POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC5130A-TA DATASHEET
Universal high voltage controller/driver for two-phase bipolar stepper motor.
StealthChop™ for quiet
movement. Integrated MOSFETs for up to 2 A motor current per coil. With Step/Dir Interface and SPI.
A
PPLICATIONS
Textile, Sewing Machines
Lab & Factory Automation
3D Printers
Liquid Handling
Medical
Office Automation
CCTV, Security
ATM, Cash recycler
POS
Pumps and Valves
Heliostat Controller
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC5130A is a high-performance
stepper motor controller and driver IC
with serial communication interfaces. It
combines a flexible ramp generator for
automatic
target
positioning
with
industries’ most advanced stepper
motor
driver. Based on TRINAMICs sophisticated
StealthChop chopper, the driver ensures
absolutely noiseless operation combined
with maximum efficiency and best motor
torque. High integration, high energy
efficiency and a small form factor enable
miniaturized and scalable systems for
cost effective solutions. The complete
solution reduces learning curve to a
minimum while giving best performance
in class.
For higher currents, use the
register compatible TMC5160 driver IC.
2-phase
stepper motors up to 2A coil current (2.5A peak)
Motion Controller
with
sixPoint™
ramp
Step/Dir Interface
with microstep interpolation
MicroPlyer™
Voltage Range
4.75…
46V DC
SPI & Single Wire UART
Encoder Interface
and
2x Ref.-Switch Input
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
Compact Size
7x7mm
2
TQFP48 package
B
LOCK
D
IAGRAM
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC5130A DATASHEET (Rev. 1.18 / 2021-JUN-16)
2
APPLICATION EXAMPLES: HIGH VOLTAGE
–
MULTIPURPOSE USE
The TMC5130A scores with complete motion controlling features, integrated power stages, and power
density. It offers a versatility that covers a wide spectrum of applications from battery powered systems up
to embedded applications with 2A motor current per coil. The TMC5130A contains the complete intelligence
which is required to drive a motor. Receiving target positions the TMC5130A manages motor movement.
Based on TRINAMICs unique features StallGuard2, CoolStep, DcStep, SpreadCycle, and StealthChop, the
TMC5130A optimizes drive performance. It trades off velocity vs. motor torque, optimizes energy efficiency,
smoothness of the drive, and noiselessness. The small form factor of the TMC5130A keeps costs down and
allows for miniaturized layouts. Extensive support at the chip, board, and software levels enables rapid
design cycles and fast time-to-market with competitive products. High energy efficiency and reliability
deliver cost savings in related systems such as power supplies and cooling.
M
INIATURIZED
D
ESIGN
FOR ONE
S
TEPPER
M
OTOR
Ref.
Switches
SPI
High-Level
Interface
CPU
TMC5130A
M
Encoder
An ABN encoder interface with scaler
unit and two reference switch inputs are
used to control motor movement.
C
OMPACT
D
ESIGN
FOR UP TO
255 S
TEPPER
M
OTORS
An application with 2 stepper motors is
shown. Additionally, the ABN Encoder
interface and two reference switches can
be used for each motor. A single CPU
controls the whole system. The CPU-
board and the controller / driver boards
are highly economical and space saving.
High-Level
Interface
CPU
UART
TMC5130A
Addr.
M
TMC5130A
Addr.
M
Up to 255 TMC5130
can be addressed.
TMC5130-EVAL E
VALUATION
B
OARD
The
TMC5130-EVAL
is
part
of
TRINAMICs universal evaluation board
system which provides a convenient
handling of the hardware as well as a
user-friendly
software
tool
for
evaluation. The TMC5130 evaluation
board system consists of three parts:
STARTRAMPE
(base
board),
ESELSBRÜCKE
(connector
board
including several test points), and
TMC5130-EVAL.
Description
1-axis StealthChop controller/driver; TQFP48
-T denotes tape on reel packing of devices
Evaluation board for TMC5130A
Baseboard for evaluation board system
Connector board fitting to Landungsbrücke
Size [mm
2
]
7 x 7 (body)
85 x 55
85 x 55
61 x 38
O
RDER
C
ODES
Order code
TMC5130A-TA
TMC5130A-TA-T
TMC5130-EVAL
lANDUNGSBRÜCKE
ESELSBRÜCKE
PN
00-0133
00-0133-T
40-0082
40-0167
40-0098
www.trinamic.com
TMC5130A DATASHEET (Rev. 1.18 / 2021-JUN-16)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 5
K
EY
C
ONCEPTS
................................................ 7
C
ONTROL
I
NTERFACES
..................................... 7
S
OFTWARE
...................................................... 7
M
OVING AND
C
ONTROLLING THE
M
OTOR
........ 8
S
TEALTH
C
HOP
D
RIVER
.................................... 8
S
TALL
G
UARD
2
–
M
ECHANICAL
L
OAD
S
ENSING
.
