TMC2130-LA

TMC2130-LA TRINAMIC | Alldatasheet

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POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany TMC2130-LA DATASHEET FEATURES AND BENEFITS 2-phase stepper motors Drive Capability up to 2.0A coil current (2.5A peak) Step/Dir Interface with microstep interpolation microPlyer™ SPI Interface Voltage Range 4.75… 46V DC Highest Resolution 256 microsteps per full step stealthChop™ for ext remely quiet operation and smooth motion spreadCycle™ highly dynamic motor control chopper dcStep™ load dependent speed control stallGuard2™ high precision sensorless motor load detection coolStep™ current control for energy savings up to 75% Integrated Current Sense Option Passive Braking and freewheeling mode Full Protection & Diagnostics Small Size 5x6mm2 QFN36 package or TQFP48 package

APPLICATIONS

Textile, Sewing Machines Factory Automation Lab Automation Liquid Handling Medical Office Automation CCTV, Security ATM, Cash recycler POS Pumps and Valves

DESCRIPTION

The TMC2130 is a high performance driver IC for two phase stepper motors . Standard SPI and Step/Dir s implify communication . TRINAMICs sophisticated stealthChop chopper ensures noiseless operation combined with maximum efficiency and best motor torque. Due to features like stallGuard2 and coolStep energy consumption can be reduced by up to 75%. Moreover, using the dcStep feature of the TMC2130 high loads can be moved as fast as possible without steploss . 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 dia gnostic 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. 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. BLOCK DIAGRAM spreadCycle stealthChop DRIVER TMC2130 Programmable 256 µStep Sequencer Protection & Diagnostics SPI stallGuard2 coolStep dcStep Power Supply Motor Step/Dir Step Multiplyer spreadCycle stealthChop DAC Reference IREF optional current scaling SPI Control, Config & Diags CLK Control Register Set Standstill Current Reduction CLK Oscillator / Selector InterruptINT Charge Pump+5V Regulator

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 2 www.trinamic.com APPLICATION EXAMPLES: HIGH VOLTAGE – MULTIPURPOSE USE The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a wide spectrum of appl ications 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. CPU SPI S/DHigh-Level Interface N S 0A+ 0A- 0B+ TMC2130 0B- CPU SPI SPI S/D TMC4361 Motion Controller High-Level Interface N S 0A+ 0A- 0B+ TMC2130 0B- MINIATURIZED DESIGN FOR ONE STEPPER MOTOR SPI DESIGN FOR DEMANDING APPLICATIONS WITH S-SHAPED RAMP PROFILES CPU SPI TMC429 Motion Controller High-Level Interface N S 0A+ 0A- 0B+ TMC2130 0B- STEP/ DIR COMPACT DESIGN FOR UP TO THREE STEPPER MOTORS N S 0A+ 0A- 0B+ TMC2130 0B- N S 0A+ 0A- 0B+ TMC2130 0B- SPI SPI SPI STEP/ DIR STEP/ DIR ORDER CODES Order code Description Size [mm2] TMC2130-LA 1-axis dcStep, coolStep, and stealthChop driver; QFN36 5 x 6 TMC2130-TA 1-axis dcStep, coolStep, and stealthChop driver; TQFP48 9 x 9 TMC2130-EVAL Evaluation board for TMC 2130 two phase stepper motor controller/driver 85 x 55 TMC4361-EVAL Motion controller board (part of evaluation board system) 85 x 55 STARTRAMPE Baseboard for TMC2130-EVAL and further evaluation boards 85 x 55 ESELSBRÜCKE Connector board for plug-in evaluation board system 61 x 38 In this application, the CPU initializes the TMC2130 motor driver via SPI interface and controls motor movement by sendi ng step and direction signals. A real time software realizes motion control. 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. 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 dem anding applications including servo drive features.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 3 www.trinamic.com Table of Contents

