TMC2130_技术文档

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 5x6mm²QFN36 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

TMC429

Motion

SPI

High-Level

Interface

S

CPU

TMC2130 0A-

Controller

0B+

0B-

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

61 x 38

LANDUNGSBRÜCKE 40-0167

ESELSBRÜCKE

40-0098

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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

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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

R_REF

Optional for internal current

sensing. R_REF=9K1 allows for

maximum coil current.

+V_M

100n

TMC2130

Stepper Motor Driver

VS

+V_M

step multiplier

microPlyer

VCP

CPI

OA1

Half Bridge

1

2

DAC Reference

IREF

100n

22n

charge pump

Standstill

current

reduction

ISENSE

CPO

VSA

OA2

BRA

5V Voltage

regulator

5VOUT

&

p

100n

e

h

t

o

S

l

o

4.7µ

2R2

c

p

o

h

r

d

r

VCC

C

R_S

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

comparator

R_S=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™

R_S

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

+V_IO

ISENSE

3.3V or 5V

I/O voltage

100n

+V_M

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

R_REF

Optional for internal current

sensing. R_REF=9K1 allows for

maximum coil current.

+V_M

F

=

60ns spike filter

CFG3

100n

TMC 2130 Standalone

Stepper Motor Driver

VS

+V_M

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

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

R_S

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

comparator

spreadCycle &

stealthChop

Chopper

TG

R_S=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

R_S

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

+V_IO

ISENSE

3.3V or 5V

I/O voltage

VCC_IO

100n

+V_M

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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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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11

2.2 Signal Descriptions

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

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

9

10

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

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

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

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

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

+V_M

Optional use lower

voltage down to 6V

+V_M

VS

VSA

5V Voltage

regulator

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

R_SA

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

+V_IO

R_SB

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

14

3.2 Reduced Number of Components

Optional use lower

voltage down to 6V

+V_M

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.

R_REF

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

15

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.

+V_M

VSA

5V Voltage

regulator

5V Voltage

regulator

5VOUT

100n

4.7µ

LL4448

+5V

VCC

MSS1P3

VCC_IO

3.3V

regulator

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.

+V_M

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

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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.

+V_M

22k

BCX56 or

similar

22k

4k7

Z5.6V e.g.

MM5Z5V6

BCX56 or

similar

100R

VSA

5V Voltage

regulator

5V Voltage

regulator

5VOUT

470n

16V

470n

16V

4.7µ

2R2

VCC

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

17

3.6 5V Only Supply

22n

63V

100n

16V

+5V

VS

VSA

5V Voltage

regulator

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

R_SA

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

+V_IO

A

B

N

R_SB

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

Die

19

Limit by lower limit of

Temperature

overtemperature threshold

O

135°C

p

f

e

o

a

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

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

R_SA

BRA

Driver

OB1

OB2

Full Bridge B

1A Schottky Diodes like MSS1P6

or MSS1P3 (VM limited to 30V)

R_SB

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

V1

Full Bridge

A

stepper

motor

Full Bridge

A

stepper

motor

S

50Ohm

100MHz

@

470pF

100V

470pF

100V

470pF

100V

BRA

100nF

16V

Driver

R_SA

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

R_SB

Figure 3.10 Simple ESD enhancement and more elaborate motor output protection

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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

write CHOPCONF:= 0x00ABCDEF → 0xEC00ABCDEF

write CHOPCONF:= 0x00123456 → 0xEC00123456

→ 0x6F00000000

 0xSS & unused data

 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

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

23

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

t_CC

t_CL

t_CH

t_CC

SCK

SDI

t_DU

t_DH

bit39

bit38

bit0

t_DO

t_ZC

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: t_CLK

Parameter

Symbol Conditions

Min

Typ

Max

Unit

SCK valid before or after change

of CSN

t_CC

10

ns

*) Min time is for

synchronous CLK

with SCK high one

t_CHbefore CSN high

only

*)

CSN high time

t_CSH

t_CLK

>2t_CLK+10

ns

*) Min time is for

synchronous CLK

only

*) Min time is for

synchronous CLK

only

*)