....................................................................... 8
1.7
C
OOL
S
TEP
–
L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
...................................................................... 9
1.8
D
C
S
TEP
–
L
OAD
D
EPENDENT
S
PEED
C
ONTROL
9
1.9
E
NCODER
I
NTERFACE
....................................... 9
2
PIN ASSIGNMENTS
.........................................10
2.1
2.2
3
P
ACKAGE
O
UTLINE
........................................10
S
IGNAL
D
ESCRIPTIONS
.................................10
1.1
1.2
1.3
1.4
1.5
1.6
8
SPREADCYCLE AND CLASSIC CHOPPER
... 59
8.1
8.2
8.3
8.4
9
10
11
12
13
13.1
13.2
13.3
14
14.1
14.2
14.3
14.4
14.5
15
15.1
15.2
15.3
15.4
15.5
16
16.1
16.2
16.3
17
S
PREAD
C
YCLE
C
HOPPER
................................ 60
C
LASSIC
C
ONSTANT
O
FF
T
IME
C
HOPPER
...... 63
R
ANDOM
O
FF
T
IME
...................................... 64
CHOP
S
YNC
2
FOR
Q
UIET
2-P
HASE
M
OTOR
.... 65
ANALOG CURRENT CONTROL AIN
............. 66
SELECTING SENSE RESISTORS
............... 67
INTERNAL SENSE RESISTORS
................. 69
VELOCITY BASED MODE CONTROL
....... 71
DRIVER DIAGNOSTIC FLAGS
.................. 73
T
EMPERATURE
M
EASUREMENT
....................... 73
S
HORT TO
GND P
ROTECTION
....................... 73
O
PEN
L
OAD
D
IAGNOSTICS
........................... 73
RAMP GENERATOR
..................................... 74
R
EAL
W
ORLD
U
NIT
C
ONVERSION
................. 74
M
OTION
P
ROFILES
........................................ 75
V
ELOCITY
T
HRESHOLDS
................................. 77
R
EFERENCE
S
WITCHES
.................................. 78
E
XTERNAL
STEP/DIR D
RIVER
...................... 79
STALLGUARD2 LOAD MEASUREMENT
... 80
T
UNING
S
TALL
G
UARD
2 T
HRESHOLD
SGT
..... 81
S
TALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
.... 83
D
ETECTING A
M
OTOR
S
TALL
......................... 83
H
OMING WITH
S
TALL
G
UARD
........................ 83
L
IMITS OF
S
TALL
G
UARD
2 O
PERATION
.......... 83
COOLSTEP OPERATION
............................. 84
U
SER
B
ENEFITS
............................................. 84
S
ETTING UP FOR
C
OOL
S
TEP
.......................... 84
T
UNING
C
OOL
S
TEP
....................................... 86
STEP/DIR INTERFACE
................................ 87
SAMPLE CIRCUITS
..........................................13
3.1
S
TANDARD
A
PPLICATION
C
IRCUIT
................13
3.2
R
EDUCED
N
UMBER OF
C
OMPONENTS
.............14
3.3
I
NTERNAL
RDS
ON
S
ENSING
..........................14
3.4
E
XTERNAL
5V P
OWER
S
UPPLY
......................15
3.5
P
RE
-R
EGULATOR FOR
R
EDUCED
P
OWER
D
ISSIPATION
..............................................................16
3.6
5V O
NLY
S
UPPLY
..........................................17
3.7
H
IGH
M
OTOR
C
URRENT
.................................18
3.8
D
RIVER
P
ROTECTION AND
EME C
IRCUITRY
...20
4
SPI INTERFACE
................................................21
4.1
4.2
4.3
SPI D
ATAGRAM
S
TRUCTURE
.........................21
SPI S
IGNALS
................................................22
T
IMING
.........................................................23
5
UART SINGLE WIRE INTERFACE
................24
5.1
5.2
5.3
5.4
D
ATAGRAM
S
TRUCTURE
.................................24
CRC C
ALCULATION