1.5 STEALTHCHOP AND PROGRAMMABLE

1.6 STALLGUARD2 – MECHANICAL LOAD SENSING8

1.7 COOLSTEP – LOAD ADAPTIVE CURRENT

1.8 DCSTEP – LOAD DEPENDENT SPEED CONTROL 9

3.5 PRE-REGULATOR FOR REDUCED POWER

3.8 DRIVER PROTECTION AND EME CIRCUITRY ... 20

5.2 VELOCITY DEPENDENT DRIVER FEATURE

6.4 COMBINING STEALTHCHOP WITH OTHER

6.6 FREEWHEELING AND PASSIVE MOTOR BRAKING

7 SPREADCYCLE AND CLASSIC CHOPPER ... 47

10 RDSON SENSING ELIMINATES SENSE

14 STALLGUARD2 LOAD MEASUREMENT ... 62

16.3 MICROPLYER STEP INTERPOLATOR AND STAND

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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 TMC213 0. The TMC2130 provides the related motor coil currents to operate the motor . In Standalone M ode, 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 M ode, 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 CP U 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 conv ert 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. Half Bridge 1 Half Bridge 2 +VM VS current comparator 2 phase stepper motor N S Stepper driver Protection & diagnostics programmable sine table 4*256 entry DAC stallGuard2™ coolStep™ x step multiplier microPlyer OA1 OA2 BRA spreadCycle & stealthChop Chopper VCC_IO TMC2130 Stepper Motor Driver SPI interface CSN SCK SDO SDI STEP coolStep & stealthChop motor driver DIR Half Bridge 1 Half Bridge 2 VS current comparator DAC OB1 OB2 BRB Control register set CLK oscillator/ selector DIAG0 CLK_IN Interface DIAG1 +VIO DIAG out DRV_ENN DRV_ENN GNDP GNDP GNDA F F = 60ns spike filter TST_MODE dcStep™ DIE PAD RS=0R15 allows for maximum coil current. Use low inductance SMD resistor type. Tie BRA and BRB to GND for internal current sensing SPI™ opt. ext. clock 10-16MHz 3.3V or 5V I/O voltage 100n 100n 100n Diganostics step & dir input opt. driver enable RS RS DCEN DCIN DCO ISENSE ISENSE ISENSE ISENSE +VM DAC Reference AIN_IREF IREF IREF IREF SPI_MODE PU PU PU PU PDD PMD PU=166K pullup resistor to VCC PD=166k pull down resistor to GND PDD=100k pulldown PMD=50k to VCC/2 PU PU PU PU=166K pullup to VCC PU optional current scaling F Standstill current reduction leave open dcStep control Tie DCEN to GND if dcStep is not used RREF 5VOUT Optional for internal current sensing. RREF=9K1 allows for maximum coil current. 5V Voltage regulator charge pump CPO CPI VCP 22n 100n +VM 5VOUT VSA 4.7µ 100n 2R2 470n 2R2 and 470n are optional filtering components for best chopper precision VCC B.Dwersteg, © TRINAMIC 2014 Figure 1.1 TMC2130 STEP/DIR application diagram

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 6 www.trinamic.com 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 req uired. C onfiguration is done by hardware pins. Basic standby current control can be done by the TMC 2130. Optional feedback signals allow error detection and synchronization. Status out (open drain) Half Bridge 1 Half Bridge 2 +VM VS current comparator 2 phase stepper motor N S Stepper driver Protection & diagnostics sine table 4*256 entry DAC x step multiplier microPlyer OA1 OA2 BRA spreadCycle & stealthChop Chopper VCC_IO TMC 2130 Standalone Stepper Motor Driver Configuration interface with TRISTATE detection CFG0 CFG1 CFG3 CFG2 STEP spreadCycle & stealthChop motor driver DIR Half Bridge 1 Half Bridge 2 VS current comparator DAC OB1 OB2 BRB CLK oscillator/ selector DIAG0 CLK_IN Interface DIAG1 +VIO DRV_ENN GNDP GNDP GNDA F F = 60ns spike filter TST_MODE DIE PAD RS=0R15 allows for maximum coil current; Tie BRA and BRB to GND for internal current sensing TRISTATE configuration (GND, VCC_IO or open) opt. ext. clock 10-16MHz 3.3V or 5V I/O voltage 100n 100n 100n Index pulse step & dir input RS RS ISENSE ISENSE ISENSE ISENSE +VM DAC Reference AIN_IREF IREF IREF IREF TG TG TG TG PDD PMD TG= toggle with 166K resistor between VCC and GND to detect open pin PDD=100k pulldown PMD=50k to VCC/2 optional current scaling F Standstill current reduction RREF 5VOUT Optional for internal current sensing. RREF=9K1 allows for maximum coil current. 5V Voltage regulator charge pump CPO CPI VCP 22n 100n +VM 5VOUT VSA 4.7µ 100n 2R2 470n 2R2 and 470n are optional filtering components for best chopper precision VCC Driver error CFG4 TG CFG5 TG DRV_ENN_CFG6 TG CFG6 CFG3 Opt. driver enable input CFG0 CFG4 CFG5 CFG1 CFG2 CFG1 CFG2 CFG1 CFG2 B.Dwersteg, © TRINAMIC 2014 SPI_MODE PU Figure 1.2 TMC2130 standalone driver application diagram OPERATION MODE 3: SPI Driver Mode Together with the TMC4361 high-performance S-ramp motion controller the TMC2130 stepper motor driver offers an SPI control mode, which gives full control over the motor c oil currents to the TMC4361. 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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1.1 Key Concepts