SCK low time

SCK high time

t_CL

t_CLK

>t_CLK+10

ns

*)

t_CH

t_CLK

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

f_SCK

t_DU

4

8

MHz

ns

assumes

synchronous CLK

10

t_DH

ns

no capacitive load

on SDO

Data out valid time after falling

SCK clock edge

SDI, SCK and CSN filter delay

time

t_DO

t_FILT

t_FILT+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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

25

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

26

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

27

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 t_CLK

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

28

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 = f_CLK/ f_STEP

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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

29

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 / f_CLK

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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

0x68

0x69

32 MSLUTSEL

the corresponding segment of MSLUT.

table

See separate table!

bit 7… 0:

bit 23… 16: START_SIN90

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

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/f_CLK). 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/f_CLK)

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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

33

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)

34

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 f_SYNC= f_CLK/(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

dN_CLK= -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

N_CLK= 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

N_CLK= 24 + 32*TOFF

%0000: Driver disable, all bridges off

%0001: 1 – use only with TBL ≥ 2

%0010 … %1111: 2 … 15

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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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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: f_PWM=2/1024 f_CLK

%01: f_PWM=2/683 f_CLK

%10: f_PWM=2/512 f_CLK

%11: f_PWM=2/410 f_CLK

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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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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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

f_CLK

18MHz

PWM_FREQ=%00

f_PWM=2/1024 f_CLK

35.2kHz

PWM_FREQ=%01

f_PWM=2/683 f_CLK

52.7kHz

PWM_FREQ=%10

f_PWM=2/512 f_CLK

70.3kHz

PWM_FREQ=%11

f_PWM=2/410 f_CLK

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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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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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

A

o

Current may drop due

to high velocity

R

k

G

_

M

W

P

Stand still

PWM scale

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

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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푉_푀

퐼_{퐿ꢂ푤푒ꢃ 퐿ꢄ푚ꢄ푡}= ꢅ_{퐵퐿퐴푁퐾}∗ 푓

∗

ꢆ푊푀

푅_퐶푂ꢇ퐿

With V_Mthe motor supply voltage and R_COILthe motor coil resistance.

I_{Lower 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,

t_BLANKis 24 clock cycles, f_PWMis 2/(1024 clock cycles):

2

24푉

24 24푉

∗ = 225ꢈꢉ

퐼_{퐿ꢂ푤푒ꢃ 퐿ꢄ푚ꢄ푡}= 24 ꢅ_퐶퐿퐾

∗

=

1024 ꢅ_퐶퐿퐾5Ω

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 ∗ 푅_퐶푂ꢇ퐿∗ 퐼_퐶푂ꢇ퐿

푃ꢊꢋ_ꢉꢋ푃ꢌ =

푉_푀

With V_Mthe motor supply voltage and I_COILthe target RMS current

The effective PWM voltage U_PWM(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

푈_ꢆ푊푀= 푉_푀∗

∗

= 푉_푀∗

256

√

2

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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 f_STEPbeing the microstep frequency for 256 microstep resolution equivalent

and f_CLKthe 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 = ꢍ_퐵ꢏ푀퐹

[

] ∗ 2휋 ∗

푟푎푑

푠

푉_푀∗ ꢋ푆푃푅

C_BEMFis 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

V_PWMMAX

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 C_BEMFhas 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 C_BEMFof 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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ꢔ

ꢖ

푉

퐻표푙푑푖푛푔ꢒ표푟푞푢ꢓ ꢕꢈ

ꢍ_퐵ꢏ푀퐹

ꢐ

ꢑ =

푟푎푑/푠

2 ∗ 퐼_{퐶푂ꢇ퐿푁푂푀}ꢔꢉꢖ

I_COILNOMis the motor’s rated phase current for the specified holding torque

HoldingTorque is the motor specific holding torque, i.e. the torque reached at I_COILNOMon 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)

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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

f_PWM=2/1024 f_CLK

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

f_PWM=2/683 f_CLK

f_PWM=2/512 f_CLK

f_PWM=2/410 f_CLK

effective chopper frequency f_PWM

.

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 t_CLK

24 t_CLK

36 t_CLK

54 t_CLK

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.