.......................................26
UART S
IGNALS
............................................26
A
DDRESSING
M
ULTIPLE
S
LAVES
....................27
6
REGISTER MAPPING
.......................................29
6.1
G
ENERAL
C
ONFIGURATION
R
EGISTERS
..........30
6.2
V
ELOCITY
D
EPENDENT
D
RIVER
F
EATURE
C
ONTROL
R
EGISTER
S
ET
.............................................33
6.3
R
AMP
G
ENERATOR
R
EGISTERS
.......................35
6.4
E
NCODER
R
EGISTERS
.....................................40
6.5
M
OTOR
D
RIVER
R
EGISTERS
...........................42
17.1 T
IMING
......................................................... 87
17.2 C
HANGING
R
ESOLUTION
............................... 88
17.3 M
ICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
....................................................... 89
18
18.1
18.2
19
DIAG OUTPUTS
........................................... 90
STEP/DIR M
ODE
......................................... 90
M
OTION
C
ONTROLLER
M
ODE
........................ 90
DCSTEP
.......................................................... 92
7
STEALTHCHOP™
..............................................51
7.1
7.2
7.3
7.4
7.5
7.6
T
WO
M
ODES FOR
C
URRENT
R
EGULATION
......51
A
UTOMATIC
S
CALING
....................................52
V
ELOCITY
B
ASED
S
CALING
............................54
C
OMBINING
S
TEALTH
C
HOP AND
S
PREAD
C
YCLE
.
.....................................................................56
F
LAGS IN
S
TEALTH
C
HOP
...............................57
F
REEWHEELING AND
P
ASSIVE
B
RAKING
........58
19.1 U
SER
B
ENEFITS
............................................. 92
19.2 D
ESIGNING
-I
N
D
C
S
TEP
................................ 92
19.3 D
C
S
TEP
I
NTEGRATION WITH THE
M
OTION
C
ONTROLLER
.............................................................. 93
19.4 S
TALL
D
ETECTION IN
D
C
S
TEP
M
ODE
............ 93
19.5 M
EASURING
A
CTUAL
M
OTOR
V
ELOCITY IN
D
C
S
TEP
O
PERATION
.................................................. 94
19.6 D
C
S
TEP WITH
STEP/DIR I
NTERFACE
........... 95
www.trinamic.com
TMC5130A DATASHEET (Rev. 1.18 / 2021-JUN-16)
20
20.1
20.2
21
SINE-WAVE LOOK-UP TABLE
...................98
U
SER
B
ENEFITS
.............................................98
M
ICROSTEP
T
ABLE
........................................98
EMERGENCY STOP
.......................................99
29
30
30.1
30.2
30.3
31
31.1
31.2
31.3
31.4
32
32.1
32.2
33
34
35
36
37
38
39
4
ABSOLUTE MAXIMUM RATINGS
.......... 115
ELECTRICAL CHARACTERISTICS
.......... 115
O
PERATIONAL
R
ANGE
................................. 115
DC
AND
T
IMING
C
HARACTERISTICS
............ 116
T
HERMAL
C
HARACTERISTICS
........................ 119
LAYOUT CONSIDERATIONS...................
120
E
XPOSED
D
IE
P
AD
...................................... 120
W
IRING
GND
............................................ 120
S
UPPLY
F
ILTERING
...................................... 120
L
AYOUT
E
XAMPLE
....................................... 121
PACKAGE MECHANICAL DATA
.............. 123
D
IMENSIONAL
D
RAWINGS
TQFP48-EP
..... 123
P
ACKAGE
C
ODES
......................................... 124
DESIGN PHILOSOPHY
............................. 125
DISCLAIMER
............................................... 125
ESD SENSITIVE DEVICE..........................