The TMC2130 implements advanced features which are exclusive to TRINAMIC products. These features contribute toward greater precision, greater energy effi ciency, higher reliability, smoother motion, and cooler operation in many stepper motor applications. stealthChop™ No-noise, h igh-precision chopper algorithm for inaudible motion and inaudible standstill of the motor. spreadCycle™ High-precision chopper a lgorithm available as an alternative to the traditional constant off-time algorithm. dcStep™ Load dependent speed control. The motor moves as fast as possible and never loses a step. stallGuard2™ High-precision load measurement using the back EMF on the motor coils. coolStep™ Load-adaptive current control which reduces 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 performa nce 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 TMC 2130 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 TMC 2130 is a peripheral with a number of control and s tatus 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 micro step, in which there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. During microstepping, a step impulse with a low state on DIR increases the microstep counter and a high decreases the counter by an amount controlled by the microstep resolu tion. 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 9 www.trinamic.com 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 auto matically 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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2 Pin Assignments

2.1 Package Outline

TST_MODE GNDP OA1 VCP STEP CLK OB1 GNDP DCEN_CFG4 BRB VS DCO DIR VCC_IO SDO_CFG0 SDI_CFG1 SCK_CFG2 CSN_CFG3 DIAG1 DIAG0 AIN_IREF GNDA CPO OB2 VSA DRV_ENN_CFG6 VCC 5VOUT SPI_MODE DCIN_CFG5 PAD = GNDD TMC2130-LA QFN-36 5mm x 6mm Figure 2.1 TMC2130-LA package and pinning QFN36 (5x6mm² body) 3724 OA2 OA1 VS BRA VCP STEP CLK OB1 DCEN_CFG4 BRB OB2 DCO 1TST_MODE DIR VCC_IO SDO_CFG0 SDI_CFG1 SCK_CFG2 CSN_CFG3 DIAG1 DIAG0 AIN_IREF GNDA CPO VSA DRV_ENN_CFG6 GNDP 13 CPI VCC 5VOUT PAD = GNDD 12SPI_MODE VS DCIN_CFG5 GNDP TMC2130-TA TQFP-48 9mm x 9mm Figure 2.2 TMC2130-TA package and pinning TQFP-EP 48-EP (7x7mm² body, 9x9mm² with leads)

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2.2 Signal Descriptions

Pin QFN36 TQFP48 Type Function CLK 1 2 DI CLK input. Tie to GND using short wire for internal clock or supply external clock. CSN_CFG3 2 3 DI (tpu) SPI chip select input (negative active) (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SCK_CFG2 3 4 DI (tpu) SPI serial clock input (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SDI_CFG1 4 5 DI (tpu) SPI data input (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). SDO_CFG0 5 7 DIO (tpu) SPI data output (tristate) (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). STEP 6 8 DI STEP input DIR 7 9 DI DIR input VCC_IO 8 10 3.3V to 5V IO supply voltage for all digital pins. DNC 9 11, 14, 16, 18, 20, 22, 28, 41, 43, 45, 47 Do not connect. Leave open! SPI_MODE 10 12 DI (pu) 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 avail able for control. Integrated pull-up resistor. N.C. 11 6, 31, 36 Unused pin, connect to GND for compatibility to future versions. GNDP 12, 35 13, 48 Power GND. Connect to GND plane near pin. OB1 13 15 Motor coil B output 1 BRB 14 17 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. OB2 15 19 Motor coil B output 2 VS 16, 31 21, 40 Motor supply voltage. Provide filtering capacity near p in with short loop to nearest GNDP pin (respectively via GND plane). DCO 17 23 DIO dcStep ready output DCEN_CFG4 18 24 DI (tpu) dcStep enable input (SPI_MODE=1) - tie to GND for normal operation (no dcStep) or Configuration input (SPI_MODE=0) (tristate detection). DCIN_CFG5 19 25 DI (tpu) dcStep gating input for axis synchronization (SPI_MODE=1) or Configuration input (SPI_MODE=0) (tristate detection). DIAG0 20 26 DIO Diagnostics output DIAG0. Use external pull -up resistor with 47k or less in open drain mode. DIAG1 21 27 DIO Diagnostics output DIAG1. Use external pull -up resistor with 47k or less in open drain mode. DRV_ENN_ CFG6 22 29 DI (tpu) Enable input (SPI_MODE=1) or configuration / Enable input (SPI_MODE=0) (tristate detection). The power stage becomes switched off (all motor outputs floating) when this pin becomes driven to a high level. AIN_IREF 23 30 AI Analog reference voltage for current scaling (optional mode) or reference current for use of internal sense resistors