+V_M

I_COIL

R_SENSE

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 N_CLK= 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 t_CLK

24 t_CLK

36 t_CLK

54 t_CLK

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

ꢅ_푂퐹퐹

=

∗

= 10µ푠

25푘퐻푧 100

For the TOFF setting this means:

ꢒꢗꢘꢘ = ꢙꢅ_푂퐹퐹∗ 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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

50

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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51

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

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

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

f_CLK/64

…

f_CLK/(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 R_SENSEAND RESULTING MAX. MOTOR CURRENT

R_SENSE[Ω]

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

퐼_ꢜ푀ꢎ

=

∗

푅_{ꢎꢏ푁ꢎꢏ}+ 20ꢈΩ

2

√

The momentary motor current is calculated by:

ꢍ푈푅_퐴/퐵

ꢍ푆 + 1

32

푉

퐹ꢎ

퐼_푀푂푇

=

∗

248

푅_{ꢎꢏ푁ꢎꢏ}+ 20ꢈΩ

CS is the current scale setting as set by the IHOLD and IRUN and CoolStep.

V_FSis the full scale voltage as determined by vsense control bit (please refer to electrical

characteristics, V_SRTLand V_SRTH).

CUR_A/Bis 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 V_FS, the resulting voltage V_FS‘ is calculated by:

푉

퐴ꢇ푁

푉^′= 푉

∗

퐹ꢎ

2.5푉

with V_AINthe voltage on pin AIN_IREF in the range 0V to V_5VOUT/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

푃_{ꢜꢎ푀퐴푋}= 퐼_퐶푂ꢇ퐿∗ 푅_{ꢎꢏ푁ꢎꢏ}

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

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

V_FS= 0.32 V

V_FS= 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

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 (R_REF) 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 V_SRTH/ V_SRTL). For fine tuning use the current scale CS.

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CHOICE OF R_REFFOR OPERATION WITHOUT SENSE RESISTORS

R_REF[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

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

t_CLK

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 t_CLK

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

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

t_SH

t_SL

t_DSH

t_DSU

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 t_CLK

Symbol Conditions

Min

Typ

Max

Unit

step frequency (at maximum

microstep resolution)

f_STEP

dedge=0

½ f_CLK

dedge=1

¼ f_CLK

fullstep frequency

STEP input low time *)

f_FS

t_SL

f_CLK/512

max(t_FILTSD

t_CLK+20)

max(t_FILTSD

t_CLK+20)

,

ns

STEP input high time *)

t_SH

DIR to STEP setup time

DIR after STEP hold time

STEP and DIR spike filtering time

*)

t_DSU

t_DSH

t_FILTSD

20

36

ns

rising and falling

edge

60

85

STEP and DIR sampling relative

to rising CLK input

t_SDCLKHI

before rising edge

of CLK input

t_FILTSD

ns

*) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase

filtering delay t_FILTSD, 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%

70.7%

38.3%

-38.3%

-70.7%

-92.4%

-70.7%

-38.3%

70.7%

38.3%

-38.3%

-70.7%

-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 t_CLK

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

M_MAX

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

M_NOM2

dcStep extended

application area

M_NOM1

Classic operation area

with safety margin

0

velocity [RPM]

M_NOM: Nominal torque required by application

M_MAX: 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

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

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: t_BLANK(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

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

+V_M

Optional use lower

voltage down to 6V

+V_M

VS

VSA

5V Voltage

regulator

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)

R_SA

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

+V_IO

R_SB

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 T_CLK(recommended, most universal choice)

Registers

TOFF=4

VCC_IO

open

236 T_CLK

332 T_CLK

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)

4 (Quarterstep)

16 µsteps

4 (Quarterstep)

16 µsteps

4 (Quarterstep)

Interpolation

N

Y, to 256 µsteps

N

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):

f_PWM=2/683 f_CLK(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 f_CLK) 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 f_CLKis 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 (V_VS≥ V_VSA)

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)

V_VS, V_VSA

V_VMAX

V_VSA

V_VIO

V_VCC

-0.5

49

50

V_VS+0.5

5.5

V

-0.5

5.5

Logic input voltage

Maximum current to / from digital pins

and analog low voltage I/Os

V_I

I_IO

-0.5

V_VIO+0.5

+/-10

V

mA

5V regulator output current (internal plus external load)

