD slightly too small.
Figure 6.4 Good and too small setting for PWM_GRAD
Be sure to use a symmetrical sense resistor layout and sense resistor traces of identical length and
well matching sense resistors for best performance.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
6.2.1 Lower Current Limit
The StealthChop current regulator imposes a lower limit for motor current regulation. As the coil
current can be measured in the shunt resistor during chopper on phase only, a minimum chopper
duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the
chopper frequency setting. Therefore, the motor specific minimum coil current in StealthChop
autoscaling mode rises with the supply voltage and with the chopper frequency. A lower blanking
time allows a lower current limit. Extremely low currents (e.g. for standstill power down) can be
realized with the non-automatic current scaling or with the freewheeling option, only. The run current
setting needs to be kept above the lower limit: In case the PWM_SCALE drops to a too low value, e.g.
because the current scale was too low, the regulator may not be able to recover. The regulator will
recover once the motor is in standstill. The freewheeling option allows going to zero motor current.
The lower motor coil current limit can be calculated from motor parameters and chopper settings:
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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푉푀
퐼퐿ꢂ푤푒ꢃ 퐿ꢄ푚ꢄ푡 = ꢅ퐵퐿퐴푁퐾 ∗ 푓
∗
ꢆ푊푀
푅퐶푂ꢇ퐿
With VM the motor supply voltage and RCOIL the motor coil resistance.
ILower Limit can be treated as a thumb value for the minimum possible motor current setting.
EXAMPLE:
A motor has a coil resistance of 5Ω, the supply voltage is 24V. With TBL=%01 and PWM_FREQ=%00,
tBLANK is 24 clock cycles, fPWM is 2/(1024 clock cycles):
2
24푉
24 24푉
∗ = 225ꢈꢉ
퐼퐿ꢂ푤푒ꢃ 퐿ꢄ푚ꢄ푡 = 24 ꢅ퐶퐿퐾
∗
∗
=
1024 ꢅ퐶퐿퐾 5Ω
512 5Ω
This means, the motor target current must be 225mA or more, taking into account all relevant
settings. This lower current limit also applies for modification of the motor current via the analog
input VREF.
For pwm_autoscale mode, a lower coil current limit applies. This limit can be calculated or measured
using a current probe. Keep the motor run-current setting IRUN well above this lower current limit.
6.2.2 Acceleration
In automatic current regulation mode (pwm_autoscale = 1), the PWM_GRAD setting should be
optimized for the fastest required acceleration ramp. Use a current probe and check the motor current
during (quick) acceleration. A setting of 1 may result in a too slow regulation, while a setting of 15
responds quickly to velocity changes, but might produce regulation instabilities in some
constellations. A setting of 4 is a good starting value.
Hint
Operate the motor within your application when exploring StealthChop. Motor performance often is
better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations
which can occur without load.
6.3 Velocity Based Scaling
Velocity based scaling scales the StealthChop amplitude based on the time between each two steps,
i.e. based on TSTEP, measured in clock cycles. This concept basically does not require a current
measurement, because no regulation loop is necessary. The idea is a linear approximation of the
voltage required to drive the target current into the motor. The stepper motor has a certain coil
resistance and thus needs a certain voltage amplitude to yield a target current based on the basic
formula I=U/R. With R being the coil resistance, U the supply voltage scaled by the PWM value, the
current I results. The initial value for PWM_AMPL can be calculated:
374 ∗ 푅퐶푂ꢇ퐿 ∗ 퐼퐶푂ꢇ퐿
푃ꢊꢋ_ꢉꢋ푃ꢌ =
푉푀
With VM the motor supply voltage and ICOIL the target RMS current
The effective PWM voltage UPWM (1/SQRT(2) x peak value) results considering the 8 bit resolution and
248 sine wave peak for the actual PWM amplitude shown as PWM_SCALE:
푃ꢊꢋ_푆ꢍꢉꢌ퐸 248
1
푃ꢊꢋ_푆ꢍꢉꢌ퐸
374
푈ꢆ푊푀 = 푉푀 ∗
∗
∗
= 푉푀 ∗
256
256
√
2
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
43
With rising motor velocity, the motor generates an increasing back EMF voltage. The back EMF voltage
is proportional to the motor velocity. It reduces the PWM voltage effective at the coil resistance and
thus current decreases. The TMC2130 provides a second velocity dependent factor (PWM_GRAD) to
compensate for this. The overall effective PWM amplitude (PWM_SCALE) in this mode automatically is
calculated in dependence of the microstep frequency as:
푓
ꢎ푇ꢏꢆ
푃ꢊꢋ_푆ꢍꢉꢌ퐸 = 푃ꢊꢋ_ꢉꢋ푃ꢌ + 푃ꢊꢋ_퐺푅ꢉ퐷 ∗ 256 ∗
푓
퐶퐿퐾
With fSTEP being the microstep frequency for 256 microstep resolution equivalent
and fCLK the clock frequency supplied to the driver or the actual internal frequency
As a first approximation, the back EMF subtracts from the supply voltage and thus the effective current
amplitude decreases. This way, a first approximation for PWM_GRAD setting can be calculated:
푉
푓
∗ 1.46
퐶퐿퐾
푃ꢊꢋ_퐺푅ꢉ퐷 = ꢍ퐵ꢏ푀퐹
[
] ∗ 2휋 ∗
푟푎푑
푠
푉푀 ∗ ꢋ푆푃푅
CBEMF is the back EMF constant of the motor in Volts per radian/second
MSPR is the number of microsteps per rotation, e.g. 51200 = 256µsteps multiplied by 200 fullsteps for
a 1.8° motor.
Motor current
PWM scaling
PWM reaches
(PWM_STATUS)
max. amplitude
255
D
A
R
G
Constant motor
RMS current
_
M
W
P
Nominal current
(e.g. sine wave RMS)
PWM_AMPL
0
0
VPWMMAX
Velocity
Figure 6.5 Velocity based PWM scaling (pwm_autoscale=0)
Hint
The values for PWM_AMPL and PWM_GRAD can easily be optimized by tracing the motor current with
a current probe on the oscilloscope. It is not even necessary to calculate the formulas if you carefully
start with a low setting for both.
UNDERSTANDING THE BACK EMF CONSTANT OF A MOTOR
The back EMF constant is the voltage a motor generates when turned with a certain velocity. Often
motor datasheets do not specify this value, as it can be deducted from motor torque and coil current
rating. Within SI units, the numeric value of the back EMF constant CBEMF has the same numeric value
as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A
would have a CBEMF of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second =
6.28 rad/s) generates a back EMF voltage of 6.28V. Thus, the back EMF constant can be calculated as:
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
44
ꢔ
ꢖ
푉
퐻표푙푑푖푛푔ꢒ표푟푞푢ꢓ ꢕꢈ
ꢍ퐵ꢏ푀퐹
ꢐ
ꢑ =
푟푎푑/푠
2 ∗ 퐼퐶푂ꢇ퐿푁푂푀ꢔꢉꢖ
ICOILNOM is the motor’s rated phase current for the specified holding torque
HoldingTorque is the motor specific holding torque, i.e. the torque reached at ICOILNOM on both coils.
The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm.
The voltage is valid as RMS voltage per coil, thus the nominal current is multiplied by 2 in this
formula, since the nominal current assumes a full step position, with two coils operating.
6.4 Combining StealthChop and SpreadCycle
For applications requiring high velocity motion, SpreadCycle may bring more stable operation in the
upper velocity range. To combine no-noise operation with highest dynamic performance, combine
StealthChop and SpreadCycle based on a velocity threshold (TPWMTHRS). With this, StealthChop is
only active at low velocities.
As a first step, both chopper principles should be parameterized and optimized individually. In a next
step, a transfer velocity has to be fixed. For example, StealthChop operation is used for precise low
speed positioning, while SpreadCycle shall be used for highly dynamic motion. TPWMTHRS determines
the transition velocity. Use a low transfer velocity to avoid a jerk at the switching point.
A jerk occurs when switching at higher velocities, because the back-EMF of the motor (which rises
with the velocity) causes a phase shift of up to 90° between motor voltage and motor current. So
when switching at higher velocities between voltage PWM and current PWM mode, this jerk will occur
with increased intensity. A high jerk may even produce a temporary overcurrent condition (depending
on the motor coil resistance). At low velocities (e.g. 1 to a few 10 RPM), it can be completely
neglected for most motors. Therefore, consider the switching jerk when choosing TPWMTHRS. Set
TPWMTHRS zero if you want to work with StealthChop only.
When enabling the StealthChop mode the first time using automatic current regulation, the motor
must be at stand still in order to allow a proper current regulation. When the drive switches to a
different chopper mode at a higher velocity, StealthChop logic stores the last current regulation
setting until the motor returns to a lower velocity again. This way, the regulation has a known
starting point when returning to a lower velocity, where StealthChop becomes re-enabled. Therefore,
neither the velocity threshold nor the supply voltage must be considerably changed during the phase
while the chopper is switched to a different mode, because otherwise the motor might lose steps or
the instantaneous current might be too high or too low.
A motor stall or a sudden change in the motor velocity may lead to the driver detecting a short
circuit or to a state of automatic current regulation, from which it cannot recover. Clear the error flags
and restart the motor from zero velocity to recover from this situation.
Hint
Start the motor from standstill when switching on StealthChop the first time and keep it stopped for
at least 128 chopper periods to allow StealthChop to do initial standstill current control.
6.4.1 PWM_AMPL limits Jerk
When combining StealthChop with SpreadCycle or constant off time classic PWM, a switching velocity
can be chosen using TPWMTHRS. With this, StealthChop is only active at low velocities. Often, a very
low velocity in the range of 1 to a few 10 RPM fits best. In case a high switching velocity is chosen,
special care should be taken for switching back to StealthChop during deceleration, because the phase
jerk can produce a short time overcurrent.
To avoid a short time overcurrent and to minimize the jerk, the initial amplitude for switching back to
StealthChop at sinking velocity can be determined using the setting PWM_AMPL. Tune PWM_AMPL to a
value which gives a smooth and safe transition back to StealthChop within the application. As a
thumb rule, ½ to ¾ of the last PWM_SCALE value which was valid after the switching event at rising
velocity can be used. For high resistive steppers as well as for low transfer velocities (as set by
TPWMTHRS), set PWM_AMPL to 255 as most universal setting.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
45
Hint
In case the automatic scaling regulation is instable at your desired motion velocity, try modifying the
chopper frequency divider PWM_FREQ. Also adapt the blank time TBL and motor current for best
result.
6.5 Flags in StealthChop
As StealthChop uses voltage mode driving, status flags based on current measurement respond
slower, respectively the driver reacts delayed to sudden changes of back EMF, like on a motor stall.
A motor stall can lead to an overcurrent condition. Depending on the previous motor velocity, and on
the coil resistance of the motor, it may trigger the overcurrent detection. With low velocities, where
the back EMF is just a fraction of the supply voltage, there is no danger of triggering the short
detection.
6.5.1 Open Load Flags
In StealthChop mode, status information is different from the cycle-by-cycle regulated chopper modes.
OLA and OLB show if the current regulation sees that the nominal current can be reached on both
coils.
-
A flickering OLA or OLB can result from asymmetries in the sense resistors or in the motor
coils.
-
-
An interrupted motor coil leads to a continuously active open load flag for the coil.
One or both flags are active, if the current regulation did not succeed in scaling up to the full
target current within the last few fullsteps (because no motor is attached or a high velocity
exceeds the PWM limit).
If desired, do an on-demand open load test using the SpreadCycle chopper, as it delivers the safest
result. With StealthChop, PWM_SCALE can be checked to detect the correct coil resistance.
6.5.2 PWM_SCALE Informs about the Motor State
Information about the motor state is available with automatic scaling by reading out PWM_SCALE. As
this parameter reflects the actual voltage required to drive the target current into the motor, it
depends on several factors: motor load, coil resistance, supply voltage, and current setting. Therefore,
an evaluation of the PWM_SCALE value allows seeing the motor load (similar to StallGuard2) and
finding out if the target current can be reached. It even gives an idea on the motor temperature
(evaluate at a well-known state of operation).
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6.6 Freewheeling and Passive Motor Braking
StealthChop provides different options for motor standstill. These options can be enabled by setting
the standstill current IHOLD to zero and choosing the desired option using the FREEWHEEL setting.
The desired option becomes enabled after a time period specified by TPOWERDOWN and
IHOLD_DELAY. The PWM_SCALE regulation becomes frozen once the motor target current is at zero
current in order to ensure a quick startup.
Parameter
Description
General enable for use of StealthChop (register 0
GCONF)
Setting Comment
en_pwm_
mode
Do not use StealthChop
StealthChop enabled
StealthChop also is
1
TPWMTHRS Specifies the upper velocity for operation in 0 …
StealthChop voltage PWM mode. Entry the TSTEP 1048575 disabled if TSTEP falls
reading (time between two microsteps) when
operating at the desired threshold velocity.
below TCOOLTHRS or
THIGH
pwm_
autoscale
Enable automatic current scaling using current 0
Forward controlled mode
Automatic scaling with
current regulator
fPWM=2/1024 fCLK
measurement or use forward controlled velocity
based mode.
1
PWM_FREQ PWM frequency selection. Use the lowest setting 0
giving good results. The frequency measured at
each of the chopper outputs is half of the
1
2
3
fPWM=2/683 fCLK
fPWM=2/512 fCLK
fPWM=2/410 fCLK
effective chopper frequency fPWM
.
PWM_GRAD User defined PWM amplitude (gradient) for 1 … 15
With pwm_autoscale=1
velocity based scaling or regulation loop gradient
0 … 255 With pwm_autoscale=0
when pwm_autoscale=1.
PWM_AMPL User defined PWM amplitude (offset) for velocity 0 … 255
based scaling or amplitude limit for re-entry into
StealthChop mode when pwm_autoscale=1.
pwm_
symmetric
Activate to force a symmetric PWM for each cycle. 0
Normal operation
A symmetric PWM cycle
is enforced
Reduces the number of updates to the PWM cycle.
Special use only.
1
FREEWHEEL Stand still option when motor current setting is 0
Normal operation
Freewheeling
Coil shorted using LS
drivers
Coil shorted using HS
drivers
zero (I_HOLD=0). Only available with StealthChop
enabled. The freewheeling option makes the
motor easy movable, while both coil short options
realize a passive brake. Mode 2 will brake more
intensely than mode 3, because low side drivers
(LS) have lower resistance than high side drivers.
1
2
3
PWM_SCALE Read back of the actual StealthChop voltage PWM 0 … 255 The scaling value
scaling as determined by the current regulation. (read
Can be used to detect motor load and stall when only)
autoscale=1.
becomes frozen when
operating in a different
chopper mode
Driver off
TOFF
TBL
General enable for the motor driver, the actual 0
value does not influence StealthChop
Comparator blank time. This time needs to safely 0
1 … 15
Driver enabled
16 tCLK
24 tCLK
36 tCLK
54 tCLK
cover the switching event and the duration of the
ringing on the sense resistor. Choose a setting of
1 or 2 for typical applications. For higher
capacitive loads, 3 may be required. Lower
settings allow StealthChop to regulate down to
lower coil current values.
1
2
3
IRUN
IHOLD
Run and hold current setting for stealth Chop
operation – only used with pwm_autoscale=1
See chapter on current
setting for details
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7 SpreadCycle and Classic Chopper
While StealthChop is a voltage mode PWM controlled chopper, SpreadCycle is a cycle-by-cycle current
control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents
through both motor coils are controlled using choppers. The choppers work independently of each
other. In Figure 7.1 the different chopper phases are shown.
+VM
+VM
+VM
ICOIL
ICOIL
ICOIL
RSENSE
RSENSE
RSENSE
On Phase:
Fast Decay Phase:
current flows in
opposite direction
of target current
Slow Decay Phase:
current re-circulation
current flows in
direction of target
current
Figure 7.1 Chopper phases
Although the current could be regulated using only on phases and fast decay phases, insertion of the
slow decay phase is important to reduce electrical losses and current ripple in the motor. The
duration of the slow decay phase is specified in a control parameter and sets an upper limit on the
chopper frequency. The current comparator can measure coil current during phases when the current
flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is
terminated by a timer. The on phase is terminated by the comparator when the current through the
coil reaches the target current. The fast decay phase may be terminated by either the comparator or
another timer.