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 12 www.trinamic.com Pin QFN36 TQFP48 Type Function GNDA 24 32 Analog GND. Tie to GND plane. 5VOUT 25 33 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. VCC 26 34 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! CPO 27 35 Charge pump capacitor output. CPI 28 37 Charge pump capacitor in put. Tie to CPO using 22nF 50V capacitor. VCP 29 38 Charge pump voltage. Tie to VS using 100nF capacitor. VSA 30 39 Analog supply voltage for 5V reg ulator. Normally tied to VS. Provide a 100nF filtering capacitor. OA2 32 42 Motor coil A output 2 BRA 33 44 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. OA1 34 46 Motor coil A output 1 TST_MODE 36 1 DI Test mode input. Tie to GND using short wire. Exposed die pad - - 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. *(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)

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3 Sample Circuits

The sample circuits show th e 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

VCC_IO TMC2130 SPI interface CSN SCK SDO SDI Step & Dir input with microPlyer STEP DIR DIAG / INT out 5V Voltage regulator charge pump 22n 63V 100n 16V DIAG0 CLK_IN DIAG1 +VM 5VOUT VSA 4.7µ +VIO DRV_ENN GNDP GNDA TST_MODE DIE PAD VCC opt. ext. clock 12-16MHz 3.3V or 5V I/O voltage 100n 100n Sequencer Full Bridge A Full Bridge B +VM VS stepper motor N S OA1 OA2 OB1 OB2 Driver 100n BRB 100µF CPI CPO BRA RSA Use low inductivity SMD type, e.g. 1206, 0.5W RSB 100n VCP Optional use lower voltage down to 6V 2R2 470n DAC Reference AIN_IREF IREF Use low inductivity SMD type, e.g. 1206, 0.5W dcStep Controller Interface DC_IN DC_EN DCO opt. driver enable SPI_MODE leave open B.Dwersteg, © TRINAMIC 2014 opt. dcStep control Figure 3.1 Standard application circuit The standard application circuit uses a minimum set of additional components in order to operate the motor. Use low ESR capacitors for filtering the power supply which are capable to cope with the current ripple. The current ripple often depends on the power supply and cable length. The VCC_IO voltage 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 o f 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 supply voltage, like 24V or 36V. Using t he 12V supply for VSA will reduce the power dissipation of the internal 5V regulator to about 37% resp. 23% of the dissipation caused by supply with the full motor voltage. Basic layout hints Place sense resistors and all filter capacitors as close as po ssible 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 upon power up or power down.

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3.2 Reduced Number of Components

+VM 5VOUT VSA 4.7µ VCC 100n Optional use lower voltage down to 6V 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 cause d 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, it may be desired to eliminate the sense resistors. Further, this slightly reduces power dissipation, because the effective resistance of the driver bridge is reduced. In this application, a reference current set by a tiny external resistor programs the output current. For calculation of the reference resistor, refer chapter 10. Full Bridge A Full Bridge B stepper motor N S OA1 OA2 OB1 OB2 Driver BRB BRA DAC Reference AIN_IREF IREF AIN_IREF 5VOUT RREF Figure 3.3 RDSon based sensing eliminates high current sense resistors

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3.4 External 5V Power Supply

When an external 5V power supply is available, the power dissipation caused by the internal linear regulator can be eliminated. This espec ially is beneficial in high voltage applications, and when thermal conditions are critical. There are two options for using an external 5V source : e ither 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 c omes 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 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. Mak e 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. 5V Voltage regulator5VOUT VSA 4.7µ VCC 100n 470n +5V LL4448 MSS1P3 +VM 5V Voltage regulator5VOUT VSA 4.7µ VCC 100n +5V +VM VCC_IO 470n 100n 3.3V regulator 3.3V 5V Voltage regulator5VOUT VSA 4.7µ VCC 100n 470n +5V BAT54 +VM VCC supplied from external 5V using active switch. 5V or 3.3V IO voltage. 4k7 10k 2x BC857 or 1x BC857BS Figure 3.4 Using an external 5V supply for digital circuitry of driver (different options)

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3.4.2 Internal Regulator Bridged