125
DESIGNED FOR SUSTAINABILITY
....... 126
TABLE OF FIGURES
.................................. 126
REVISION HISTORY
................................. 128
REFERENCES
............................................... 128
22
ABN INCREMENTAL ENCODER
INTERFACE
.............................................................. 100
22.1 E
NCODER
T
IMING
....................................... 101
22.2 S
ETTING THE
E
NCODER TO
M
ATCH
M
OTOR
R
ESOLUTION
............................................................ 102
22.3 C
LOSING THE
L
OOP
.................................... 102
23
23.1
24
25
25.1
26
27
28
28.1
28.2
28.3
DC MOTOR OR SOLENOID
.................... 103
S
OLENOID
O
PERATION
............................... 103
QUICK CONFIGURATION GUIDE
......... 104
GETTING STARTED
.................................. 109
I
NITIALIZATION
E
XAMPLES
......................... 109
STANDALONE OPERATION
.................... 110
EXTERNAL RESET
...................................... 113
CLOCK OSCILLATOR AND INPUT
........ 113
U
SING THE
I
NTERNAL
C
LOCK
...................... 113
U
SING AN
E
XTERNAL
C
LOCK
....................... 114
C
ONSIDERATIONS ON THE
F
REQUENCY
....... 114
www.trinamic.com
TMC5130A DATASHEET (Rev. 1.18 / 2021-JUN-16)
5
1
Principles of Operation
The TMC5130A motion controller and driver chip is an intelligent power component interfacing
between CPU and stepper motor. All stepper motor logic is completely within the TMC5130A. No
software is required to control the motor
–
just provide target positions. The TMC5130A offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The sixPoint ramp generator of the TMC5130A uses StealthChop, DcStep, CoolStep, and
StallGuard2 automatically to optimize every motor movement.
T
HE
TMC5130A
OFFERS THREE BASIC MODES OF OPERATION
:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5130A. No software is required to control the
motor
–
just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5130A takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The MicroPlyer automatically smoothens motion. Leave open SD_MODE and SPI_MODE.
MODE 3: Simple Step & Direction Driver
The TMC5130A positions the motor based on step & direction signals. The MicroPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5130A. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying low pin SPI_MODE.
reference / stop switches
optional current scaling
AIN_IREF
R
REF
5VOUT
Optional for internal
current sensing.
R
REF
=9K1 allows for
maximum coil current.
100n
REFR
REFL
F = 60ns spike filter
+V
M
VCP
100n
TMC 5130A
Stepper motor driver /
controller
charge pump
+V
M
F
F
reference switch
processing
DAC Reference
IREF
VS
Half Bridge 1
ISENSE
OA1
CPI
CPO
22n
VSA
100n
4.7µ
2R2 and 470n are optional
filtering components for
best chopper precision
linear 6 point RAMP
generator
5V Voltage
regulator
Step &
Direction pulse
generation
5VOUT
2R2
VCC
470n
PU=166K pullup resistor to VCC
PD=166k pull down resistor to GND
n
Motio
ol
contr
CSN
SCK
SPI™
SDI/NAI
SDO/NAO
interface selection
(-TA package only)
single wire
UART
Opt. interrupt out
Opt. poscomp out
SW_SEL
PU
PU
PU
PU
p&
olSte op
co
thCh
steal driver
r
moto
DRV_ENN
Half Bridge 2
ISENSE
OA2
BRA
R
S
GNDP
current
comparator
IREF
DAC
R
S
=0R15 allows for
maximum coil current;
Use low inductance
SMD resistor type.
Tie BRA and BRB to
GND for internal
current sensing
SPI interface
PD
f ace
Inter
wire
Single
interface
(-TA pckg only)
Control register
set
programmable
sine table
4*256 entry
x
spreadCycle &
stealthChop
Chopper
Stepper driver
Protection
& diagnostics
S
N
current
comparator
DAC
IREF
GNDP
R
S
2 phase
stepper
motor
PDD=100k pulldown
PMD=50k to VCC/2
SWP_DIAG1
SWN_DIAG0
coolStep™
PDD
PMD
BRB
Diff. Tranceiver
INT & position
pulse output
stallGuard2™
Half Bridge 2
dcStep™
ISENSE
OB2
PU=166K pullup to VCC
opt. ext. clock
10-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
CLK_IN
VCC_IO
CLK oscillator/
selector
Encoder
unit
A
PU
PU
Half Bridge 1
N
PU
PU
PU
OB1
VS
100n
B
ISENSE
+V
M
DIE PAD
TST_MODE
SD_MODE
SPI_MODE
GNDA
ENCN
ENCA
ENCB
Optional incremental
encoder inputs
leave open
opt. driver enable
Figure 1.1 TMC5130A basic application block diagram with motion controller
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