When the coil current is switched, spikes at the sense resistors occur due to charging and discharging
parasitic capacitances. During this time, typically one or two microseconds, the current cannot be
measured. Blanking is the time when the input to the comparator is masked to block these spikes.
There are two cycle-by-cycle chopper modes available: a new high-performance chopper algorithm
called SpreadCycle and a proven constant off-time chopper mode. The constant off-time mode cycles
through three phases: on, fast decay, and slow decay. The SpreadCycle mode cycles through four
phases: on, slow decay, fast decay, and a second slow decay.
The chopper frequency is an important parameter for a chopped motor driver. A too low frequency
might generate audible noise. A higher frequency reduces current ripple in the motor, but with a too
high frequency magnetic losses may rise. Also power dissipation in the driver rises with increasing
frequency due to the increased influence of switching slopes causing dynamic dissipation. Therefore, a
compromise needs to be found. Most motors are optimally working in a frequency range of 16 kHz to
30 kHz. The chopper frequency is influenced by a number of parameter settings as well as by the
motor inductivity and supply voltage.
Hint
A chopper frequency in the range of 16 kHz to 30 kHz gives a good result for most motors when
using SpreadCycle. A higher frequency leads to increased switching losses.
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Three parameters are used for controlling both chopper modes:
Parameter
Description
Setting Comment
Sets the slow decay time (off time). This setting also
limits the maximum chopper frequency.
TOFF
0
chopper off
off time setting NCLK= 24 +
32*TOFF
(1 will work with minimum
blank time of 24 clocks)
1…15
For operation with StealthChop, this parameter is not
used, but it is required to enable the motor. In case of
operation with StealthChop only, any setting is OK.
Setting this parameter to zero completely disables all
driver transistors and the motor can free-wheel.
Selects the comparator blank time. This time needs to
safely cover the switching event and the duration of the
ringing on the sense resistor. For most applications, a
setting of 1 or 2 is good. For highly capacitive loads, 2
e.g. when filter networks are used, a setting of 2 or 3
TBL
0
1
16 tCLK
24 tCLK
36 tCLK
54 tCLK
3
will be required.
Selection of the chopper mode
chm
0
1
SpreadCycle
classic const. off time
7.1 SpreadCycle Chopper
The patented SpreadCycle chopper algorithm is a precise and simple to use chopper mode which
automatically determines the optimum length for the fast-decay phase. The SpreadCycle will provide
superior microstepping quality even with default settings. Several parameters are available to
optimize the chopper to the application.
Each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a
second slow decay phase (see Figure 7.3). The two slow decay phases and the two blank times per
chopper cycle put an upper limit to the chopper frequency. The slow decay phases typically make up
for about 30%-70% of the chopper cycle in standstill and are important for low motor and driver
power dissipation.
Calculation of a starting value for the slow decay time TOFF:
EXAMPLE:
Target Chopper frequency: 25kHz.
Assumption: Two slow decay cycles make up for 50% of overall chopper cycle time
1
50
1
2
ꢅ푂퐹퐹
=
∗
∗
= 10µ푠
25푘퐻푧 100
For the TOFF setting this means:
ꢒꢗꢘꢘ = ꢙꢅ푂퐹퐹 ∗ 푓 − 12ꢚ/32
퐶퐿퐾
With 12 MHz clock this gives a setting of TOFF=3.4, i.e. 3 or 4.
With 16 MHz clock this gives a setting of TOFF=4.6, i.e. 4 or 5.
The hysteresis start setting forces the driver to introduce a minimum amount of current ripple into
the motor coils. The current ripple must be higher than the current ripple which is caused by resistive
losses in the motor in order to give best microstepping results. This will allow the chopper to
precisely regulate the current both for rising and for falling target current. The time required to
introduce the current ripple into the motor coil also reduces the chopper frequency. Therefore, a
higher hysteresis setting will lead to a lower chopper frequency. The motor inductance limits the
ability of the chopper to follow a changing motor current. Further the duration of the on phase and
the fast decay must be longer than the blanking time, because the current comparator is disabled
during blanking.
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It is easiest to find the best setting by starting from a low hysteresis setting (e.g. HSTRT=0, HEND=0)
and increasing HSTRT, until the motor runs smoothly at low velocity settings. This can best be
checked when measuring the motor current either with a current probe or by probing the sense
resistor voltages (see Figure 7.2). Checking the sine wave shape near zero transition will show a small
ledge between both half waves in case the hysteresis setting is too small. At medium velocities (i.e.
100 to 400 fullsteps per second), a too low hysteresis setting will lead to increased humming and
vibration of the motor.
Figure 7.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow &
blue: sense resistor voltages A and B)
A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but
will not yield any benefit for the wave shape.
Quick Start
For a quick start, see the Quick Configuration Guide in chapter 22.
For detail procedure see Application Note AN001 - Parameterization of SpreadCycle
As experiments show, the setting is quite independent of the motor, because higher current motors
typically also have a lower coil resistance. Therefore choosing a low to medium default value for the
hysteresis (for example, effective hysteresis = 4) normally fits most applications. The setting can be
optimized by experimenting with the motor: A too low setting will result in reduced microstep
accuracy, while a too high setting will lead to more chopper noise and motor power dissipation.
When measuring the sense resistor voltage in motor standstill at a medium coil current with an
oscilloscope, a too low setting shows a fast decay phase not longer than the blanking time. When
the fast decay time becomes slightly longer than the blanking time, the setting is optimum. You can
reduce the off-time setting, if this is hard to reach.
The hysteresis principle could in some cases lead to the chopper frequency becoming too low, e.g.
when the coil resistance is high when compared to the supply voltage. This is avoided by splitting
the hysteresis setting into a start setting (HSTRT+HEND) and an end setting (HEND). An automatic
hysteresis decrementer (HDEC) interpolates between both settings, by decrementing the hysteresis
value stepwise each 16 system clocks. At the beginning of each chopper cycle, the hysteresis begins
with a value which is the sum of the start and the end values (HSTRT+HEND), and decrements during
the cycle, until either the chopper cycle ends or the hysteresis end value (HEND) is reached. This way,
the chopper frequency is stabilized at high amplitudes and low supply voltage situations, if the
frequency gets too low. This avoids the frequency reaching the audible range.
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I
H
D
E
C
target current + hysteresis start
target current + hysteresis end
target current
target current - hysteresis end
target current - hysteresis start
on
sd
fd
sd
t
Figure 7.3 SpreadCycle chopper scheme showing coil current during a chopper cycle
Two parameters control SpreadCycle mode:
Parameter
HSTRT
Description
Setting Comment
HSTRT=1…8
Hysteresis start setting. This value is an offset 0…7
from the hysteresis end value HEND.
This value adds to HEND.
HEND
Hysteresis end setting. Sets the hysteresis end
value after a number of decrements. The sum
HSTRT+HEND must be ≤16. At a current setting of
max. 30 (amplitude reduced to 240), the sum is
not limited.
0…2
3
-3…-1: negative HEND
0: zero HEND
4…15
1…12: positive HEND
Even at HSTRT=0 and HEND=0, the TMC2130 sets a minimum hysteresis via analog circuitry.
EXAMPLE:
A hysteresis of 4 has been chosen. You might decide to not use hysteresis decrement. In this case
set:
HEND=6
HSTRT=0
(sets an effective end value of 6-3=3)
(sets minimum hysteresis, i.e. 1: 3+1=4)
In order to take advantage of the variable hysteresis, we can set most of the value to the HSTRT, i.e.
4, and the remaining 1 to hysteresis end. The resulting configuration register values are as follows:
HEND=0
HSTRT=6
(sets an effective end value of -3)
(sets an effective start value of hysteresis end +7: 7-3=4)
Hint
Highest motor velocities sometimes benefit from setting TOFF to 1 or 2 and a short TBL of 1 or 0.
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7.2 Classic Constant Off Time Chopper
The classic constant off time chopper is an alternative to SpreadCycle. Perfectly tuned, it also gives
good results. In combination with RDSon current sensing without external sense resistors, this
chopper mode can bring a benefit with regard to audible high-pitch chopper noise. Also, the classic
constant off time chopper (automatically) is used in combination with fullstepping in DcStep
operation.
The classic constant off-time chopper uses a fixed-time fast decay following each on phase. While the
duration of the on phase is determined by the chopper comparator, the fast decay time needs to be
long enough for the driver to follow the falling slope of the sine wave, but it should not be so long
that it causes excess motor current ripple and power dissipation. This can be tuned using an
oscilloscope or evaluating motor smoothness at different velocities. A good starting value is a fast
decay time setting similar to the slow decay time setting.
I
target current + offset
mean value = target current
on
on
sd
fd
sd
fd
t
Figure 7.4 Classic const. off time chopper with offset showing coil current
After tuning the fast decay time, the offset should be tuned for a smooth zero crossing. This is
necessary because the fast decay phase makes the absolute value of the motor current lower than the
target current (see Figure 7.5). If the zero offset is too low, the motor stands still for a short moment
during current zero crossing. If it is set too high, it makes a larger microstep. Typically, a positive
offset setting is required for smoothest operation.
Target current
Coil current
Target current
Coil current
I
I
t
t
Coil current does not have optimum shape
Target current corrected for optimum shape of coil current
Figure 7.5 Zero crossing with classic chopper and correction using sine wave offset
Three parameters control constant off-time mode:
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Parameter
Description
Setting Comment
TFD
Fast decay time setting. With CHM=1, these bits 0
slow decay only
(fd3
HSTRT)
& control the portion of fast decay for each chopper
cycle.
1…15
duration of fast decay
phase
OFFSET
(HEND)
Sine wave offset. With CHM=1, these bits control 0…2
negative offset: -3…-1
no offset: 0
the sine wave offset. A positive offset corrects for
zero crossing error.
3
4…15
positive offset 1…12
disfdcc
Selects usage of the current comparator for 0
termination of the fast decay cycle. If current
comparator is enabled, it terminates the fast decay
enable comparator
termination of fast decay
cycle
cycle in case the current reaches a higher negative
value than the actual positive value.
1
end by time only
7.3 Random Off Time
In the constant off-time chopper mode, both coil choppers run freely without synchronization. The
frequency of each chopper mainly depends on the coil current and the motor coil inductance. The
inductance varies with the microstep position. With some motors, a slightly audible beat can occur
between the chopper frequencies when they are close together. This typically occurs at a few
microstep positions within each quarter wave. This effect is usually not audible when compared to
mechanical noise generated by ball bearings, etc. Another factor which can cause a similar effect is a
poor layout of the sense resistor GND connections.
Hint
A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense
resistor voltages (please refer layouts hint in chapter 29).
To minimize the effect of a beat between both chopper frequencies, an internal random generator is
provided. It modulates the slow decay time setting when switched on by the rndtf bit. The rndtf
feature further spreads the chopper spectrum, reducing electromagnetic emission on single
frequencies.
Parameter
Description
Setting Comment
This bit switches on a random off time generator,
which slightly modulates the off time TOFF using
a random polynomial.
rndtf
0
1
disable
random modulation
enable
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7.4 chopSync2 for Quiet 2-Phase Motor
chopSync2 is an alternative add-on concept for SpreadCycle chopper and constant off time chopper to
optimize motor noise at low velocities. When using StealthChop for low velocity operation, chopSync2
is not applicable.
While a frequency adaptive chopper like SpreadCycle provides excellent high velocity operation, in
some applications, a constant frequency chopper is preferred rather than a frequency adaptive
chopper. This may be due to chopper noise in motor standstill, or due to electro-magnetic emission.
chopSync2 provides a means to synchronize the choppers for both coils with a common clock, by
extending the off time of the coils. It integrates with both chopper principles. However, a careful set
up of the chopper is necessary, because chopSync2 can just increment the off times, but not reduce
the duration of the chopper cycles themselves. Therefore, it is necessary to test successful operation
best with an oscilloscope. Set up the chopper as detailed above, but take care to have chopper
frequency higher than the chopSync2 frequency. As high motor velocities take advantage of the
normal, adaptive chopper style, chopSync2 becomes automatically switched off using the VHIGH
velocity limit programmed within the motion controller.
A suitable chopSync2 SYNC value can be calculated as follows:
푓
퐶퐿퐾
푆푌ꢕꢍ = ⌊
⌋
64 ∗ 푓
ꢎꢛ푁퐶
EXAMPLE:
The motor is operated in SpreadCycle mode (chm=0). The minimum chopper frequency for standstill
and slow motion (up to VHIGH) has been determined to be 25 kHz under worst case operation
conditions (hot motor, low supply voltage). The standstill noise needs to be minimized by using
chopSync. The IC uses an external 16 MHz clock.
Considering the chopper mode 0, SYNC has to be set for the closest value resulting in or below the
double frequency, e.g. 50 kHz. Using above formula, a value of 5 results exactly and can be used.
Trying a value of 6, a frequency of 41.7 kHz results, which still gives an effective chopper frequency of
slightly above 20 kHz, and thus would also be a valid solution. A value of 7 might still be good, but
could already give high frequency noise.
In chopper mode 1, SYNC could be set to any value between 10 and 13 to be within the chopper
frequency range of 19.8 kHz to 25 kHz.
Parameter
Description
Setting Comment
SYNC
This register allows synchronization of the 0
chopper for both phases of a two phase motor in
order to avoid the occurrence of a beat, especially
at low motor velocities. It is automatically
switched off above VHIGH.
chopSync off
1…15
fCLK/64
…
fCLK/(15*64)
Hint: Set TOFF to a low value, so that the chopper
cycle is ended, before the next sync clock pulse
occurs. Set SYNC for the double desired chopper
frequency for chm=0, for the desired base chopper
frequency for chm=1.
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8 Analog Current Control AIN
When a high flexibility of the output current scaling is desired, the analog input of the driver can be
enabled for current control, rather than choosing a different set of sense resistors or scaling down the
run current via IRUN parameter. This way, a simple voltage divider can be used for the adaptation of
a board to different motors.
AIN SCALES THE MOTOR CURRENT
The TMC2130 provides an internal reference voltage for current control, directly derived from the
5VOUT supply output. Alternatively, an external reference voltage can be used. This reference voltage
becomes scaled down for the chopper comparators. The chopper comparators compare the voltages
on BRA and BRB to the scaled reference voltage for current regulation. When I_scale_analog in GCONF
is enabled, the external voltage on AIN is amplified and filtered and becomes used as reference
voltage. A voltage of 2.5V (or any voltage between 2.5V and 5V) gives the same current scaling as the
internal reference voltage. A voltage between 0V and 2.5V linearly scales the current between 0 and
the current scaling defined by the sense resistor setting. It is not advised to work with reference
voltages below about 0.5V to 1V, because relative analog noise caused by digital circuitry has an
increased impact on the chopper precision at low AIN voltages. For best precision, choose the sense
resistors in a way that the desired maximum current is reached with AIN in the range 2V to 2.4V. Be
sure to optimize the chopper settings for the normal run current of the motor.
DRIVING AIN
The easiest way to provide a voltage to AIN is to use a voltage divider from a stable supply voltage
or a microcontroller’s DAC output. A PWM signal can also be used for current control. The PWM
becomes transformed to an analog voltage using an additional R/C low-pass at the AIN pin. The PWM
duty cycle controls the analog voltage. Choose the R and C values to form a low pass with a corner
frequency of several milliseconds while using PWM frequencies well above 10 kHz. AIN additionally
provides an internal low-pass filter with 3.5kHz bandwidth. When a precise reference voltage is
available (e.g. from TL431A), the precision of the motor current regulation can be improved when
compared to the internal voltage reference.
Hint
Using a low reference voltage (e.g. below 1V), for adaptation of a high current driver to a low current
motor will lead to reduced analog performance. Adapting the sense resistors to fit the desired motor
current gives a better result.
2.5V
precision
reference
1-2.4V for fixed
current scaling
0-2.4V for
current scaling
0-2.4V for
current scaling
Digital
current
control
PWM output
of µC with
>20kHz
5VOUT or precise
reference voltage
8 Bit DAC
R1
22k
R2
R3
1µ
R1+R2»10K
Optional
digital
control
BC847
100k
DAC Reference
IREF
DAC Reference
IREF
DAC Reference
IREF
Fixed resistor divider to set current scale
(use external reference for enhanced precision)
Precision current scaler
Simple PWM based current scaler
Figure 8.1 Scaling the motor current using the analog input
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9 Selecting Sense Resistors
Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The
following table shows the RMS current values which can be reached using standard resistors and
motor types fitting without additional motor current scaling.
CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT
RSENSE [Ω]
RMS current [A]
RMS current [A]
(CS=31, vsense=0)
(CS=31, vsense=1)
1.00
0.82
0.75
0.68
0.50
0.47
0.33
0.27
0.22
0.15
0.12
0.10
0.23
0.27
0.30
0.33
0.44
0.47
0.66
0.79
0.96
1.35
1.64
1.92*)
0.12
0.15
0.17
0.18
0.24
0.26
0.36
0.44
0.53
0.75
0.91
1.06
*) Value exceeds upper current rating.
Sense resistors should be carefully selected. The full motor current flows through the sense resistors.
Due to chopper operation the sense resistors see pulsed current from the MOSFET bridges. Therefore,
a low-inductance type such as film or composition resistors is required to prevent voltage spikes
causing ringing on the sense voltage inputs leading to unstable measurement results. Also, a low-
inductance, low-resistance PCB layout is essential. Any common GND path for the two sense resistors
must be avoided, because this would lead to coupling between the two current sense signals. A
massive ground plane is best. Please also refer to layout considerations in chapter 29.
The sense resistor voltage range can be selected by the vsense bit in CHOPCONF. The low sensitivity
setting (high sense resistor voltage, vsense=0) brings best and most robust current regulation, while
high sensitivity (low sense resistor voltage, vsense=1) reduces power dissipation in the sense resistor.
The high sensitivity setting reduces the power dissipation in the sense resistor by nearly half.
The current to both coils is scaled by the 5-bit current scale parameters (IHOLD, IRUN). Choose the
sense resistor value so that the maximum desired current (or slightly more) flows at the maximum
current setting (IRUN = %11111).
CALCULATION OF RMS CURRENT
ꢍ푆 + 1
32
푉
1
퐹ꢎ
퐼ꢜ푀ꢎ
=
∗
∗
푅ꢎꢏ푁ꢎꢏ + 20ꢈΩ
2
√
The momentary motor current is calculated by:
ꢍ푈푅퐴/퐵
ꢍ푆 + 1
32
푉
퐹ꢎ
퐼푀푂푇
=
∗
∗
248
푅ꢎꢏ푁ꢎꢏ + 20ꢈΩ
CS is the current scale setting as set by the IHOLD and IRUN and CoolStep.
VFS is the full scale voltage as determined by vsense control bit (please refer to electrical
characteristics, VSRTL and VSRTH).
CURA/B is the actual value from the internal sine wave table.
248 is the amplitude of the internal sine wave table.
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When I_scale_analog is enabled for analog scaling of VFS, the resulting voltage VFS‘ is calculated by:
푉
퐴ꢇ푁
푉′ = 푉
∗
퐹ꢎ
퐹ꢎ
2.5푉
with VAIN the voltage on pin AIN_IREF in the range 0V to V5VOUT/2
The sense resistor needs to be able to conduct the peak motor coil current in motor standstill
conditions, unless standby power is reduced. Under normal conditions, the sense resistor conducts
less than the coil RMS current, because no current flows through the sense resistor during the slow
decay phases.
CALCULATION OF PEAK SENSE RESISTOR POWER DISSIPATION
ꢝ
푃ꢜꢎ푀퐴푋 = 퐼퐶푂ꢇ퐿 ∗ 푅ꢎꢏ푁ꢎꢏ
Hint
For best precision of current setting, it is advised to measure and fine tune the current in the
application.
Attention
Be sure to use a symmetrical sense resistor layout and short and straight sense resistor traces of
identical length. Well matching sense resistors ensure best performance.
A compact layout with massive ground plane is best to avoid parasitic resistance effects.
Parameter
Description
Setting Comment
IRUN
Current scale when motor is running. Scales coil 0 … 31
current values as taken from the internal sine
wave table. For high precision motor operation,
work with a current scaling factor in the range 16
to 31, because scaling down the current values
reduces the effective microstep resolution by
making microsteps coarser. This setting also
controls the maximum current value set by
CoolStep.
scaling factor
1/32, 2/32, … 32/32
IHOLD
IHOLD
DELAY
Identical to IRUN, but for motor in stand still.
Allows smooth current reduction from run current 0
instant IHOLD
1*218 … 15*218
clocks per current
decrement
to hold current. IHOLDDELAY controls the number
of clock cycles for motor power down after
TPOWERDOWN in increments of 2^18 clocks:
0=instant power down, 1..15: Current reduction
delay per current step in multiple of 2^18 clocks.
1 …15
Example: When using IRUN=31 and IHOLD=16, 15
current steps are required for hold current
reduction. A IHOLDDELAY setting of 4 thus results
in a power down time of 4*15*2^18 clock cycles,
i.e. roughly one second at 16MHz.
vsense
Allows control of the sense resistor voltage range 0
VFS = 0.32 V
VFS = 0.18 V
for full scale current.
1
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10 Internal Sense Resistors
The TMC2130 provides the option to eliminate external sense resistors. In this mode the external
sense resistors become omitted (shorted) and the internal on-resistance of the power MOSFETs is
used for current measurement (see Figure 3.3). As MOSFETs are both, temperature dependent and
subject to production stray, a tiny external resistor connected from +5VOUT to AIN/IREF provides a
precise absolute current reference. This resistor converts the 5V voltage into a reference current. Be
sure to directly attach BRA and BRB pins to GND in this mode near the IC package. The mode is
enabled by setting internal_Rsense in GCONF.
COMPARING INTERNAL SENSE RESISTORS VS. SENSE RESISTORS
Item
Ease of use
Cost
Current precision
Current Range
Recommended
Recommended
chopper
Internal Sense Resistors
Set internal_Rsense first
(+) Save cost for sense resistors
Slightly reduced
External Sense Resistors
(+) Default
(+) Good
50mA to 1.4A RMS
200mA RMS to 1.2A RMS
StealthChop,
SpreadCycle shows slightly
reduced performance at >1A
StealthChop or SpreadCycle
While the RDSon based measurements bring benefits concerning cost and size of the driver, it gives
slightly less precise coil current regulation when compared to external sense resistors. The internal
sense resistors have a certain temperature dependence, which is automatically compensated by the
driver IC. However, for high current motors, a temperature gradient between the ICs internal sense
resistors and the compensation circuit will lead to an initial current overshoot of some 10% during
driver IC heat up. While this phenomenon shows for roughly a second, it might even be beneficial to
enable increased torque during initial motor acceleration.
PRINCIPLE OF OPERATION
A reference current into the AIN/IREF pin is used as reference for the motor current. In order to
realize a certain current, a single resistor (RREF) can be connected between 5VOUT and AIN/IREF (pls.
refer the table for the choice of the resistor). AIN/IREF input resistance is about 1kOhm. The resulting
current into AIN/IREF is amplified 3000 times. Thus, a current of 0.5mA yields a motor current of 1.5A
peak. For calculation of the reference resistor, the internal resistance of VREF needs to be considered
additionally.
When using reference currents above 0.5mA resulting in higher theoretical current settings of up to
2A, the resulting current decreases linearly when chip temperature exceeds a certain maximum
temperature. For a 2A setting it decreases from 2A at up to 100°C down to about 1.5A at 150°C. The
resulting curve limits the maximum current setting in this mode. For calculation of the reference
resistor, the internal resistance of AIN/RREF needs to be considered additionally.
vsense=1 allows a lower peak current setting of about 55% of the value yielded with vsense=0 (as
specified by VSRTH / VSRTL). For fine tuning use the current scale CS.
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CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS
RREF [Ω]
Peak current [A]
(CS=31, vsense=0)
Peak current [A]
(CS=31, vsense=1)
6k8
7k5
8k2
9k1
10k
12k
15k
18k
22k
24k
27k
1.92
1.76
1.63
1.49
1.36
1.15
0.94
0.79
0.65
0.60
0.54
1.06
0.97
0.90
0.82
0.75
0.63
0.52
0.43
0.36
0.33
0.29
In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path
(i.e. lowest possible PCB resistance). In a realistic setup, the effective current will be slightly lower
than expected. RDSon based measurement gives best results when combined with classic constant off
time chopper or with the voltage PWM StealthChop. When using SpreadCycle with RDSon based
current measurement, slightly asymmetric current measurement for positive currents (on phase) and
negative currents (fast decay phase) can result in chopper noise. This especially occurs at increased
die temperature and increased motor current.
Note
The absolute current levels achieved with RDSon based current sensing may depend on PCB layout
exactly like with external sense resistors, because trace resistance on BR pins will add to the effective
sense resistance. Therefore we recommend to measure and calibrate the current setting within the
application.
Thumb rule
RDSon based current sensing works best for motors with up to 1.2A RMS current. The best results are
yielded with StealthChop operation in combination with RDSon based current sensing. Consider using
classic chopper rather than SpreadCycle.
For most precise current control and best results with SpreadCycle, it is recommended to use external
1% sense resistors rather than RDSon based current control.
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11 Velocity Based Mode Control
The TMC2130 allows the configuration of different chopper modes and modes of operation for
optimum motor control. Depending on the motor load, the different modes can be optimized for
lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the
features like CoolStep or StallGuard2 are useful in a limited velocity range. A number of velocity
thresholds allow combining the different modes of operation within an application requiring a wide
velocity range.
Chopper mode
stealthChop
spreadCycle
const. Toff
option
option
option
option
option
option
option
v
VHIGH+Δ
VHIGH
VCOOLTHRS+Δ
VCOOLTHRS
VPWMTHRS+Δ
VPWMTHRS
0
t
current
I_RUN
I_HOLD
VACTUAL
~1/TSTEP
RMS current
TRINAMIC, B. Dwersteg, 14.3.14
coolStep current reduction
Figure 11.1 Choice of velocity dependent modes
Figure 11.1 shows all available thresholds and the required ordering. VPWMTHRS, VHIGH and
VCOOLTHRS are determined by the settings TPWMTHRS, THIGH and TCOOLTHRS. The velocity is
described by the time interval TSTEP between each two step pulses. This allows determination of the
velocity when an external step source is used. TSTEP always becomes normalized to 256
microstepping. This way, the thresholds do not have to be adapted when the microstep resolution is
changed. The thresholds represent the same motor velocity, independent of the microstep settings.
TSTEP becomes compared to these threshold values. A hysteresis of 1/16 TSTEP resp. 1/32 TSTEP is
applied to avoid continuous toggling of the comparison results when a jitter in the TSTEP
measurement occurs. The upper switching velocity is higher by 1/16, resp. 1/32 of the value set as
threshold. The StealthChop threshold TPWMTHRS is not shown. It can be included with VPWMTHRS <
VCOOLTHRS. The motor current can be programmed to a run and a hold level, dependent on the
standstill flag stst.
Using automatic velocity thresholds allows tuning the application for different velocity ranges.
Features like CoolStep will integrate completely transparently in your setup. This way, once
parameterized, they do not require any activation or deactivation via software.
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Parameter
stst
Description
Setting Comment
Status bit, read only
Indicates motor stand still in each operation 0/1
mode. Time is 2^20 clocks after the last step pulse.
This is the delay time after stand still (stst) of the 0…255
motor to motor current power down. Time range
is about 0 to 4 seconds. Setting 0 is no delay, 1 a
one clock cycle delay. Further increment is in
discrete steps of 2^18 clock cycles.
TPOWER
DOWN
Time in multiples of 2^18
tCLK
TSTEP
Actual measured time between two 1/256 0…
Status register, read only.
microsteps derived from the step input frequency 1048575 Actual measured step time
in units of 1/fCLK. Measured value is (2^20)-1 in
in multiple of tCLK
case of overflow or stand still.
TPWMTHRS TSTEP ≥ TPWMTHRS
0…
Setting to control the
-
StealthChop PWM mode is enabled, if 1048575 upper velocity threshold
configured
for operation in
-
DcStep is disabled
StealthChop
TCOOLTHRS TCOOLTHRS ≥ TSTEP ≥ THIGH:
0…
Setting to control the
-
-
CoolStep is enabled, if configured
StealthChop voltage PWM mode is
1048575 lower velocity threshold
for operation with
disabled
CoolStep and StallGuard
TCOOLTHRS ≥ TSTEP
StallGuard status output signal is enabled,
if configured
TSTEP ≤ THIGH:
-
THIGH
0…
Setting to control the
-
-
-
CoolStep is disabled (motor runs with 1048575 upper threshold for
normal current scale)
operation with CoolStep
and StallGuard as well as
optional high velocity step
mode
StealthChop voltage PWM mode is
disabled
If vhighchm is set, the chopper switches
to chm=1 with TFD=0 (constant off time
with slow decay, only).
-
-
chopSync2 is switched off (SYNC=0)
If vhighfs is set, the motor operates in
fullstep mode and the stall detection
becomes switched over to DcStep stall
detection.
small_
hysteresis
Hysteresis for step frequency comparison based 0
Hysteresis is 1/16
Hysteresis is 1/32
on TSTEP (lower velocity threshold) and
(TSTEP*15/16)-1 respectively (TSTEP*31/32)-1 (upper
velocity threshold)
1
vhighfs
This bit enables switching to fullstep, when VHIGH 0
No switch to fullstep
is exceeded. Switching takes place only at 45°
1
Fullstep at high velocities
position. The fullstep target current uses the
current value from the microstep table at the 45°
position.
This bit enables switching to chm=1 and fd=0, when
VHIGH is exceeded. This way, a higher velocity can
be achieved. Can be combined with vhighfs=1. If set,
the TOFF setting automatically becomes doubled
during high velocity operation in order to avoid
doubling of the chopper frequency.
vhighchm
0
1
No change of chopper
mode
Classic const. Toff chopper
at high velocities
en_pwm_
mode
StealthChop voltage PWM enable flag (depending 0
No StealthChop
on velocity thresholds). Switch from off to on
1
StealthChop below
VPWMTHRS
state while in stand still, only.
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12 Driver Diagnostic Flags
The TMC2130 drivers supply a complete set of diagnostic and protection capabilities, like short to GND
protection and undervoltage detection. A detection of an open load condition allows testing if a
motor coil connection is interrupted. See the DRV_STATUS table for details.
12.1 Temperature Measurement
The driver integrates a two level temperature sensor (120°C pre-warning and 150°C thermal shutdown)
for diagnostics and for protection of the IC against excess heat. The heat is mainly generated by the
motor driver stages, and, at increased voltage, by the internal voltage regulator. Most critical
situations, where the driver MOSFETs could be overheated, are avoided when enabling the short to
GND protection. For many applications, the overtemperature pre-warning will indicate an abnormal
operation situation and can be used to initiate user warning or power reduction measures like motor
current reduction. The thermal shutdown is just an emergency measure and temperature rising to the
shutdown level should be prevented by design.
After triggering the overtemperature sensor (ot flag), the driver remains switched off until the system
temperature falls below the pre-warning level (otpw) to avoid continuous heating to the shutdown
level.
12.2 Short to GND Protection
The TMC2130 power stages are protected against a short circuit condition by an additional measure-
ment of the current flowing through the high-side MOSFETs. This is important, as most short circuit
conditions result from a motor cable insulation defect, e.g. when touching the conducting parts
connected to the system ground. The short detection is protected against spurious triggering, e.g. by
ESD discharges, by retrying three times before switching off the motor.
Once a short condition is safely detected, the corresponding driver bridge becomes switched off, and
the s2ga or s2gb flag becomes set. In order to restart the motor, the user must intervene by disabling
and re-enabling the driver. It should be noted, that the short to GND protection cannot protect the
system and the power stages for all possible short events, as a short event is rather undefined and a
complex network of external components may be involved. Therefore, short circuits should basically
be avoided.
12.3 Open Load Diagnostics
Interrupted cables are a common cause for systems failing, e.g. when connectors are not firmly
plugged. The TMC2130 detects open load conditions by checking, if it can reach the desired motor coil
current. This way, also undervoltage conditions, high motor velocity settings or short and
overtemperature conditions may cause triggering of the open load flag, and inform the user, that
motor torque may suffer. In motor stand still, open load cannot be measured, as the coils might
eventually have zero current.
In order to safely detect an interrupted coil connection, read out the open load flags at low or
nominal motor velocity operation, only. However, the ola and olb flags have just informative
character and do not cause any action of the driver.