In case a clean external 5V supply is available, it can be used for complete supply of analog and digital part (Figure 3.5). The circuit will benefit from a well-regulated supply, e.g. when using a + /-1% regulator. A precise supply guarantee s increased motor curre nt 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 voltag e has poor stability or low frequency ripple, this would affect the precision of the motor current regulation as well as add chopper noise. 5V Voltage regulator +5V 5VOUT VSA 4.7µ VCC 470n 10R Well-regulated, stable supply, better than +-5% 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 c apability 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 buil t 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. 5V Voltage regulator5VOUT VSA 4.7µ VCC 470n +VM 2R2 BCX56 or similar 22k 4k7 Simple pre-regulator for 24V up to 46V 5V Voltage regulator5VOUT VSA 4.7µ VCC 470n +VM 2R2 BCX56 or similar 22k Simple short circuit protected pre-regulator for 24V up to 46V Z5.6V e.g. MM5Z5V6 100R 470n 16V 470n 16V Figure 3.6 Examples for simple pre-regulators

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 17 www.trinamic.com 3.6 5V Only Supply VCC_IO TMC2130 SPI interface CSN SCK SDO SDI Step & Dir input with microPlyer STEP DIR DIAG / INT out 5V Voltage regulator charge pump 22n 63V 100n 16V DIAG0 CLK_IN DIAG1 +VIO DRV_ENN GNDP GNDA TST_MODE DIE PAD opt. ext. clock 12-16MHz 3.3V or 5V I/O voltage 100n Sequencer Full Bridge A Full Bridge B +5V VS stepper motor N S OA1 OA2 OB1 OB2 Driver 100n BRB 100µF CPI CPO BRA RSA Use low inductivity SMD type, e.g. 1206, 0.5W RSB 100n VCP DAC Reference AIN_IREF IREF Use low inductivity SMD type, e.g. 1206, 0.5W dcStep Controller Interface A B N DC_IN DC_EN DCO SPI_MODE leave open opt. driver enable +5V 5VOUT VSA 4.7µ VCC 470n opt. dcStep control Figure 3.7 5V only operation While the standard applicat ion 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 18 www.trinamic.com

3.7 High Motor Current

When operating at a high motor current, the driver power dissipat ion 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 in crease of temperature by about 100°C increases MOSFET resistance by roughly 50%. This is a typical behavior of MOSFET switches. Therefore, u nder high duty cycle, high load conditions, thermal characteristics have to be carefully taken into account, especia lly 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 n increasing negative impact of increased internal diode conduction on the duration of the fast decay cycle of the spreadCycle chopp er. 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 in turn under some conditions may lead to a slight sine distortion of the current wave when using spreadCycle. This effect with most motors does not negatively influence the smoothness of operation, as it does not impact the critical current zero tran sition. It does not occur with stealthChop and with classic chopper.

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 characteristic s, 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. Die Temperature Peak coil current 105°C 125°C Opearation not recommended for increased periods of time 2.5A1.75A 115°C 135°C 1.5A Limit by lower limit of overtemperature threshold Specified operational range for max. 125°C Derating for >2A High temperature range Current limitation 2.25A Figure 3.8 Derating of maximum sine wave peak current at increased die temperature

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3.7.3 Reduction of Resistive Losses by Adding Schottky Diodes

Schottky Diodes can be added t o the circuit to red uce 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 inc reases 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 wi th 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. Full Bridge A Full Bridge B stepper motor N S OA1 OA2 OB1 OB2 Driver BRB BRA RSA RSB 1A Schottky Diodes like MSS1P6 or MSS1P3 (VM limited to 30V) Figure 3.9 Schottky diodes reduce power dissipation at high peak currents up to 2A (2.5A)

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 20 www.trinamic.com

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. 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 f rom digital parts of the circuit 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. Full Bridge A Full Bridge B stepper motor N S OA1 OA2 OB1 OB2 Driver 470pF 100V 470pF 100V 470pF 100V 470pF 100V Full Bridge A Full Bridge B stepper motor N S OA1 OA2 OB1 OB2 Driver 470pF 100V 470pF 100V 50Ohm @ 100MHz 50Ohm @ 100MHz 50Ohm @ 100MHz 50Ohm @ 100MHz Fit varistors to supply voltage rating. SMD inductivities conduct full motor coil current. 470pF 100V 470pF 100V Varistors V1 and V2 protect against inductive motor coil overvoltage. V1A, V1B, V2A, V2B: Optional position for varistors in case of heavy ESD events. BRB RSA BRA 100nF 16V RSB 100nF 16V V1A V1B V2A V2B 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 int eger 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. T his allows direct 32 bit data word comm unication 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.