5V regulator continuous power dissipation (V_VM-5V) * I_5VOUTP_5VOUT

Power bridge repetitive output current

Junction temperature

Storage temperature

I_5VOUT

50

1

3.0

150

4

mA

W

A

°C

kV

I_Ox

T_J

T_STG

V_ESDAP

-50

-55

ESD-Protection for interface pins (Human body model,

HBM)

ESD-Protection for handling (Human body model, HBM)

V_ESD

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

T_J

V_VS, V_VSA

Min

-40

5.5

Max

125

46

Unit

°C

V

Supply voltage (internal +5V regulator bridged: V_VCC=V_VSA=V_VS) V_VS

I/O supply voltage V_VIO

VCC voltage when using optional external source (supplies V_VCC

digital logic and charge pump)

4.7

3.00

4.6

5.4

5.25

V

RMS motor coil current per coil (value for design guideline) I_RMS-QFN36

1.2

1.4

2.0

A

for QFN36 5x6 package resp. TQFP-48 package

I_RMS-TQFP48

Peak output current per motor coil output (sine wave peak) I_Ox

using external or internal current sensing

Peak output current per motor coil output (sine wave peak) I_Ox

for short term operation. Limit T_J≤ 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

V_VS= V_VSA= 24.0V

Parameter

Symbol Conditions

Min

Typ

Max Unit

Total supply current, driver

disabled I_VS+ I_VSA+ I_VCC

I_S

f_CLK=16MHz

15

22

mA

Total supply current, operating,

I_VS+ I_VSA+ I_VCC

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)

I_S

f_CLK=16MHz, 23.4kHz

chopper, no load

f_CLK=0Hz,

driver disabled

f_CLK=0Hz, includes

VCC supply current

f_CLKvariable,

additional to I_VSA0

f_CLK=16MHz, 23.4kHz

chopper

no load on outputs,

inputs at V_IOor GND

Excludes pullup /

pull-down resistors

19

0.25

2

mA

I_VS0

I_VSA0

I_VCCx

I_VCC

I_VIO

0.5

3

1.4

mA

mA/MHz

0.8

16

mA

µA

15

30

Motor driver section

DC- and Timing-Characteristics

V_VS= 24.0V

Parameter

Symbol Conditions

Min

Typ

Max Unit

RDS_ONlowside MOSFET

R_ONL

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

RDS_ONhighside MOSFET

slope, MOSFET turning on

R_ONH

t_SLPON

0.5

0.6

Ω

50

120

220

ns

slope, MOSFET turning off

t_SLPOFF

120

180

220

250

ns

(resistive load)

O_XXpulled to GND

Current sourcing, driver off

I_OIDLE

120

µA

Charge pump

DC-Characteristics

Parameter

Symbol Conditions

Min

Typ

Max Unit

Charge pump output voltage

V_VCP-V_VS

f_CP

operating, typical

f_chop<40kHz

using internal 5V

regulator voltage

4.0

V_VCC

0.3

3.6

-

V_VCC

V

Charge pump voltage threshold

for undervoltage detection

Charge pump frequency

3.3

3.8

V

1/16

f_CLKOSC

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Linear regulator

DC-Characteristics

V_VS= V_VSA= 24.0V

Parameter

Symbol Conditions

Min

Typ

Max Unit

Output voltage

V_5VOUT

I_5VOUT= 0mA

T_J= 25°C

4.80

5.0

5.25

V

Output resistance

R_5VOUT

Static load

3



Deviation of output voltage over V_5VOUT(DEV)I_5VOUT= 16mA

the full temperature range

+/-30

+/-100

+/-30

+/-75

mV

T_J= full range

Deviation of output voltage over V_5VOUT(DEV)I_5VOUT= 0mA

the full supply voltage range

+/-15

-38

mV /

10V

V_VSA= variable

Deviation of output voltage over V_5VOUT(DEV)I_5VOUT= 16mA

mV /

10V

the full supply voltage range

V_VSA= variable

Clock oscillator and input

Parameter

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

f_CLKOSC

f_CLK

t_J=-50°C

t_J=50°C

t_J=150°C

17.2

18

MHz

4

18

External clock high / low level

time

External clock first cycle

triggering switching to external

clock source

t_CLKH

t_CLKL

t_CLKH1

/

CLK driven to

0.1 V_VIO/ 0.9 V_VIO

CLK driven high

10

30

ns

25

Detector levels

Parameter

DC-Characteristics

Symbol Conditions

Min

Typ

Max Unit

V_VSAundervoltage threshold for

RESET

V_{UV_VSA}

V_VSArising

3.8

4.2

4.6

V

V_5VOUTundervoltage threshold for V_{UV_5VOUT}

RESET

V_{VCC_IO}undervoltage threshold for V_{UV_VIO}

RESET

V_5VOUTrising

3.5

2.55

0.3

V

V_{VCC_IO}rising (delay

typ. 10µs)