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14 StallGuard2 Load Measurement
StallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as CoolStep load-
adaptive current reduction. The StallGuard2 measurement value changes linearly over a wide range of
load, velocity, and current settings, as shown in Figure 14.1. At maximum motor load, the value goes
to zero or near to zero. This corresponds to a load angle of 90° between the magnetic field of the
coils and magnets in the rotor. This also is the most energy-efficient point of operation for the motor.
1000
900
stallGuard2
Start value depends
on motor and
operating conditions
800
700
600
500
400
300
200
100
0
reading
stallGuard value reaches zero
and indicates danger of stall.
This point is set by stallGuard
threshold value SGT.
Motor stalls above this point.
Load angle exceeds 90° and
available torque sinks.
10
20
30
40
50
60
70
80
90 100
motor load
(% max. torque)
Figure 14.1 Function principle of StallGuard2
Parameter
Description
Setting Comment
SGT
This signed value controls the StallGuard2 0
threshold level for stall detection and sets the
optimum measurement range for readout. A
lower value gives a higher sensitivity. Zero is the
starting value working with most motors. A
higher value makes StallGuard2 less sensitive and
requires more torque to indicate a stall.
indifferent value
+1… +63 less sensitivity
-1… -64 higher sensitivity
sfilt
Enables the StallGuard2 filter for more precision 0
standard mode
of the measurement. If set, reduces the
measurement frequency to one measurement per
electrical period of the motor (4 fullsteps).
1
filtered mode
Status word Description
SG_RESULT
Range
Comment
This is the StallGuard2 result. A higher reading 0… 1023 0: highest load
indicates less mechanical load. A lower reading
indicates a higher load and thus a higher load
angle. Tune the SGT setting to show a SG_RESULT
reading of roughly 0 to 100 at maximum load
before motor stall.
low value: high load
high value: less load
In order to use StallGuard2 and CoolStep, the StallGuard2 sensitivity should first be tuned using the
SGT setting!
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14.1 Tuning StallGuard2 Threshold SGT
The StallGuard2 value SG_RESULT is affected by motor-specific characteristics and application-specific
demands on load and velocity. Therefore the easiest way to tune the StallGuard2 threshold SGT for a
specific motor type and operating conditions is interactive tuning in the actual application.
INITIAL PROCEDURE FOR TUNING STALLGUARD SGT
1. Operate the motor at the normal operation velocity for your application and monitor SG_RESULT.
2. Apply slowly increasing mechanical load to the motor. If the motor stalls before SG reaches zero,
decrease SGT. If SG_RESULT reaches zero before the motor stalls, increase SGT. A good SGT
starting value is zero. SGT is signed, so it can have negative or positive values.
3. Now monitor the StallGuard output signal via DIAG0 or DIAG1 output (configure properly, also set
TCOOLTHRS) and stop the motor when a pulse is seen on the respective output. Make sure, that
the motor is safely stopped whenever it is stalled. Increase SGT if the motor becomes stopped
before a stall occurs.
4. The optimum setting is reached when SG_RESULT is between 0 and roughly 100 at increasing load
shortly before the motor stalls, and SG_RESULT increases by 100 or more without load. SGT in
most cases can be tuned for a certain motion velocity or a velocity range. Make sure, that the
setting works reliable in a certain range (e.g. 80% to 120% of desired velocity) and also under
extreme motor conditions (lowest and highest applicable temperature).
OPTIONAL PROCEDURE ALLOWING AUTOMATIC TUNING OF SGT
The basic idea behind the SGT setting is a factor, which compensates the StallGuard measurement for
resistive losses inside the motor. At standstill and very low velocities, resistive losses are the main
factor for the balance of energy in the motor, because mechanical power is zero or near to zero. This
way, SGT can be set to an optimum at near zero velocity. This algorithm is especially useful for tuning
SGT within the application to give the best result independent of environment conditions, motor
stray, etc.
1. Operate the motor at low velocity < 10 RPM (i.e. a few to a few fullsteps per second) and target
operation current and supply voltage. In this velocity range, there is not much dependence of
SG_RESULT on the motor load, because the motor does not generate significant back EMF.
Therefore, mechanical load will not make a big difference on the result.
2. Switch on sfilt. Now increase SGT starting from 0 to a value, where SG_RESULT starts rising. With
a high SGT, SG_RESULT will rise up to the maximum value. Reduce again to the highest value,
where SG_RESULT stays at 0. Now the SGT value is set as sensibly as possible. When you see
SG_RESULT increasing at higher velocities, there will be useful stall detection.
The upper velocity for the stall detection with this setting is determined by the velocity, where the
motor back EMF approaches the supply voltage and the motor current starts dropping when further
increasing velocity.
SG_RESULT goes to zero when the motor stalls and the stall signal is activated. The external motion
controller should react to a single pulse by stopping the motor if desired. Set TCOOLTHRS to match
the lower velocity threshold where StallGuard delivers a good result.
The system clock frequency affects SG_RESULT. An external crystal-stabilized clock should be used for
applications that demand the highest performance. The power supply voltage also affects SG_RESULT,
so tighter regulation results in more accurate values. SG_RESULT measurement has a high resolution,
and there are a few ways to enhance its accuracy, as described in the following sections.
Note
Application Note 002 Parameterization of StallGuard2 & CoolStep is available on www.trinamic.com.
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14.1.1 Variable Velocity Limits TCOOLTHRS and THIGH
The SGT setting chosen as a result of the previously described SGT tuning (chapter 0) can be used for
a certain velocity range. Outside this range, a stall may not be detected safely, and CoolStep might
not give the optimum result.
good operation
range with single
1000
900
800
700
600
500
400
300
200
100
0
20
18
16
14
12
10
8
SGT setting
stallGuard2
reading at
no load
optimum
SGT setting
6
4
2
0
50
100
150
200
250
300
350
400
450
500
550
600
Motor RPM
(200 FS motor)
lower limit for stall
detection
back EMF reaches
supply voltage
Figure 14.2 Example: optimum SGT setting and StallGuard2 reading with an example motor
In many applications, operation at or near a single operation point is used most of the time and a
single setting is sufficient. The driver provides a lower and an upper velocity threshold to match this.
The stall detection is disabled outside the determined operation point, e.g. during acceleration phases
preceding a sensorless homing procedure when setting TCOOLTHRS to a matching value. An upper
limit can be specified by THIGH.
In some applications, a velocity dependent tuning of the SGT value can be expedient, using a small
number of support points and linear interpolation.
14.1.2 Small Motors with High Torque Ripple and Resonance
Motors with a high detent torque show an increased variation of the StallGuard2 measurement value
SG_RESULT with varying motor currents, especially at low currents. For these motors, the current
dependency should be checked for best result.
14.1.3 Temperature Dependence of Motor Coil Resistance
Motors working over a wide temperature range may require temperature correction, because motor
coil resistance increases with rising temperature. This can be corrected as a linear reduction of
SG_RESULT at increasing temperature, as motor efficiency is reduced.
14.1.4 Accuracy and Reproducibility of StallGuard2 Measurement
In a production environment, it may be desirable to use a fixed SGT value within an application for
one motor type. Most of the unit-to-unit variation in StallGuard2 measurements results from manu-
facturing tolerances in motor construction. The measurement error of StallGuard2 – provided that all
other parameters remain stable – can be as low as:
|
|
푠ꢅ푎푙푙퐺푢푎푟푑 ꢈꢓ푎푠푢푟ꢓꢈꢓ푛ꢅ ꢓ푟푟표푟 = ±ꢈ푎푥ꢙ1, 푆퐺ꢒ ꢚ
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14.2 StallGuard2 Update Rate and Filter
The StallGuard2 measurement value SG is updated with each full step of the motor. This is enough to
safely detect a stall, because a stall always means the loss of four full steps. In a practical application,
especially when using CoolStep, a more precise measurement might be more important than an
update for each fullstep because the mechanical load never changes instantaneously from one step to
the next. For these applications, the sfilt bit enables a filtering function over four load measurements.
The filter should always be enabled when high-precision measurement is required. It compensates for
variations in motor construction, for example due to misalignment of the phase A to phase B
magnets. The filter should be disabled when rapid response to increasing load is required and for
best results of sensorless homing using StallGuard.
14.3 Detecting a Motor Stall
To safely detect a motor stall the stall threshold must be determined using a specific SGT setting.
Therefore, the maximum load needs to be determined the motor can drive without stalling. At the
same time, monitor SG_RESULT at this load, e.g. some value within the range 0 to 100. The stall
threshold should be a value safely within the operating limits, to allow for parameter stray. The
response at an SGT setting at or near 0 gives some idea on the quality of the signal: Check SG_RESULT
without load and with maximum load. They should show a difference of at least 100 or a few 100,
which shall be large compared to the offset. If you set the SGT value in a way, that a reading of 0
occurs at maximum motor load, the stall can be automatically detected by the motion controller to
issue a motor stop. In the moment of the step resulting in a step loss, the lowest reading will be
visible. After the step loss, the motor will vibrate and show a higher SG reading.
14.4 Limits of StallGuard2 Operation
StallGuard2 does not operate reliably at extreme motor velocities: Very low motor velocities (for many
motors, less than one revolution per second) generate a low back EMF and make the measurement
unstable and dependent on environment conditions (temperature, etc.). The automatic tuning
procedure described above will compensate for this. Other conditions will also lead to extreme
settings of SGT and poor response of the measurement value SG_RESULT to the motor load.
Very high motor velocities, in which the full sinusoidal current is not driven into the motor coils also
leads to poor response. These velocities are typically characterized by the motor back EMF reaching
the supply voltage.
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15 CoolStep Operation
CoolStep is an automatic smart energy optimization for stepper motors based on the motor
mechanical load, making them “green”.
15.1 User Benefits
Energy efficiency
–
–
–
–
consumption decreased up to 75%
improved mechanical precision
for motor and driver
Motor generates less heat
Less cooling infrastructure
Cheaper motor
does the job!
CoolStep allows substantial energy savings, especially for motors which see varying loads or operate
at a high duty cycle. Because a stepper motor application needs to work with a torque reserve of 30%
to 50%, even a constant-load application allows significant energy savings because CoolStep
automatically enables torque reserve when required. Reducing power consumption keeps the system
cooler, increases motor life, and allows reducing cost in the power supply and cooling components.
Reducing motor current by half results in reducing power by a factor of four.
15.2 Setting up for CoolStep
CoolStep is controlled by several parameters, but two are critical for understanding how it works:
Parameter
Description
Range Comment
SEMIN
4-bit unsigned integer that sets a lower threshold. 0
disable CoolStep
threshold is SEMIN*32
If SG goes below this threshold, CoolStep
increases the current to both coils. The 4-bit
SEMIN value is scaled by 32 to cover the lower
half of the range of the 10-bit SG value. (The
name of this parameter is derived from
smartEnergy, which is an earlier name for
CoolStep.)
1…15
SEMAX
4-bit unsigned integer that controls an upper 0…15
threshold. If SG is sampled equal to or above this
threshold enough times, CoolStep decreases the
current to both coils. The upper threshold is
(SEMIN + SEMAX + 1)*32.
threshold is
(SEMIN+SEMAX+1)*32
Figure 15.1 shows the operating regions of CoolStep:
-
-
-
The black line represents the SG_RESULT measurement value.
The blue line represents the mechanical load applied to the motor.
The red line represents the current into the motor coils.
When the load increases, SG_RESULT falls below SEMIN, and CoolStep increases the current. When the
load decreases, SG_RESULT rises above (SEMIN + SEMAX + 1) * 32, and the current is reduced.
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motor current reduction area
current setting I_RUN
(upper limit)
SEMAX+SEMIN+1
SEMIN
½ or ¼ I_RUN
motor current increment area
stall possible
(lower limit)
0=maximum load
Zeit
load
angle
load angle optimized
load angle optimized
optimized
Figure 15.1 CoolStep adapts motor current to the load
Five more parameters control CoolStep and one status value is returned:
Parameter
Description
Range
Comment
SEUP
Sets the current increment step. The current 0…3
becomes incremented for each measured
StallGuard2 value below the lower threshold.
Sets the number of StallGuard2 readings above 0…3
the upper threshold necessary for each current
decrement of the motor current.
step width is
1, 2, 4, 8
SEDN
number of StallGuard2
measurements per
decrement:
32, 8, 2, 1
SEIMIN
Sets the lower motor current limit for CoolStep 0
0: 1/2 of IRUN
1: 1/4 of IRUN
operation by scaling the IRUN current setting.
1
TCOOLTHRS Lower velocity threshold for switching on 1…
CoolStep and stall output. Below this velocity 2^20-1
CoolStep becomes disabled (not used in STEP/DIR
mode). Adapt to the lower limit of the velocity
range where StallGuard2 gives a stable result.
Specifies lower CoolStep
velocity by comparing
the threshold value to
TSTEP
Hint: May be adapted to disable CoolStep during
acceleration and deceleration phase by setting
identical to VMAX.
THIGH
Upper velocity threshold value for CoolStep and 1…
stop on stall. Above this velocity CoolStep 2^20-1
becomes disabled. Adapt to the velocity range
where StallGuard2 gives a stable result.
Also controls additional
functions like switching
to fullstepping.
Status
word
Description
Range
Comment
This status value provides the actual motor
current scale as controlled by CoolStep. The value
goes up to the IRUN value and down to the
portion of IRUN as specified by SEIMIN.
CSACTUAL
0…31
1/32, 2/32, … 32/32
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15.3 Tuning CoolStep
Before tuning CoolStep, first tune the StallGuard2 threshold level SGT, which affects the range of the
load measurement value SG_RESULT. CoolStep uses SG_RESULT to operate the motor near the
optimum load angle of +90°.
The current increment speed is specified in SEUP, and the current decrement speed is specified in
SEDN. They can be tuned separately because they are triggered by different events that may need
different responses. The encodings for these parameters allow the coil currents to be increased much
more quickly than decreased, because crossing the lower threshold is a more serious event that may
require a faster response. If the response is too slow, the motor may stall. In contrast, a slow
response to crossing the upper threshold does not risk anything more serious than missing an
opportunity to save power.
CoolStep operates between limits controlled by the current scale parameter IRUN and the seimin bit.
15.3.1 Response Time
For fast response to increasing motor load, use a high current increment step SEUP. If the motor load
changes slowly, a lower current increment step can be used to avoid motor oscillations. If the filter
controlled by sfilt is enabled, the measurement rate and regulation speed are cut by a factor of four.
Hint
The most common and most beneficial use is to adapt CoolStep for operation at the typical system
target operation velocity and to set the velocity thresholds according. As acceleration and
decelerations normally shall be quick, they will require the full motor current, while they have only a
small contribution to overall power consumption due to their short duration.
15.3.2 Low Velocity and Standby Operation
Because CoolStep is not able to measure the motor load in standstill and at very low RPM, a lower
velocity threshold is provided for enabling CoolStep. It should be set to an application specific default
value. Below this threshold the normal current setting via IRUN respectively IHOLD is valid. An upper
threshold is provided by the VHIGH setting. Both thresholds can be set as a result of the StallGuard2
tuning process.
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16 STEP/DIR Interface
The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion
controllers. The MicroPlyer STEP pulse interpolator brings the smooth motor operation of high-
resolution microstepping to applications originally designed for coarser stepping.
16.1 Timing
Figure 16.1 shows the timing parameters for the STEP and DIR signals, and the table below gives
their specifications. When the dedge mode bit in the CHOPCONF register is set, both edges of STEP
are active. If dedge is cleared, only rising edges are active. STEP and DIR are sampled and
synchronized to the system clock. An internal analog filter removes glitches on the signals, such as
those caused by long PCB traces. If the signal source is far from the chip, and especially if the signals
are carried on cables, the signals should be filtered or differentially transmitted.
+VCC_IO
DIR
SchmittTrigger
tSH
tSL
tDSH
tDSU
STEP
or DIR
Input
250k
0.56 VCC_IO
0.44 VCC_IO
STEP
Internal
Signal
0.26pF
Input filter
R*C = 65ns +-30%
Figure 16.1 STEP and DIR timing, Input pin filter
STEP and DIR interface timing
Parameter
AC-Characteristics
clock period is tCLK
Symbol Conditions
Min
Typ
Max
Unit
step frequency (at maximum
microstep resolution)
fSTEP
dedge=0
½ fCLK
dedge=1
¼ fCLK
fullstep frequency
STEP input low time *)
fFS
tSL
fCLK/512
max(tFILTSD
tCLK+20)
max(tFILTSD
tCLK+20)
,
,
ns
ns
STEP input high time *)
tSH
DIR to STEP setup time
DIR after STEP hold time
STEP and DIR spike filtering time
*)
tDSU
tDSH
tFILTSD
20
20
36
ns
ns
ns
rising and falling
edge
60
85
STEP and DIR sampling relative
to rising CLK input
tSDCLKHI
before rising edge
of CLK input
tFILTSD
ns
*) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase
filtering delay tFILTSD, due to an internal input RC filter.