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 acces s 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 TM C2130, the MSBs delivered back contain the SPI status, SPI_STATUS, a number of eight selected status bits. SPI DATAGRAM STRUCTURE MSB (transmitted first) 40 bit LSB (transmitted last)  8 bit address  8 bit SPI status   32 bit data  to TMC2130 RW + 7 bit address  from TMC2130 8 bit SPI status 8 bit data 8 bit data 8 bit data 8 bit data 0 9 8 7 6 5 4 3 2 1 0

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 22 www.trinamic.com Example: For a read access to the register ( DRV_STATUS) with the address 0x 6F, the address byte has to be set to 0x 6F in the access preceding the r ead access. For a write access to the register (CHOPCONF), the address byte has to be set to 0x80 + 0x 6C = 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  0x6F00000000  0xSS & unused data read DRV_STATUS  0x6F00000000  0xSS & DRV_STATUS write CHOPCONF:= 0x00ABCDEF  0xEC00ABCDEF  0xSS & DRV_STATUS write CHOPCONF:= 0x00123456  0xEC00123456  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 - unused 6 - unused 5 - unused 4 - unused 3 standstill DRV_STATUS[31] – 1: Signals motor stand still 2 sg2 DRV_STATUS[24] – 1: Signals stallguard flag active 1 driver_error GSTAT[1] – 1: Signals driver 1 driver error (clear by reading GSTAT) 0 reset_flag 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 follow ing 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 registe r 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 23 www.trinamic.com

4.3 Timing

The SPI interface is synchronized to the internal system clock, w hich 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 SCK SDI SDO tCC tCCtCL tCH bit39 bit38 bit0 bit39 bit38 bit0 tDO tZC tDU tDH tCH Figure 4.1 SPI timing Hint Usually this SPI timing is referred to as SPI MODE 3 SPI interface timing AC-Characteristics clock period: tCLK Parameter Symbol Conditions Min Typ Max Unit SCK valid before or after change of CSN tCC 10 ns CSN high time tCSH *) Min time is for synchronous CLK with SCK high one tCH before CSN high only tCLK *) >2tCLK+10 ns SCK low time tCL *) Min time is for synchronous CLK only tCLK *) >tCLK+10 ns SCK high time tCH *) Min time is for synchronous CLK only tCLK *) >tCLK+10 ns SCK frequency using internal clock fSCK assumes minimum OSC frequency 4 MHz SCK frequency using external 16MHz clock fSCK assumes synchronous CLK 8 MHz SDI setup time before rising edge of SCK tDU 10 ns SDI hold time after rising edge of SCK tDH 10 ns Data out valid time after falling SCK clock edge tDO no capacitive load on SDO tFILT+5 ns SDI, SCK and CSN filter delay time tFILT rising and falling edge 12 20 30 ns

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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 Read- and writable register R+C 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 Set This register set offers registers for - 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

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 25 www.trinamic.com

5.1 General Configuration Registers

GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names RW 0x00 17 GCONF 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 1: Internal sense resistors. Use current supplied into AIN as reference for internal sense resistor 2 en_pwm_mode 1: stealthChop voltage PWM mode enabled (depending on velocity thresholds) . Switch from off to on state while in stand still, only. 3 enc_commutation 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 act ive low during reset condition. 6 diag0_otpw 1: Enable DIAG0 active on driver over temperature prewarning (otpw) 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: DIAG0 is open collector output (active low) 1: 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: Hysteresis for step frequency comparison is 1/16 1: Hysteresis for step frequency comparison is 1/32

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 26 www.trinamic.com GENERAL CONFIGURATION REGISTERS (0X00…0X0F) R/W Addr n Register Description / bit names 15 stop_enable 0: Normal operation 1: 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: Normal operation 1: 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! R+C 0x01 3 GSTAT 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 due to overtemperature or short circuit detection since the last read access. Read DRV_STATUS for details. The flag can only be reset when al l error conditions are cleared. 2 uv_cp 1: Indicates an undervoltage on the charge pump. The driver is disabled in this case. R 0x04 IOIN 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

6 This bit always shows 1. 7 Don’t care. 31.. VERSION: 0x11=first version of the IC Identical numbers mean full digital compatibility.

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5.2 Velocity Dependent Driver Feature Control Register Set

VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W Addr n Register Description / bit names W 0x10 IHOLD_IRUN Bit IHOLD_IRUN – Driver current control 4..0 IHOLD Standstill current (0=1/32…31=32/32) In combination with s tealthChop 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) Hint: Choose sense resistors in a way, that normal IRUN is 16 to 31 for best microstep performance. 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 W 0x11 8 TPOWER DOWN 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. R 0x12 20 TSTEP 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 (Txxx*31/32)-1 is used as a second compare value for each comparison value. This means, that the lo wer 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 do es not represent the real motor velocity in case it runs slower than the target velocity. W 0x13 20 TPWMTHRS This is the upper velocity for stealthChop voltage PWM mode. TSTEP ≥ TPWMTHRS - stealthChop PWM mode is enabled, if configured - dcStep is disabled