2.1

3.0

V

V_{VCC_IO}undervoltage detector

hysteresis

V_{UV_VIOHYST}

V

Short to GND detector threshold V_OS2G

(V_VS- V_Ox)

2

2.5

3

2

V

Short to GND detector delay

(high side switch on to short

detected)

t_S2G

High side output

clamped to V_SP-3V

0.8

1.3

µs

Overtemperature prewarning

Overtemperature shutdown

t_OTPW

t_OT

Temperature rising

100

135

120

150

140

170

°C

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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

92

Sense resistor voltage levels

Parameter

Sense input peak threshold

voltage (low sensitivity)

DC-Characteristics

f_CLK=16MHz

Symbol Conditions

Min

Typ

325

Max Unit

mV

V_SRTL

vsense=0

csactual=31

sin_x=248

Hyst.=0; I_BRxy=0

Sense input peak threshold

voltage (high sensitivity)

V_SRTH

vsense=1

csactual=31

sin_x=248

180

mV

Hyst.=0; I_BRxy=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

I_COIL

-5

-2

+5

+2

%

I_COIL

I_scale_analog=1,

V_AIN=2V, vsense=0

Internal resistance from pin BRxy R_BRxy

to internal sense comparator

20

mΩ

(additional to sense resistor)

Digital pins

DC-Characteristics

Symbol Conditions

Parameter

Min

-0.3

0.7 V_VIO

Typ

Max Unit

Input voltage low level

Input voltage high level

Input Schmitt trigger hysteresis

V_INLO

V_INHI

V_INHYST

0.3 V_VIO

V_VIO+0.3

V

0.12

V_VIO

Output voltage low level

Output voltage high level

Input leakage current

Pullup / pull-down resistors

Digital pin capacitance

V_OUTLO

V_OUTHI

I_ILEAK

R_PU/R_PD

C

I_OUTLO= 2mA

I_OUTHI= -2mA

0.2

V

µA

kΩ

pF

V_VIO-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 R_AIN

(=5VOUT/2)

Measured to GND

(internalRsense=0)

260

330

AIN_IREF input voltage range for V_AIN

linear current scaling

Measured to GND

(IscaleAnalog=1)

Open circuit voltage

(internalRsense=0)

0

0.5-2.4 V_5VOUT/2

V_5VOUT/2

V

AIN_IREF open input voltage

level

V_AINO

AIN_IREF input resistance to

R_IREF

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 I_COIL

-using RDSon measurement

I_REFAMPL

I_IREF= 0.25mA

3000

Times

%

Internal_Rsense=1,

vsense=0,

-10

+10

I_IREF= 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

P_D

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

R_TMJA

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

Thermal resistance junction to

ambient on a multilayer board

for TQFP-EP48 package

R_TMJA

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

R_TJB

R_TJC

PCB temperature measured within

1mm distance to the package

8

3

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.

www.trinamic.com

TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

94

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.

www.trinamic.com

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95

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)

97

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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98

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

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

0.09

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

7.0

0.5

0.6

1 REF

3.5°

-

12°

-

0.16

lead

footprint

0.45

0.75

0°

7°

-

13°

-

11°

0.08

0.2

4.9

0.2

-

exposed die pad size X

exposed die pad size Y

package edge tolerance

lead edge tolerance

coplanarity

M

N

5

5.1

0.2

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-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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TMC2130 DATASHEET (Rev. 1.12 / 2020-JUN-03)

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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

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

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

Minor fixes and hints, new pict., sustainability chapter

Updated Logo, Minor fixes

V1.11

V1.12

2019-NOV-07

2020-JUN-03

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


型号：	TMC2130
厂家：	TRINAMIC MOTION CONTROL GMBH & CO. KG.
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

TMC2130 [TRINAMIC]

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