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16.2 Changing Resolution
A reduced microstep resolution allows limitation of the step frequency for the STEP/DIR interface, or
compatibility to an older, less performing driver. The internal microstep table with 1024 sine wave
entries generates sinusoidal motor coil currents. These 1024 entries correspond to one electrical
revolution or four fullsteps. The microstep resolution setting determines the step width taken within
the table. Depending on the DIR input, the microstep counter is increased (DIR=0) or decreased
(DIR=1) with each STEP pulse by the step width. The microstep resolution determines the increment
respectively the decrement. At maximum resolution, the sequencer advances one step for each step
pulse. At half resolution, it advances two steps. Increment is up to 256 steps for fullstepping. The
sequencer has special provision to allow seamless switching between different microstep rates at any
time. When switching to a lower microstep resolution, it calculates the nearest step within the target
resolution and reads the current vector at that position. This behavior especially is important for low
resolutions like fullstep and halfstep, because any failure in the step sequence would lead to
asymmetrical run when comparing a motor running clockwise and counterclockwise.
EXAMPLES:
Fullstep:
Cycles through table positions: 128, 384, 640 and 896 (45°, 135°, 225° and 315° electrical
position, both coils on at identical current). The coil current in each position
corresponds to the RMS-Value (0.71 * amplitude). Step size is 256 (90° electrical)
Half step:
The first table position is 64 (22.5° electrical), Step size is 128 (45° steps)
Quarter step: The first table position is 32 (90°/8=11.25° electrical), Step size is 64 (22.5° steps)
This way equidistant steps result and they are identical in both rotation directions. Some older drivers
also use zero current (table entry 0, 0°) as well as full current (90°) within the step tables. This kind of
stepping is avoided because it provides less torque and has a worse power dissipation in driver and
motor.
Step position
table position
64
current coil A
38.3%
current coil B
92.4%
Half step 0
Full step 0
Half step 1
Half step 2
Full step 1
Half step 3
Half step 4
Full step 2
Half step 5
Half step 6
Full step 3
Half step 7
128
192
320
384
448
576
640
704
832
896
960
70.7%
92.4%
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
38.3%
70.7%
92.4%
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16.3 MicroPlyer Step Interpolator and Stand Still Detection
For each active edge on STEP, MicroPlyer produces microsteps at 256x resolution, as shown in Figure
16.2. It interpolates the time in between of two step impulses at the step input based on the last
step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256
microsteps (full step input to 256 microsteps) are driven for a single step pulse.
Enable MicroPlyer by setting the intpol bit in the CHOPCONF register.
The step rate for the interpolated 2 to 256 microsteps is determined by measuring the time interval of
the previous step period and dividing it into up to 256 equal parts. The maximum time between two
microsteps corresponds to 220 (roughly one million system clock cycles), for an even distribution of
256 microsteps. At 16 MHz system clock frequency, this results in a minimum step input frequency of
16 Hz for MicroPlyer operation. A lower step rate causes the STST bit to be set, which indicates a
standstill event. At that frequency, microsteps occur at a rate of (system clock frequency)/216 ~ 256 Hz.
When a stand still is detected, the driver automatically switches the motor to holding current IHOLD.
Attention
MicroPlyer only works perfectly with a stable STEP frequency. Do not use the dedge option if the STEP
signal does not have a 50% duty cycle.
STEP
Interpolated
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
microstep
Motor
angle
2^20 tCLK
STANDSTILL
(stst) active
Figure 16.2 MicroPlyer microstep interpolation with rising STEP frequency (Example: 16 to 256)
In Figure 16.2, the first STEP cycle is long enough to set the standstill bit stst. This bit is cleared on
the next STEP active edge. Then, the external STEP frequency increases. After one cycle at the higher
rate MicroPlyer adapts the interpolated microstep rate to the higher frequency. During the last cycle at
the slower rate, MicroPlyer did not generate all 16 microsteps, so there is a small jump in motor
angle between the first and second cycles at the higher rate.
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17 DIAG Outputs
Operation with a motion controller often requires quick reaction to certain states of the stepper motor
driver. Therefore, the DIAG outputs supply a configurable set of different real time information
complementing the STEP/DIR interface.
Both, the information available at DIAG0 and DIAG1 can be selected as well as the type of output
(low active open drain – default setting, or high active push-pull). In order to determine a reset of the
driver, DIAG0 always shows a power-on reset condition by pulling low during a reset condition.
Figure 17.1 shows the available signals and control bits.
Power-on reset
Driver error
diag0_pushpull
diag0_error
PMD
DIAG0
Overtemp. prewarning
diag0_otpw
Stall
diag0_stall
PDD=100k pulldown
PMD=50k to VCC/2
diag1_stall
Sequencer microstep 0 index
diag1_pushpull
diag1_index
PDD
DIAG1
Chopper on-state
diag1_onstate
dcStep steps skipped
diag1_steps_skipped
Figure 17.1 DIAG outputs in STEP/DIR mode
The stall output signal allows StallGuard2 to be handled by the external motion controller like a stop
switch. The Stall signal becomes activated, when SG_RESULT goes to zero and at the same time the
velocity condition TSTEP ≤ TCOOLTHRS is fulfilled. The index output signals the microstep counter zero
position, to allow the application to reference the drive to a certain current pattern. Chopper on-state
shows the on-state of both coil choppers (alternating) when working in SpreadCycle or constant off
time in order to determine the duty cycle. The DcStep skipped information is an alternative way to
find out when DcStep runs with a velocity below the step velocity. It toggles with each step not
taken by the sequencer.
Attention
The duration of the index pulse corresponds to the duration of the microstep. When working without
interpolation at less than 256 microsteps, the index time goes down to two CLK clock cycles.
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18 DcStep
DcStep is an automatic commutation mode for the stepper motor. It allows the stepper to run with
its target velocity as commanded by the step pulses as long as it can cope with the load. In case the
motor becomes overloaded, it slows down to a velocity, where the motor can still drive the load. This
way, the stepper motor never stalls and can drive heavy loads as fast as possible. Its higher torque
available at lower velocity, plus dynamic torque from its flywheel mass allow compensating for
mechanical torque peaks. In case the motor becomes completely blocked, the stall flag becomes set.
18.1 User Benefits
Motor
–
–
–
–
–
never loses steps
Application
Acceleration
Energy efficiency
Cheaper motor
works as fast as possible
automatically as high as possible
highest at speed limit
does the job!
18.2 Designing-In DcStep
In a classical application, the operation area is limited by the maximum torque required at maximum
application velocity. A safety margin of up to 50% torque is required, in order to compensate for
unforeseen load peaks, torque loss due to resonance and aging of mechanical components. DcStep
allows using up to the full available motor torque. Even higher short time dynamic loads can be
overcome using motor and application flywheel mass without the danger of a motor stall. With
DcStep the nominal application load can be extended to a higher torque only limited by the safety
margin near the holding torque area (which is the highest torque the motor can provide).
Additionally, maximum application velocity can be increased up to the actually reachable motor
velocity.
torque
MMAX
microstep
operation
dcStep operation - no step loss can occur
additional flywheel mass torque reserve
m
a
x
.
m
o
t
o
r
t
s
a
f
o
r
q
e
t
y
m
a
r
g
i
n
u
e
MNOM2
dcStep extended
application area
MNOM1
Classic operation area
with safety margin
0
velocity [RPM]
MNOM: Nominal torque required by application
MMAX: Motor pull-out torque at v=0
Safety margin: Classical application operation area is limited by a certain
percentage of motor pull-out torque
Figure 18.1 DcStep extended application operation area
Quick Start
For detail configuration procedure see Application Note AN003 - DcStep
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DcStep requires only a few settings. It feeds back motor motion to the external ramp generator, so
that it becomes seamlessly integrated into the motion ramp, even if the motor becomes overloaded
with respect to the target velocity. DcStep operates the motor in fullstep mode at the target velocity
or at reduced velocity if the motor becomes overloaded. It requires enforcing a minimum operation
velocity either by the ramp generator or by VDCMIN. It shall be set to the lowest operating velocity
where DcStep gives a reliable detection of motor operation. The motor never stalls unless it becomes
braked to a velocity below VDCMIN. In case the velocity should fall below this value, the motor
would restart once its load is released, unless the stall detection is used to stop the motor in this
case. Stall detection is covered by StallGuard2.
v
dcStep active
VMAX
D
X
M
overload
A
M
A
X
A
V1
D
1
1
A
VDCMIN
0
t
Nominal ramp profile
Ramp profile with torque overload and same target position
Figure 18.2 Velocity profile with impact by overload situation (example)
Attention
DcStep requires that the phase polarity of the sine wave is positive within the MSCNT range 768 to
255 and negative within 256 to 767. The cosine polarity must be positive from 0 to 511 and negative
from 512 to 1023. A phase shift by 1 would disturb DcStep operation. Therefore it is advised to work
with the default wave. Please refer chapter 19.2 for an initialization with the default table.
18.3 DcStep with STEP/DIR Interface
The TMC2130 provides two ways to use DcStep when interfaced to an external motion controller. The
first way gives direct control of the DcStep step execution to the external motion controller, which
must react to motor overload and is allowed to override a blocked motor situation. The second way
assumes that the external motion controller cannot directly react to DcStep signals. The TMC2130
automatically reduces the motor velocity or stops the motor upon overload. In order to allow the
motion controller to react to the reduced real motor velocity in this mode, the counter LOST_STEPS
gives the number of steps which have been commanded, but not taken by the motor controller. The
motion controller can later on read out LOST_STEPS and drive any missing number of steps. In case of
a blocked motor it tries moving it with the minimum velocity as programmed by VDCMIN.
Enabling DcStep automatically sets the chopper to constant TOFF mode with slow decay only. This
way, no re-configuration is required when switching from microstepping mode to DcStep and back.
DcStep operation in STEP/DIR mode is controlled by three pins:
- DCEN – Forces the driver to DcStep operation if high. A velocity based activation of DcStep is
controlled by TPWMTHRS when using StealthChop operation for low velocity settings.
In this case, DcStep is disabled while in StealthChop mode, i.e. at velocities below the
StealthChop switching velocity.
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- DCO – Informs the motion controller when motor is not ready to take a new step (low level).
The motion controller shall react by delaying the next step until DCO becomes high.
The sequencer can buffer up to the effective number of microsteps per fullstep to allow
the motion controller to react to assertion of DCO. In case the motor is blocked this
wait situation can be terminated after a timeout by providing a long > 1024 clock STEP
input, or via the internal VDCMIN setting.
- DCIN – Commands the driver to wait with step execution and to disable DCO. This input can be
used for synchronization of multiple drivers operating with DcStep.
18.3.1 Using LOST_STEPS for DcStep Operation
This is the simplest possibility to integrate DcStep with a dedicated motion controller: the motion
controller enables DcStep using DCEN or the internal velocity threshold. The TMC2130 tries to follow
the steps. In case it needs to slow down the motor, it counts the difference between incoming steps
on the STEP signal and steps going to the motor. The motion controller can read out the difference
and compensate for the difference after the motion or on a cyclic basis. Figure 18.3 shows the
principle (simplified).
In case the motor driver needs to postpone steps due to detection of a mechanical overload in
DcStep, and the motion controller does not react to this by pausing the step generation, LOST_STEPS
becomes incremented or decremented (depending on the direction set by DIR) with each step which
is not taken. This way, the number of lost steps can be read out and executed later on or be
appended to the motion. As the driver needs to slow down the motor while the overload situation
persists, the application will benefit from a high microstepping resolution, because it allows more
seamless acceleration or deceleration in DcStep operation. In case the application is completely
blocked, VDCMIN sets a lower limit to the step execution. If the motor velocity falls below this limit,
however an unknown number of steps is lost and the motor position is not exactly known any more.
DCIN allows for step synchronization of two drivers: it stops the execution of steps if low and sets
DCO low.
Light motor overload reduces
effective motor velocity
Actual motor velocity
VTARGET
VDCMIN
Steps from STEP input
skipped by the driver due
to light motor overload
0
Theoretical sine
wave
corresponding to
fullstep pattern
+IMAX
Phase
Current
(one phase
shown)
0
-IMAX
STEP
LOSTSTEPS would count down if
motion direction is negative
LOSTSTEPS
0
2
4
8
12
16
20
22
24
dcStep enabled continuosly
DC_EN
DC_OUT
DCO signals that the driver is not ready for new steps. In this case, the controller does not react to this information.
Figure 18.3 Motor moving slower than STEP input due to light overload. LOSTSTEPS incremented
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18.3.2 DCO Interface to Motion Controller
DCEN enables DcStep. It is up to the connected motion controller to enable DcStep either, once a
minimum step velocity is exceeded within the motion ramp, or to use the automatic threshold
VDCMIN for DcStep enable.
The STEP/DIR interface works in microstep resolution, even if the internal step execution is based on
fullstep. This way, no switching to a different mode of operation is required within the motion
controller. The DcStep output DCO signals if the motor is ready for the next step based on the DcStep
measurement of the motor. If the motor has not yet mechanically taken the last step, this step cannot
be executed, and the driver stops automatically before execution of the next fullstep. This situation is
signaled by DCO. The external motion controller shall stop step generation if DCOUT is low and wait
until it becomes high again. Figure 18.5 shows this principle. The driver buffers steps during the
waiting period up to the number of microstep setting minus one. In case, DCOUT does not go high
within the lower step limit time e.g. due to a severe motor overload, a step can be enforced: override
the stop status by a long STEP pulse with min. 1024 system clocks length. When using internal clock,
a pulse length of minimum 125µs is recommended.
DIR
STEP
µC or Motion
TMC2130
Controller
DCEN
DCO
DCIN
Optional axis
synchronization
Figure 18.4 Full signal interconnection for DcStep
Increasing mechanical load forces slower motion
Theoretical sine
wave
corresponding to
+IMAX
Phase
Current
(one phase
shown)
fullstep pattern
0
-IMAX
Long pulse = override motor block
situation
STEP
∆2
∆2
∆2
∆2
∆2
∆2
∆2
STEP_FILT_INTERN
DCEN
INTCOM
DCO
DC_OUT TIMEOUT
(in controller)
TIMOUT
counter in
controller
∆2 = MRES (number of microsteps per fullstep)
Figure 18.5 DCO Interface to motion controller – step generator stops when DCO is asserted
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18.4 Stall Detection in DcStep Mode
While DcStep is able to decelerate the motor upon overload, it cannot avoid a stall in every operation
situation. Once the motor is blocked, or it becomes decelerated below a motor dependent minimum
velocity where the motor operation cannot safely be detected any more, the motor may stall and
loose steps. In order to safely detect a step loss and avoid restarting of the motor, monitor the stall
output signal for stall detection. A StallGuard2 load value also is available during DcStep operation.
The range of values is limited to 0 to 255, in certain situations up to 511 will be read out. In order to
enable StallGuard, also set TCOOLTHRS corresponding to a velocity slightly above VDCMIN or up to
VMAX.
Stall detection in this mode may trigger falsely due to resonances, when flywheel loads are loosely
coupled to the motor axis.
Parameter
Description
Range
Comment
vhighfs
&
vhighchm
These chopper configuration flags in CHOPCONF 0 / 1
need to be set for DcStep operation. As soon as
VDCMIN becomes exceeded, the chopper becomes
switched to fullstepping.
set to 1 for DcStep
TOFF
DcStep often benefits from an increased off time 2… 15
value in CHOPCONF. Settings >2 should be
preferred.
Settings 8…15 do not make
any difference to setting 8
for DcStep operation.
VDCMIN
In case the external motion controller cannot 0… 2^22 0: Disable
provide the lower DcStep velocity, this register
may be used to enforce start/restart of a blocked
motor. In DcStep operation, the motor operates at
minimum VDCMIN even when it is completely
blocked. Tune together with DC_TIME setting.