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 28 www.trinamic.com VELOCITY DEPENDENT DRIVER FEATURE CONTROL REGISTER SET (0X10…0X1F) R/W Addr n Register Description / bit names W 0x14 20 TCOOLTHRS This is the lower threshold velocity for switching on smart energy coolStep and stallGuard feature. (unsigned) Set this parameter to disable coolStep at lo w 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. TCOOLTHRS ≥ TSTEP ≥ THIGH: - coolStep is enabled, if configured - stealthChop voltage PWM mode is disabled TCOOLTHRS ≥ TSTEP - Stop on stall and stall output signal is enabled, if configured W 0x15 20 THIGH 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: - coolStep is disabled (mot or runs with normal current scale) - stealthChop voltage PWM mode is disabled - If vhighchm is set, the chopper switches to chm=1 with TFD=0 (constant off time with slow decay, only). - chopSync2 is switched off (SYNC=0) - If vhighfs is set, the motor operates in fullstep mode and the stall detection becomes switched over to dcStep stall detection. microstep velocity time reference t for velocities: TSTEP = fCLK / fSTEP

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5.3 SPI Mode Register

This register cannot be used in Step/Dir mode. SPI MODE REGISTER (0X2D) R/W Addr n Register Description / bit names Range [Unit] RW 0x2D 32 XDIRECT direct_mode 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 In this mode, the current is scaled by IHOLD setting. Velocity bas ed 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. ±255 for both coils 5.4 dcStep Minimum Velocity Register DCSTEP MINIMUM VELOCITY REGISTER (0X33) R/W Addr n Register Description / bit names W 0x33 23 VDCMIN The a utomatic comm utation dcStep becomes enab led by the external signal DCEN. VDCMIN is used as the minimum step velocity when the motor is heavily loaded. Hint: Also set DCCTRL parameters in order to operate dcStep. time reference t for VDCMIN: t = 2^24 / fCLK

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 30 www.trinamic.com

5.5 Motor Driver Registers

MICROSTEPPING CONTROL REGISTER SET (0X60…0X6B) R/W Addr n Register Description / bit names Range [Unit] W 0x60 32 MSLUT[0] microstep table entries 0…31 Each bit gives the difference between entry x and entry x+1 when combined with the cor- responding MSLUTSEL W bits: 0: W= %00: -1 %01: +0 %10: +1 %11: +2 1: W= %00: +0 %01: +1 %10: +2 %11: +3 This is the differential coding for the first 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 ofs255, ofs254, …, ofs225, ofs224 32x 0 or 1 reset default= sine wave table W 0x61 0x67 x MSLUT[1...7] microstep table entries 32…255 32x 0 or 1 reset default= sine wave table W 0x68 32 MSLUTSEL This register defines four segments within each quarter MSLUT wave. Four 2 bit entries determine the meaning of a 0 and a 1 bit in the corresponding segment of MSLUT. See separate table! 0<X1<X2<X3 reset default= sine wave table W 0x69 MSLUTSTART bit 7… 0: START_SIN bit 23… 16: START_SIN90 START_SIN gives the absolute current at microstep table entry 0. START_SIN90 gives the absolute current for microstep table entry at positions 256. Start values are transferred to the micro step registers CUR_A and CUR_B, when ever the reference position MSCNT=0 is passed. START_SIN reset default START_SIN 90 reset default =247 R 0x6A 10 MSCNT Microstep counter. Indicates actual position 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. 0…1023 R 0x6B MSCURACT bit 8… 0: CUR_A (signed): Actual microstep current for motor phase A as read from MSLUT (not scaled by current) bit 24… 16: CUR_B (signed): Actual microstep current for motor phase B as read from MSLUT (not scaled by current) +/-0...255