Set to the low velocity
limit for DcStep operation
if desired.
Activation of StealthChop also disables DcStep.
DC_TIME
This setting controls the reference pulse width for 0… 1023 Lower limit for the setting
DcStep load measurement. It must be optimized
for robust operation with maximum motor torque.
A higher value allows higher torque and higher
velocity, a lower value allows operation down to
a lower velocity as set by VDCMIN.
is: tBLANK (as defined by
TBL) in clock cycles + n
with n in the range 1 to
100 (for a typical motor)
Check best setting under nominal operation
conditions, and re-check under extreme operating
conditions (e.g. lowest operation supply voltage,
highest motor temperature, and highest supply
voltage, lowest motor temperature).
DC_SG
This setting controls stall detection in DcStep 0… 255 Set slightly higher than
mode. A stall can be used as an error condition by
issuing a hard stop for the motor.
DC_TIME / 16
The stall detection is available as a pulse on
DIAG0 or DIAG1 output.
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19 Sine-Wave Look-up Table
The TMC2130 provides a programmable look-up table for storing the microstep current wave. As a
default, the table is pre-programmed with a sine wave, which is a good starting point for most
stepper motors. Reprogramming the table to a motor specific wave allows drastically improved
microstepping especially with low-cost motors.
19.1 User Benefits
Microstepping
Motor
Torque
–
–
–
extremely improved with low cost motors
runs smooth and quiet
reduced mechanical resonances yields improved torque
19.2 Microstep Table
In order to minimize required memory and the amount of data to be programmed, only a quarter of
the wave becomes stored. The internal microstep table maps the microstep wave from 0° to 90°. It
becomes symmetrically extended to 360°. When reading out the table the 10-bit microstep counter
MSCNT addresses the fully extended wave table. The table is stored in an incremental fashion, using
each one bit per entry. Therefore only 256 bits (ofs00 to ofs255) are required to store the quarter
wave. These bits are mapped to eight 32 bit registers. Each ofs bit controls the addition of an
inclination Wx or Wx+1 when advancing one step in the table. When Wx is 0, a 1 bit in the table at
the actual microstep position means “add one” when advancing to the next microstep. As the wave
can have a higher inclination than 1, the base inclinations Wx can be programmed to -1, 0, 1, or 2
using up to four flexible programmable segments within the quarter wave. This way even a negative
inclination can be realized. The four inclination segments are controlled by the position registers X1
to X3. Inclination segment 0 goes from microstep position 0 to X1-1 and its base inclination is
controlled by W0, segment 1 goes from X1 to X2-1 with its base inclination controlled by W1, etc.
When modifying the wave, care must be taken to ensure a smooth and symmetrical zero transition
when the quarter wave becomes expanded to a full wave. The maximum resulting swing of the wave
should be adjusted to a range of -248 to 248, in order to give the best possible resolution while
leaving headroom for the hysteresis based chopper to add an offset.
y
256
248
START_SIN90
0
X1 X2 X3
255 256
START_SIN
512
768
0
MSCNT
LUT stores
entries 0 to 255
-248
Figure 19.1 LUT programming example
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When the microstep sequencer advances within the table, it calculates the actual current values for
the motor coils with each microstep and stores them to the registers CUR_A and CUR_B. However the
incremental coding requires an absolute initialization, especially when the microstep table becomes
modified. Therefore CUR_A and CUR_B become initialized whenever MSCNT passes zero.
Two registers control the starting values of the tables:
-
As the starting value at zero is not necessarily 0 (it might be 1 or 2), it can be programmed
into the starting point register START_SIN.
-
In the same way, the start of the second wave for the second motor coil needs to be stored
in START_SIN90. This register stores the resulting table entry for a phase shift of 90° for a 2-
phase motor.
Hint
Refer chapter 5.5 for the register set. The default table is a good base for realizing an own table.
The TMC2130-EVAL comes with a calculation tool for own waves.
Initialization example for the reset default microstep table:
MSLUT[0]= %10101010101010101011010101010100 = 0xAAAAB554
MSLUT[1]= %01001010100101010101010010101010 = 0x4A9554AA
MSLUT[2]= %00100100010010010010100100101001 = 0x24492929
MSLUT[3]= %00010000000100000100001000100010 = 0x10104222
MSLUT[4]= %11111011111111111111111111111111 = 0xFBFFFFFF
MSLUT[5]= %10110101101110110111011101111101 = 0xB5BB777D
MSLUT[6]= %01001001001010010101010101010110 = 0x49295556
MSLUT[7]= %00000000010000000100001000100010 = 0x00404222
MSLUTSEL= 0xFFFF8056:
X1=128, X2=255, X3=255
W3=%01, W2=%01, W1=%01, W0=%10
MSLUTSTART= 0x00F70000:
START_SIN_0= 0, START_SIN90= 247
20 Emergency Stop
The driver provides a negative active enable pin ENN to safely switch off all power MOSFETs. This
allows putting the motor into freewheeling. Further, it is a safe hardware function whenever an
emergency stop not coupled to software is required. Some applications may require the driver to be
put into a state with active holding current or with a passive braking mode. This is possible by
programming the pin DCIN to act as a step disable function. Set GCONF flag stop_enable to activate
this option. Whenever DCIN becomes pulled high, the motor will stop abruptly and go to the power
down state, as configured via IHOLD, IHOLD_DELAY and StealthChop standstill options. Please be
aware, that disabling the driver via ENN will require three clock cycles to safely switch off the driver.
In case the external CLK fails, it is not safe to disable ENN. In this case, the driver should be reset, i.e.
by switching off VCC_IO.
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21 DC Motor or Solenoid
The TMC2130 can drive one or two DC motors using one coil output per DC motor. Either a torque
limited operation, or a voltage based velocity control with optional torque limit is possible.
CONFIGURATION AND CONTROL
Set the flag direct_mode in the GCONF register. In direct mode, the coil current polarity and coil
current, respectively the PWM duty cycle become controlled by register XDIRECT (0x2D). Bits 8..0
control motor A and Bits 24..16 control motor B PWM. Additionally to this setting, the current limit is
scaled by IHOLD. The STEP/DIR inputs are not used in this mode.
PWM DUTY CYCLE VELOCITY CONTROL
In order to operate the motor at different velocities, use the StealthChop voltage PWM mode in the
following configuration:
en_pwm_mode = 1, pwm_autoscale = 0, PWM_AMPL = 255, PWM_GRAD = 4, IHOLD = 31
Set TOFF > 0 to enable the driver.
In this mode the driver behaves like a 4-quadrant power supply. The direct mode setting of PWM A
and PWM B using XDIRECT controls motor voltage, and thus the motor velocity. Setting the
corresponding PWM bits between -255 and +255 (signed, two’s complement numbers) will vary motor
voltage from -100% to 100%. With pwm_autoscale = 0, current sensing is not used and the sense
resistors should be eliminated or 150mΩ or less to avoid excessive voltage drop when the motor
becomes heavily loaded up to 2.5A. Especially for higher current motors, make sure to slowly
accelerate and decelerate the motor in order to avoid overcurrent or triggering driver overcurrent
detection.
To activate optional motor freewheeling, set IHOLD = 0 and FREEWHEEL = %01.
ADDITIONAL TORQUE LIMIT
In order to additionally take advantage of the motor current limitation (and thus torque controlled
operation) in StealthChop mode, use automatic current scaling (pwm_autoscale = 1). The actual current
limit is given by IHOLD and scaled by the respective motor PWM amplitude, e.g. PWM = 128 yields in
50% motor velocity and 50% of the current limit set by IHOLD. In case two DC motors are driven in
voltage PWM mode, note that the automatic current regulation will work only for the motor which
has the higher absolute PWM setting. The PWM of the second motor also will be scaled down in case
the motor with higher PWM setting reaches its current limitation.
PURELY TORQUE LIMITED OPERATION
For a purely torque limited operation of one or two motors, spread cycle chopper individually
regulates motor current for both full bridge motor outputs. When using SpreadCycle, the upper motor
velocity is limited by the supply voltage only (or as determined by the load on the motor).
21.1 Solenoid Operation
The same way, one or two solenoids (i.e. magnetic coil actuators) can be operated using SpreadCycle
chopper. For solenoids, it is often desired to have an increased current for a short time after
switching on, and reduce the current once the magnetic element has switched. This is automatically
possible by taking advantage of the automatic current scaling (IRUN, IHOLD, IHOLDDELAY and
TPOWERDOWN). The current scaling in direct_mode is still active, but will not be triggered if no step
impulse is supplied. Therefore, a step impulse must be given to the STEP input whenever one of the
coils shall be switched on. This will increase the current for both coils at the same time.
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22 Quick Configuration Guide
This guide is meant as a practical tool to come to a first configuration and do a minimum set of
measurements and decisions for tuning the TMC2130. It does not cover all advanced functionalities,
but concentrates on the basic function set to make a motor run smoothly. Once the motor runs, you
may decide to explore additional features, e.g. freewheeling and further functionality in more detail. A
current probe on one motor coil is a good aid to find the best settings, but it is not a must.
CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP
stealthChop
Current Setting
Configuration
Check hardware
GCONF
setup and motor
set en_pwm_mode
RMS current
PWMCONF
GCONF
set internal_Rsense
Sense Resistors
used?
set pwm_autoscale, set
PWM_GRAD=1,
N
Y
PWM_AMPL=255
Y
PWMCONF
select PWM_FREQ with
regard to fCLK for about
35kHz PWM frequency
GCONF
set I_scale_analog
Analog Scaling?
Make sure that no
step pulses are
generated
N
CHOPCONF
set vsense for max.
180mV at sense resistor
(0R15: 1.1A peak)
Low Current range?
N
Y
CHOPCONF
Enable chopper using basic
config.: TOFF=4, TBL=2,
HSTART=4, HEND=0
Set I_RUN as desired up
to 31, I_HOLD 70% of
I_RUN or lower
Set I_HOLD_DELAY to 1
to 15 for smooth
standstill current decay
Move the motor by
slowly accelerating
from 0 to VMAX
operation velocity
Set TPOWERDOWN up
to 255 for delayed
standstill current
reduction
Select a velocity
threshold for switching
to spreadCycle chopper
and set TPWMTHRS
Is performance
good up to VMAX?
N
Y
Configure Chopper to
test current settings
SC2
Figure 22.1 Current setting and first steps with StealthChop
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TUNING STEALTHCHOP AND SPREADCYCLE
spreadCycle
Configuration
SC2
Try motion with desired
acceleration and
deceleration (not exceeding
TPWMTRHRS)
GCONF
disable en_pwm_mode
CHOPCONF
Coil current
overshoot upon
deceleration?
PWMCONF
increase PWM_GRAD
(max. 15)
Enable chopper using basic
config.: TOFF=5, TBL=2,
HSTART=0, HEND=0
Y
N
Y
N
Move the motor by
slowly accelerating
from 0 to VMAX
Move slowly, try
different velocities
operation velocity
Monitor sine wave motor
coil currents with current
probe at low velocity
PWMCONF
change PWM_FREQ or
slightly drecrease
PWM_GRAD
Motor current
stable?
Y
Current zero
crossing smooth?
CHOPCONF
increase HEND (max. 15)
N
Try motion also
above TPWMTRHRS,
if used
Y
Move motor very slowly or
try at stand still
PWMCONF
decrease PWM_AMPL
(do not go below about
50)
Coil current
overshoot upon
deceleration?
CHOPCONF
N
Audible Chopper
noise?
set TOFF=4 (min. 4), try
lower / higher TBL or
reduce motor current
Y
Go to motor stand
still and check
motor current
Move motor at medium
velocity or up to max.
velocity
CHOPCONF, PWMCONF
decrease TBL or PWM
frequency and check
Stand still current
too high?
Y
CHOPCONF
decrease HEND and
increase HSTART (max.
7)
impact on motor motion
Audible Chopper
noise?
Y
N
Optimize spreadCycle
configuration if TPWMTHRS
used
Finished or Enable
coolStep
Figure 22.2 Tuning StealthChop and SpreadCycle
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ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)
Enable coolStep
C2
Move the motor by
slowly accelerating
from 0 to VMAX
Monitor CS_ACTUAL and
motor torque during rapid
mechanical load increment
within application limits
operation velocity
Decrease VMAX
(max. operation velocity
of ext. motion
Is coil current sine-
shaped at VMAX?
Does CS_ACTUAL reach
IRUN with load before
motor stall?
N
N
Increase SEUP
controller)
Y
Set THIGH
To match TSTEP at
VMAX for upper
Finished
coolStep velocity limit
Monitor SG_RESULT value
during medium velocity and
check response with
mechanical load
Does SG_RESULT go down
Y
Increase SGT
to 0 with load?
N
Set TCOOLTHRS
slightly above TSTEP at
the selected velocity for
lower velocity limit
COOLCONF
Enable coolStep basic config.:
SEMIN=1, all other 0
Monitor CS_ACTUAL during
motion in velocity range
and check response with
mechanical load
Does CS_ACTUAL reach
IRUN with load before
motor stall?
Increase SEMIN or
choose narrower
velocity limits
N
C2
Figure 22.3 Enabling CoolStep (only in combination with SpreadCycle)
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23 Getting Started
Please refer to the TMC2130 evaluation board to allow a quick start with the device and in order to
allow interactive tuning of the device setup in your application. It will guide you through the process
of correctly setting up all registers. The following example gives a minimum set of accesses allowing
moving a motor.
23.1 Initialization Example
SPI datagram example sequence to enable the driver for step and direction operation and initialize
the chopper for SpreadCycle operation and for StealthChop at <30 RPM:
SPI send: 0xEC000100C3; // CHOPCONF: TOFF=3, HSTRT=4, HEND=1, TBL=2, CHM=0 (SpreadCycle)
SPI send: 0x9000061F0A; // IHOLD_IRUN: IHOLD=10, IRUN=31 (max. current), IHOLDDELAY=6
SPI send: 0x910000000A; // TPOWERDOWN=10: Delay before power down in stand still
SPI send: 0x8000000004; // EN_PWM_MODE=1 enables StealthChop (with default PWMCONF)
SPI send: 0x93000001F4; // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM
SPI send: 0xF0000401C8; // PWMCONF: AUTO=1, 2/1024 Fclk, Switch amplitude limit=200, Grad=1
Hint
Tune the configuration parameters for your motor and application for optimum performance.
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24 Standalone Operation
For standalone operation, no SPI interface is required to configure the TMC2130. All pins with suffix
CFG0 to CFG6 have a special meaning in this mode. They are evaluated using tristate detection, in
order to differentiate between
-
-
-
CFG pin tied to GND
CFG pin open (no connection)
CFG pin tied to VCC_IO
22n
63V
100n
16V
+VM
Optional use lower
voltage down to 6V
+VM
VS
VSA
5V Voltage
regulator
100n
100n
100µF
charge pump
Full Bridge A
Step&Dir input
with microPlyer
DAC Reference
IREF
5VOUT
100n
4.7µ
2R2
VCC
OA1
OA2
470n
N
TMC2130
stepper
motor
CFG0
CFG1
CFG2
CFG3
CFG4
CFG5
S
Use low inductivity SMD
type, e.g. 1206, 0.5W
Configuration
interface
with TRISTATE
detection
TRISTATE configuration
(GND, VCC_IO or open)
RSA
BRA
Sequencer
Driver
Opt. driver
enable input
B.Dwersteg, ©
TRINAMIC 2014
DRV_ENN_CFG6
OB1
OB2
DIAG1
DIAG0
Full Bridge B
Index pulse
Driver error
Status out
(open drain)
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
Use low inductivity SMD
type, e.g. 1206, 0.5W
+VIO
RSB
BRB
3.3V or 5V
I/O voltage
100n
opt. driver enable
Figure 24.1 Standalone operation with TMC2130 (pins shown with their standalone mode names)
To activate standalone mode, tie pin SPI_MODE to GND. SPI is off. The driver works in SpreadCycle
mode or StealthChop mode. With regard to the register set, the following settings are activated:
GCONF settings:
GCONF.diag0_error = 1: DIAG0 works in open drain mode and signals driver error.
GCONF.diag1_index = 1: DIAG1 works in open drain mode and signals microstep table index position.
The following settings are affected by the CFG pins in order to ensure correct configuration:
CFG0: SETS CHOPPER OFF TIME (DURATION OF SLOW DECAY PHASE)
CFG0
GND
TOFF Setting
140 TCLK (recommended, most universal choice)
Registers
TOFF=4
VCC_IO
open
236 TCLK
332 TCLK
TOFF=7
TOFF=10
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CFG1 AND CFG2: SETS MICROSTEP RESOLUTION FOR STEP INPUT
CFG2, CFG1
GND, GND
GND, VCC_IO
GND, open
VCC_IO, GND
VCC_IO, VCC_IO
VCC_IO, open
open, GND
open, VCC_IO
Microsteps
1 (Fullstep)
2 (Halfstep)
2 (Halfstep)
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
Interpolation
N
N
Y, to 256 µsteps
N
N
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps StealthChop
Chopper Mode
SpreadCycle
Registers
MRES=8, intpol=0
MRES=7, intpol=0
MRES=7, intpol=1
MRES=6, intpol=0
MRES=4, intpol=0
MRES=6, intpol=1
MRES=4, intpol=1
MRES=6, intpol=1,
en_PWM_mode=1
MRES=4, intpol=1,
en_PWM_mode=1
open, open
16 µsteps
Y, to 256 µsteps
CFG3: SETS MODE OF CURRENT SETTING
CFG3
Current Setting
Registers
GND
Internal reference voltage. Current scale set by sense
resistors, only.
VCC_IO
open
Internal sense resistors. Use analog input current on internal_Rsense=1
AIN as reference current for internal sense resistor.
This setting gives best results when combined with
StealthChop voltage PWM chopper.
External reference voltage on pin AIN. Current scale set I_scale_analog=1
by sense resistors and scaled by AIN.
CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION)
CFG4
GND
HEND Setting
5 (recommended, most universal choice)
Registers
HEND=7
VCC_IO
open
9
13
HEND=11
HEND=15
CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE)
CFG5
GND
VCC_IO
open
Blank time (in number of clock cycles)
16
24 (recommended, most universal choice)
36
Registers
TBL=%00
TBL=%01
TBL=%10
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CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN
CFG6
GND
Motor driver enable
Enable
Standstill power down
N
Registers
IRUN=31, IHOLD=31
VCC_IO
open
Disable
Enable
- (Driver disable)
Y, ramp down from 100% to IRUN=31, IHOLD=11,
34% motor current in 44M IHOLDDELAY=8
clock cycles (3 to 4 seconds) if
no step pulse for more than
1M clock cycles (standstill). In
combination with StealthChop,
be sure not to work with too
low overall current setting, as
regulation will not be able to
measure the motor current
after
stand
still
current
reduction. This will result in
very low motor current after
the stand-still period.
While the parameters for SpreadCycle can be configured for good microstep performance, StealthChop
mode is configured with its power on default values (PWMCONF=0x00050480):
fPWM=2/683 fCLK (i.e. roughly 38kHz with internal clock)
pwm_autoscale=1
PWM_GRAD=4
PWM_AMPL=128
CFG0 and CFG4 settings do not influence the StealthChop configuration. This way, it is even possible
to switch between SpreadCycle and StealthChop mode by simply switching CFG1 and CFG2.
Hint
Be sure to allow the motor to rest for at least 100ms (assuming a minimum of 10MHz fCLK) before
starting a motion using StealthChop. This will allow the current regulation to set the initial motor
current.
Example:
It is desired to do small motions in smooth and noiseless StealthChop mode. For quick motions,
SpreadCycle is to be used. The controller can deliver 1/16 microstep step signals. Tie together CFG1
and CFG2 and drive them with a three state driver. Switch both to VCC_IO to operate in SpreadCycle,
switch them to hi-Z (open) state for a motion in StealthChop.
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25 External Reset
The chip is loaded with default values during power on via its internal power-on reset. In order to
reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry
(VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched
off during operation of the chip. As +5VOUT is the output of the internal voltage regulator, it cannot
be cycled via an external source except by cycling VSA. It is easiest and safest to cycle VCC_IO in order
to completely reset the chip. Also, current consumed from VCC_IO is low and therefore it has simple
driving requirements. Due to the input protection diodes not allowing the digital inputs to rise above
VCC_IO level, all inputs must be driven low during this reset operation. When this is not possible, an
input protection resistor may be used to limit current flowing into the related inputs.
In case, VCC becomes supplied by an external source, make sure that VCC is at a stable value above
the lower operation limit once the reset ends. This normally is satisfied when generating a 3.3V
VCC_IO from the +5V supply supplying the VCC pin, because it will then come up with a certain delay.
26 Clock Oscillator and Input
The clock is the timing reference for all functions: the chopper and the velocity thresholds. Many
parameters are scaled with the clock frequency, thus a precise reference allows a more deterministic
result. The on-chip clock oscillator provides timing in case no external clock is easily available.
USING THE INTERNAL CLOCK
Directly tie the CLK input to GND near to the IC if the internal clock oscillator is to be used. For best
precision, the internal clock can be calibrated by reading out TSTEP at a defined external step
frequency. It is easiest to use 1 kHz microstep frequency. With this, TSTEP shows the number of
internal clock cycles per millisecond, i.e. TSTEP=1200 means that fCLK is 12 MHz in the actual IC. Scale
velocity thresholds, TOFF and PWM_FREQ based on the determined frequency. Temperature
dependency and ageing of the internal clock is comparatively low.
In case well defined velocity settings and precise motor chopper operation are desired, it is supposed
to work with an external clock source.
USING AN EXTERNAL CLOCK
When an external clock is available, a frequency of 10 MHz to 16 MHz is recommended for optimum
performance. The duty cycle of the clock signal is uncritical, as long as minimum high or low input
time for the pin is satisfied (refer to electrical characteristics). Up to 18 MHz can be used, when the
clock duty cycle is 50%. Make sure, that the clock source supplies clean CMOS output logic levels and
steep slopes when using a high clock frequency. The external clock input is enabled with the first
positive polarity seen on the CLK input.
Attention
Switching off the external clock source prevents the driver from operating normally. Therefore be
careful to switch off the motor drivers before switching off the clock (e.g. using the enable input),
because otherwise the chopper would stop and the motor current level could rise uncontrolled. The
short to GND detection stays active even without clock, if enabled.
26.1 Considerations on the Frequency
A higher frequency allows faster step rates, faster SPI operation and higher chopper frequencies. On
the other hand, it may cause more electromagnetic emission of the system and causes more power
dissipation in the TMC2130 digital core and voltage regulator. Generally a frequency of 10 MHz to 16
MHz should be sufficient for most applications. For reduced requirements concerning the motor
dynamics, a clock frequency of down to 8 MHz (or even lower) can be considered.
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27 Absolute Maximum Ratings
The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near
more than one maximum rating at a time for extended periods shall be avoided by application
design.
Parameter
Symbol
Min
Max
Unit
Supply voltage operating with inductive load (VVS ≥ VVSA)
Supply and bridge voltage max. *)
VSA when different from to VS
I/O supply voltage
digital VCC supply voltage (if not supplied by internal
regulator)
VVS, VVSA
VVMAX
VVSA
VVIO
VVCC
-0.5
49
50
VVS+0.5
5.5
V
V
V
V
V
-0.5
-0.5
-0.5
5.5
Logic input voltage
Maximum current to / from digital pins
and analog low voltage I/Os
VI
IIO
-0.5
VVIO+0.5
+/-10
V
mA
5V regulator output current (internal plus external load)
5V regulator continuous power dissipation (VVM-5V) * I5VOUT P5VOUT
Power bridge repetitive output current
Junction temperature
Storage temperature
I5VOUT
50
1
3.0
150
150
4
mA
W
A
°C
°C
kV
IOx
TJ
TSTG
VESDAP
-50
-55
ESD-Protection for interface pins (Human body model,
HBM)
ESD-Protection for handling (Human body model, HBM)
VESD
1
kV
*) Stray inductivity of GND and VS connections will lead to ringing of the supply voltage when driving
an inductive load. This ringing results from the fast switching slopes of the driver outputs in
combination with reverse recovery of the body diodes of the output driver MOSFETs. Even small trace
inductivities as well as stray inductivity of sense resistors can easily generate a few volts of ringing
leading to temporary voltage overshoot. This should be considered when working near the maximum
voltage.
28 Electrical Characteristics
28.1 Operational Range
Parameter
Junction temperature
Supply voltage (using internal +5V regulator)
Symbol
TJ
VVS, VVSA
Min
-40
5.5
Max
125
46
Unit
°C
V
Supply voltage (internal +5V regulator bridged: VVCC=VVSA=VVS) VVS
I/O supply voltage VVIO
VCC voltage when using optional external source (supplies VVCC
digital logic and charge pump)
4.7
3.00
4.6
5.4
5.25
5.25
V
V
V
RMS motor coil current per coil (value for design guideline) IRMS-QFN36
1.2
1.4
2.0
A
A
A
for QFN36 5x6 package resp. TQFP-48 package
IRMS-TQFP48
Peak output current per motor coil output (sine wave peak) IOx
using external or internal current sensing
Peak output current per motor coil output (sine wave peak) IOx
for short term operation. Limit TJ ≤ 105°C, e.g. for 100ms
short time acceleration phase below 50% duty cycle.
2.5
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28.2 DC and Timing Characteristics
DC characteristics contain the spread of values guaranteed within the specified supply voltage range
unless otherwise specified. Typical values represent the average value of all parts measured at +25°C.
Temperature variation also causes stray to some values. A device with typical values will not leave
Min/Max range within the full temperature range.
Power supply current
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Symbol Conditions
Min
Typ
Max Unit
Total supply current, driver
disabled IVS + IVSA + IVCC
IS
fCLK=16MHz
15
22
mA
Total supply current, operating,
IVS + IVSA + IVCC
Idle supply current from VS,
charge pump operating
Static supply current from VSA
with VCC supplied by 5VOUT
Supply current, driver disabled,
dependency on CLK frequency
Internal current consumption
from 5V supply on VCC pin
IO supply current (typ. at 5V)
IS
fCLK=16MHz, 23.4kHz
chopper, no load
fCLK=0Hz,
driver disabled
fCLK=0Hz, includes
VCC supply current
fCLK variable,
additional to IVSA0
fCLK=16MHz, 23.4kHz
chopper
no load on outputs,
inputs at VIO or GND
Excludes pullup /
pull-down resistors
19
0.25
2
mA
mA
IVS0
IVSA0
IVCCx
IVCC
IVIO
0.5
3
1.4
mA
mA/MHz
0.8
16
mA
µA
15
30
Motor driver section
DC- and Timing-Characteristics
VVS = 24.0V
Parameter
Symbol Conditions
Min
Typ
Max Unit
RDSON lowside MOSFET
RONL
measure at 100mA,
25°C, static state
measure at 100mA,
25°C, static state
measured at 700mA
load current
(resistive load)
measured at 700mA
load current
0.4
0.5
Ω
RDSON highside MOSFET
slope, MOSFET turning on
RONH
tSLPON
0.5
0.6
Ω
50
50
120
220
ns
slope, MOSFET turning off
tSLPOFF
120
180
220
250
ns
(resistive load)
OXX pulled to GND
Current sourcing, driver off
IOIDLE
120
µA
Charge pump
DC-Characteristics
Parameter
Symbol Conditions
Min
Typ
Max Unit
Charge pump output voltage
VVCP-VVS
VVCP-VVS
fCP
operating, typical
fchop<40kHz
using internal 5V
regulator voltage
4.0
VVCC
0.3
3.6
-
VVCC
V
Charge pump voltage threshold
for undervoltage detection
Charge pump frequency
3.3
3.8
V
1/16
fCLKOSC
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Linear regulator
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Symbol Conditions
Min
Typ
Max Unit
Output voltage
V5VOUT
I5VOUT = 0mA
TJ = 25°C
4.80
5.0
5.25
V
Output resistance
R5VOUT
Static load
3
Deviation of output voltage over V5VOUT(DEV) I5VOUT = 16mA
the full temperature range
+/-30
+/-100
+/-30
+/-75
mV
TJ = full range
Deviation of output voltage over V5VOUT(DEV) I5VOUT = 0mA
the full supply voltage range
+/-15
-38
mV /
10V
VVSA = variable
Deviation of output voltage over V5VOUT(DEV) I5VOUT = 16mA
mV /
10V
the full supply voltage range
VVSA = variable
Clock oscillator and input
Parameter
Clock oscillator frequency
Clock oscillator frequency
Clock oscillator frequency
External clock frequency
(operating)
Timing-Characteristics
Symbol Conditions
Min
9
10.1
Typ
12.4
13.2
13.4
10-16
Max Unit
MHz
fCLKOSC
fCLKOSC
fCLKOSC
fCLK
tJ=-50°C
tJ=50°C
tJ=150°C
17.2
18
MHz
MHz
MHz
4
18
External clock high / low level
time
External clock first cycle
triggering switching to external
clock source
tCLKH
tCLKL
tCLKH1
/
CLK driven to
0.1 VVIO / 0.9 VVIO
CLK driven high
10
30
ns
ns
25
Detector levels
Parameter
DC-Characteristics
Symbol Conditions
Min
Typ
Max Unit
VVSA undervoltage threshold for
RESET
VUV_VSA
VVSA rising
3.8
4.2
4.6
V
V5VOUT undervoltage threshold for VUV_5VOUT
RESET
VVCC_IO undervoltage threshold for VUV_VIO
RESET
V5VOUT rising
3.5
2.55
0.3
V
VVCC_IO rising (delay
typ. 10µs)
2.1
3.0
V
VVCC_IO undervoltage detector
hysteresis
VUV_VIOHYST
V
Short to GND detector threshold VOS2G
(VVS - VOx)
2
2.5
3
2
V
Short to GND detector delay
(high side switch on to short
detected)
tS2G
High side output
clamped to VSP-3V
0.8
1.3
µs
Overtemperature prewarning
Overtemperature shutdown
tOTPW
tOT
Temperature rising
Temperature rising
100
135
120
150
140
170
°C
°C
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Sense resistor voltage levels
Parameter
Sense input peak threshold
voltage (low sensitivity)
DC-Characteristics
fCLK=16MHz
Symbol Conditions
Min
Typ
325
Max Unit
mV
VSRTL
vsense=0
csactual=31
sin_x=248
Hyst.=0; IBRxy=0
Sense input peak threshold
voltage (high sensitivity)
VSRTH
vsense=1
csactual=31
sin_x=248
180
mV
Hyst.=0; IBRxy=0
I_scale_analog=0,
vsense=0
Sense input tolerance / motor
current full scale tolerance
-using internal reference
Sense input tolerance / motor
current full scale tolerance
-using external reference voltage
ICOIL
-5
-2
+5
+2
%
%
ICOIL
I_scale_analog=1,
VAIN=2V, vsense=0
Internal resistance from pin BRxy RBRxy
to internal sense comparator
20
mΩ
(additional to sense resistor)
Digital pins
DC-Characteristics
Symbol Conditions
Parameter
Min
-0.3
0.7 VVIO
Typ
Max Unit
Input voltage low level
Input voltage high level
Input Schmitt trigger hysteresis
VINLO
VINHI
VINHYST
0.3 VVIO
VVIO+0.3
V
V
V
0.12
VVIO
Output voltage low level
Output voltage high level
Input leakage current
Pullup / pull-down resistors
Digital pin capacitance
VOUTLO
VOUTHI
IILEAK
RPU/RPD
C
IOUTLO = 2mA
IOUTHI = -2mA
0.2
V
V
µA
kΩ
pF
VVIO-0.2
-10
132
10
200
166
3.5
AIN/IREF input
Parameter
DC-Characteristics
Symbol Conditions
Min
Typ
Max Unit
400 kΩ
AIN_IREF input resistance to 2.5V RAIN
(=5VOUT/2)
Measured to GND
(internalRsense=0)
260
330
AIN_IREF input voltage range for VAIN
linear current scaling
Measured to GND
(IscaleAnalog=1)
Open circuit voltage
(internalRsense=0)
0
0.5-2.4 V5VOUT/2
V5VOUT/2
V
V
AIN_IREF open input voltage
level
VAINO
AIN_IREF input resistance to
RIREF
Measured to GND
0.8
1
1.2
kΩ
GND for reference current input
(internalRsense=1)
AIN_IREF current amplification
for reference current to coil
current at maximum setting
Motor current full scale tolerance ICOIL
-using RDSon measurement
IREFAMPL
IIREF = 0.25mA
3000
Times
%
Internal_Rsense=1,
vsense=0,
-10
+10
IIREF = 0.25mA
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28.3 Thermal Characteristics
The following table shall give an idea on the thermal resistance of the package. The thermal
resistance for a four layer board will provide a good idea on a typical application. Actual thermal
characteristics will depend on the PCB layout, PCB type and PCB size. The thermal resistance will
benefit from thicker CU (inner) layers for spreading heat horizontally within the PCB. Also, air flow will
reduce thermal resistance.
A thermal resistance of 24K/W for a typical board means, that the package is capable of continuously
dissipating 4.1W at an ambient temperature of 25°C with the die temperature staying below 125°C.
Parameter
Symbol Conditions
Typ
Unit
Typical power dissipation
PD
StealthChop or SpreadCycle, 0.92A
2.6
W
RMS in two phase motor, sinewave,
40 or 20kHz chopper, 24V, internal
supply, 84°C peak surface of package
(motor QSH4218-035-10-027)
Thermal resistance junction to
ambient on a multilayer board
for QFN36 package
RTMJA
Dual signal and two internal power
plane board (2s2p) as defined in
JEDEC EIA JESD51-5 and JESD51-7
(FR4, 35µm CU, 84mm x 55mm,
d=1.5mm)
24
21
K/W
K/W
Thermal resistance junction to
ambient on a multilayer board
for TQFP-EP48 package
RTMJA
Dual signal and two internal power
plane board (2s2p) as defined in
JEDEC EIA JESD51-5 and JESD51-7
(FR4, 35µm CU, 70mm x 133mm,
d=1.5mm)
Thermal resistance junction to
board
RTJB
RTJC
PCB temperature measured within
1mm distance to the package
8
3
K/W
K/W
Thermal resistance junction to
case
Junction temperature to heat slug of
package
Table 28.1 Thermal Characteristics QFN5x6 and TQFP-EP48
The thermal resistance in an actual layout can be tested by checking for the heat up caused by the
standby power consumption of the chip. When no motor is attached, all power seen on the power
supply is dissipated within the chip.
Note
A spread-sheet for calculating TMC2130 power dissipation is available on www.trinamic.com.
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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29 Layout Considerations
29.1 Exposed Die Pad
The TMC2130 uses its die attach pad to dissipate heat from the drivers and the linear regulator to the
board. For best electrical and thermal performance, use a reasonable amount of solid, thermally
conducting vias between the die attach pad and the ground plane. The printed circuit board should
have a solid ground plane spreading heat into the board and providing for a stable GND reference.
29.2 Wiring GND
All signals of the TMC2130 are referenced to their respective GND. Directly connect all GND pins under
the device to a common ground area (GND, GNDP, GNDA and die attach pad). The GND plane right
below the die attach pad should be treated as a virtual star point. For thermal reasons, the PCB top
layer shall be connected to a large PCB GND plane spreading heat within the PCB.
Attention
Especially the sense resistors are susceptible to GND differences and GND ripple voltage, as the
microstep current steps make up for voltages down to 0.5 mV. No current other than the sense
resistor current should flow on their connections to GND and to the TMC2130. Optimally place them
close to the IC, with one or more vias to the GND plane for each sense resistor. The two sense
resistors for one coil should not share a common ground connection trace or vias, as also PCB traces
have a certain resistance.
29.3 Supply Filtering
The 5VOUT output voltage ceramic filtering capacitor (4.7 µF recommended) should be placed as close
as possible to the 5VOUT pin, with its GND return going directly to the GNDA pin. This ground
connection shall not be shared with other loads or additional vias to the GND plan. Use as short and
as thick connections as possible. For best microstepping performance and lowest chopper noise an
additional filtering capacitor should be used for the VCC pin to GND, to avoid charge pump and digital
part ripple influencing motor current regulation. Therefore place a ceramic filtering capacitor (470nF
recommended) as close as possible (1-2mm distance) to the VCC pin with GND return going to the
ground plane. VCC can be coupled to 5VOUT using a 2.2 Ω or 3.3 Ω resistor in order to supply the
digital logic from 5VOUT while keeping ripple away from this pin.
A 100 nF filtering capacitor should be placed as close as possible to the VSA pin to ground plane. The
motor supply pins VS should be decoupled with an electrolytic capacitor (47 μF or larger is
recommended) and a ceramic capacitor, placed close to the device.
Take into account that the switching motor coil outputs have a high dV/dt. Thus capacitive stray into
high resistive signals can occur, if the motor traces are near other traces over longer distances.
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29.4 Layout Example (QFN36)
Schematic
1 - Top Layer (assembly side)
2 - Inner Layer 1
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
96
3 - Inner Layer 2
4 - Bottom Layer
Components / Silksceen Top
Figure 29.1 Layout example
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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30 Package Mechanical Data
All length units are given in millimeters.
30.1 Dimensional Drawings QFN36 5x6
Attention: Drawings not to scale.
Figure 30.1 Dimensional drawings QFN 5x6
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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Parameter
total thickness
stand off
mold thickness
lead frame thickness
lead width
Ref
A
A1
A2
A3
b
Min
0.8
Nom
Max
0.9
0.05
-
0.85
0.035
0.65
0.203
0.25
5
0
-
0.2
4.9
5.9
0.3
5.1
6.1
body size X
body size Y
D
E
6
lead pitch
e
0.5
exposed die pad size X
exposed die pad size Y
lead length
mold flatness
coplanarity
J
K
L
bbb
ccc
ddd
eee
3.5
4
0.35
3.6
4.1
0.4
3.7
4.2
0.45
0.1
0.08
0.1
0.1
lead offset
exposed pad offset
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
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30.2 Dimensional Drawings TQFP-EP48
Attention: Drawings not to scale.
Figure 30.2 Dimensional drawings TQFP-EP48
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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)
100
Parameter
total thickness
stand off
mold thickness
lead width (plating)
lead width
lead frame thickness
(plating)
Ref
A
A1
A2
b
b1
c
Min
Nom
Max
1.2
0.15
1.05
0.27
0.23
0.2
-
-
-
1
0.22
0.2
-
0.05
0.95
0.17
0.17
0.09
lead frame thickness
body size X (over pins)
body size Y (over pins)
body size X
body size Y
lead pitch
c1
D
E
D1
E1
e
L
L1
1
2
3
R1
R2
S
0.09
-
9.0
9.0
7.0
7.0
0.5
0.6
1 REF
3.5°
-
12°
12°
-
-
-
0.16
lead
footprint
0.45
0.75
0°
0°
7°
-
13°
13°
-
11°
11°
0.08
0.08
0.2
4.9
4.9
0.2
-
exposed die pad size X
exposed die pad size Y
package edge tolerance
lead edge tolerance
coplanarity
M
N
5
5
5.1
5.1
0.2
0.2
0.08
0.08
0.05
aaa
bbb
ccc
ddd
eee
lead offset
mold flatness
30.3 Package Codes
Type
Package
Temperature range
-40°C ... +125°C
Code & marking
TMC2130-LA
TMC2130-LA
TMC2130-TA
QFN36 (RoHS)
TQFP-EP48 (RoHS)
-40°C ... +125°C
TMC2130-TA
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31 Disclaimer
TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in
life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co.
KG. Life support systems are equipment intended to support or sustain life, and whose failure to
perform, when properly used in accordance with instructions provided, can be reasonably expected to
result in personal injury or death.
Information given in this data sheet is believed to be accurate and reliable. However no responsibility
is assumed for the consequences of its use nor for any infringement of patents or other rights of
third parties which may result from its use.
Specifications are subject to change without notice.
All trademarks used are property of their respective owners.
32 ESD Sensitive Device
The TMC2130 is an ESD sensitive CMOS device sensitive to electrostatic discharge. Take special care to
use adequate grounding of personnel and machines in manual handling. After soldering the devices
to the board, ESD requirements are more relaxed. Failure to do so can result in defect or decreased
reliability.
33 Designed for Sustainability
Sustainable growth is one of the most important and urgent challenges today. We at Trinamic try to
contribute by designing highly efficient IC products, to minimize energy consumption, ensure best
customer experience and long-term satisfaction by smooth and silent run, while minimizing the
demand for external resources, e.g. for power supply, cooling infrastructure, reduced motor size and
magnet material by intelligent control interfaces and advanced algorithms.
Please help and design efficient and durable products made for a sustainable world.
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34 Table of Figures
FIGURE 1.1 TMC2130 STEP/DIR APPLICATION DIAGRAM.........................................................................................................5
FIGURE 1.2 TMC2130 STANDALONE DRIVER APPLICATION DIAGRAM.........................................................................................6
FIGURE 1.3 ENERGY EFFICIENCY WITH COOLSTEP (EXAMPLE)......................................................................................................8
FIGURE 2.1 TMC2130-LA PACKAGE AND PINNING QFN36 (5X6MM² BODY)...........................................................................10
FIGURE 2.2 TMC2130-TA PACKAGE AND PINNING TQFP-EP 48-EP (7X7MM² BODY, 9X9MM² WITH LEADS).........................10
FIGURE 3.1 STANDARD APPLICATION CIRCUIT...........................................................................................................................13
FIGURE 3.2 REDUCED NUMBER OF FILTERING COMPONENTS ......................................................................................................14
FIGURE 3.3 RDSON BASED SENSING ELIMINATES HIGH CURRENT SENSE RESISTORS..................................................................14
FIGURE 3.4 USING AN EXTERNAL 5V SUPPLY FOR DIGITAL CIRCUITRY OF DRIVER (DIFFERENT OPTIONS)..................................15
FIGURE 3.5 USING AN EXTERNAL 5V SUPPLY TO BYPASS INTERNAL REGULATOR........................................................................16
FIGURE 3.6 EXAMPLES FOR SIMPLE PRE-REGULATORS................................................................................................................16
FIGURE 3.7 5V ONLY OPERATION..............................................................................................................................................17
FIGURE 3.8 DERATING OF MAXIMUM SINE WAVE PEAK CURRENT AT INCREASED DIE TEMPERATURE...........................................19
FIGURE 3.9 SCHOTTKY DIODES REDUCE POWER DISSIPATION AT HIGH PEAK CURRENTS UP TO 2A (2.5A)................................19
FIGURE 3.10 SIMPLE ESD ENHANCEMENT AND MORE ELABORATE MOTOR OUTPUT PROTECTION................................................20
FIGURE 4.1 SPI TIMING............................................................................................................................................................23
FIGURE 6.1 MOTOR COIL SINE WAVE CURRENT WITH STEALTHCHOP (MEASURED WITH CURRENT PROBE)..................................39
FIGURE 6.2 SCOPE SHOT: GOOD SETTING FOR PWM_GRAD....................................................................................................40
FIGURE 6.3 SCOPE SHOT: TOO SMALL SETTING FOR PWM_GRAD............................................................................................40
FIGURE 6.4 GOOD AND TOO SMALL SETTING FOR PWM_GRAD ..............................................................................................41
FIGURE 6.5 VELOCITY BASED PWM SCALING (PWM_AUTOSCALE=0).........................................................................................43
FIGURE 7.1 CHOPPER PHASES ...................................................................................................................................................47
FIGURE 7.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE
RESISTOR VOLTAGES A AND B).........................................................................................................................................49
FIGURE 7.3 SPREADCYCLE CHOPPER SCHEME SHOWING COIL CURRENT DURING A CHOPPER CYCLE............................................50
FIGURE 7.4 CLASSIC CONST. OFF TIME CHOPPER WITH OFFSET SHOWING COIL CURRENT..........................................................51
FIGURE 7.5 ZERO CROSSING WITH CLASSIC CHOPPER AND CORRECTION USING SINE WAVE OFFSET ..........................................51
FIGURE 8.1 SCALING THE MOTOR CURRENT USING THE ANALOG INPUT......................................................................................54
FIGURE 11.1 CHOICE OF VELOCITY DEPENDENT MODES.............................................................................................................59
FIGURE 14.1 FUNCTION PRINCIPLE OF STALLGUARD2..............................................................................................................62
FIGURE 14.2 EXAMPLE: OPTIMUM SGT SETTING AND STALLGUARD2 READING WITH AN EXAMPLE MOTOR ...............................64
FIGURE 15.1 COOLSTEP ADAPTS MOTOR CURRENT TO THE LOAD...............................................................................................67
FIGURE 16.1 STEP AND DIR TIMING, INPUT PIN FILTER .........................................................................................................69
FIGURE 16.2 MICROPLYER MICROSTEP INTERPOLATION WITH RISING STEP FREQUENCY (EXAMPLE: 16 TO 256).....................71
FIGURE 17.1 DIAG OUTPUTS IN STEP/DIR MODE ..................................................................................................................72
FIGURE 18.1 DCSTEP EXTENDED APPLICATION OPERATION AREA..............................................................................................73
FIGURE 18.2 VELOCITY PROFILE WITH IMPACT BY OVERLOAD SITUATION (EXAMPLE)................................................................74
FIGURE 18.3 MOTOR MOVING SLOWER THAN STEP INPUT DUE TO LIGHT OVERLOAD. LOSTSTEPS INCREMENTED..................75
FIGURE 18.4 FULL SIGNAL INTERCONNECTION FOR DCSTEP......................................................................................................76
FIGURE 18.5 DCO INTERFACE TO MOTION CONTROLLER – STEP GENERATOR STOPS WHEN DCO IS ASSERTED..........................76
FIGURE 19.1 LUT PROGRAMMING EXAMPLE ..............................................................................................................................78
FIGURE 22.1 CURRENT SETTING AND FIRST STEPS WITH STEALTHCHOP....................................................................................81
FIGURE 22.2 TUNING STEALTHCHOP AND SPREADCYCLE..........................................................................................................82
FIGURE 22.3 ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE)...................................................................83
FIGURE 24.1 STANDALONE OPERATION WITH TMC2130 (PINS SHOWN WITH THEIR STANDALONE MODE NAMES)....................85
FIGURE 29.1 LAYOUT EXAMPLE .................................................................................................................................................96
FIGURE 30.1 DIMENSIONAL DRAWINGS QFN 5X6....................................................................................................................97
FIGURE 30.2 DIMENSIONAL DRAWINGS TQFP-EP48...............................................................................................................99
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35 Revision History
Version
Date
Author
BD= Bernhard Dwersteg
SD= Sonja Dwersteg
Description
V0.90
V1.00
V1.01
V1.02
V1.03
2014-AUG-21
2014-OCT-15
2014-NOV-24
2014-DEC-08
2015-MAR-10
SD
SD
BD
BD
BD
First version. Based on TMC5130 datasheet V0.42.
Some detail corrections (removed wording 3 phase)
Wording thermal shutdown, QFN36 table
Some detail corrections for 2130 and StallGuard description
Improved AN links, DcStep StallGuard description, blue blocks
Renamed TZEROWAIT to TPOWERDOWN,
Added References
More direct_mode info
V1.04
V1.05
2015-APR-02
2015-OCT-09
BD
BD
added TCLK spec for first clock event, moved chapter acceleration in
StealthChop, 19.2: swapped X1 and X3, SPI mode 3 hint, sg_filt to
sfilt, fCLK measurement hint S/D, Fig 1.1 and 3.1 update, Fig 3.7
corrected
More details on: StealthChop lower current limit, dcMotor operation,
XDIRECT register
V1.06
2016-APR-22
BD
Corrected: effective StealthChop PWM frequency is 2*divider setting,
ESD schematic w. varistors instead of snubber
Added TQFP48 package
Hint for index pulse, New changing resolution table, Some wording
Minor details, Pin 9 (11) must be left open, removed comment for tie
to GND option
V1.07
V1.08
V1.09
2016-APR-27
2016-SEP-21
2017-MAY-15
BD
BD
BD
Minor fixes and hints, new pict., sustainability chapter
Updated Logo, Minor fixes
V1.11
V1.12
2019-NOV-07
2020-JUN-03
BD
BD
Table 35.1 Document Revisions
36 References
[TMC2130-EVAL] TMC2130-EVAL Manual
[AN001]Trinamic Application Note 001 - Parameterization of SpreadCycle™, www.trinamic.com
[AN002]Trinamic Application Note 002 - Parameterization of StallGuard2™ & CoolStep™,
www.trinamic.com
[AN003] Trinamic Application Note 003 - DcStep™, www.trinamic.com
Calculation sheet TMC5130_TMC2130_TMC2100_Calculations.xlsx
www.trinamic.com
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