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 31 www.trinamic.com DRIVER REGISTER SET (0X6C…0X7F) R/W Addr n Register Description / bit names Range [Unit] RW 0x6C 32 CHOPCONF chopper and driver configuration See separate table! W 0x6D 25 COOLCONF coolStep smart current control register and stallGuard2 configuration See separate table! W 0x6E 24 DCCTRL dcStep ( DC) automatic commutation configuration register (enable via pin DCEN or via VDCMIN): bit 9… 0: DC_TIME: Upper PWM on time limit for commutation ( DC_TIME * 1/fCLK). Set slightly above effective blank time TBL. bit 23… 16: DC_SG: Max. PWM on time for step loss detection using dcStep stallGuard2 in dcStep mode. (DC_SG * 16/fCLK) 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. Fo r best result als o set vhighchm. R 0x6F 32 DRV_ STATUS stallGuard2 value and driver error flags See separate table! W 0x70 22 PWMCONF Voltage PWM mode chopper configuration See separate table! reset default= 0x00050480 R 0x71 8 PWM_SCALE Actual PWM amplitude scaler (255=max. Voltage) In voltage mode PWM, this value allows to detect a motor stall. 0…255 W 0x72 2 ENCM_CTRL Encoder mode configuration Bit 0: inv: Invert encoder inputs Bit 1: maxspeed: Ignore Step input . If set, the hold current IHOLD determines the moto r current, unless a step source is activated. The direction in this mode is determined by the shaft bit in GCONF or by the inv bit. R 0x73 20 LOST_STEPS Number of input steps skipped due to higher load in dcStep operation , if step input does not stop wh en DC_OUT is low . This counter wraps around after 2^ 20 steps. Counts up or down depending on direction. Only with SDMODE=1.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 32 www.trinamic.com 𝑟𝑜𝑢𝑛𝑑 (248 ∗ 𝑠𝑖𝑛 (2 ∗ 𝑃𝐼 ∗ 𝑖 1024 + 𝑃𝐼 1024)) − 1 MICROSTEP TABLE CALCULATION FOR A SINE WAVE EQUIVALENT TO THE POWER ON DEFAULT - 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

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 33 www.trinamic.com

5.5.1 MSLUTSEL – Look up Table Segmentation Definition

0X68: MSLUTSEL – LOOK UP TABLE SEGMENTATION DEFINITION Bit Name Function Comment

31 X3 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. 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. For defined response the values shall satisfy: 0<X1<X2<X3

23 X2 LUT segment 2 start

15 X1 LUT segment 1 start

7 W3 LUT width select from

ofs(X3) to ofs255 Width control bit coding W0…W3: %00: MSLUT entry 0, 1 select: -1, +0 %01: MSLUT entry 0, 1 select: +0, +1 %10: MSLUT entry 0, 1 select: +1, +2 %11: MSLUT entry 0, 1 select: +2, +3

5 W2 LUT width select from

ofs(X2) to ofs(X3-1) 4

3 W1 LUT width select from

ofs(X1) to ofs(X2-1) 2

1 W0 LUT width select from

ofs00 to ofs(X1-1) 0

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 34 www.trinamic.com

5.5.2 CHOPCONF – Chopper Configuration

0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit Name Function Comment 31 - - Reserved, set to 0 30 diss2g short to GND protection disable 0: Short to GND protection is on 1: Short to GND protection is disabled 29 dedge enable double edge step pulses 1: Enable step impulse at each step edge to reduce step frequency requirement. 28 intpol interpolation to 256 microsteps 1: The actual microstep resolution (MRES) becomes extrapolated to 256 microsteps for smoothest motor operation. 27 mres3 MRES micro step resolution %0000: Native 256 microstep setting. 26 mres2 25 mres1 24 mres0 %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] 23 sync3 SYNC PWM synchronization clock This register allows synchronizatio n 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: Synchronization with fSYNC = fCLK/(sync*64) Hint: Set TOFF to a low value, so that the chopper cycle is ended, before the next sync clock pulse occurs. Set for the double desired chopper frequency for chm=0, for the desired base chopper frequency for chm=1. 22 sync2 21 sync1 20 sync0 19 vhighchm high velocity chopper mode 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 d oubled during high velocity operation in order to avoid doubling of the chopper frequency. 18 vhighfs 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. 17 vsense sense resistor voltage based current scaling 0: Low sensitivity, high sense resistor voltage 1: High sensitivity, low sense resistor voltage 16 tbl1 TBL blank time select %00 … %11: Set comparator blank time to 16, 24, 36 or 54 clocks Hint: %01 or %10 is recommended for most applications 15 tbl0 14 chm chopper mode 0 Standard mode (spreadCycle) Constant off time with fast decay time. Fast decay ti me is also terminated when the negative nominal current is reached. Fast decay is after on time.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 35 www.trinamic.com 0X6C: CHOPCONF – CHOPPER CONFIGURATION Bit Name Function Comment 13 rndtf random TOFF time 0 Chopper off time is fixed as set by TOFF

1 Random mode, TOFF is random modulated by

dNCLK= -12 … +3 clocks. 12 disfdcc fast decay mode chm=1: disfdcc=1 disables current comparator usage for termi - nation of the fast decay cycle 11 fd3 TFD [3] chm=1: MSB of fast decay time setting TFD 10 hend3 HEND hysteresis low value OFFSET sine wave offset 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. 9 hend2 8 hend1 7 hend0 chm=1 %0000 … %1111: This is the sine wave offset and 1/512 of the value becomes added to the absolute value of each sine wave entry. 6 hstrt2 HSTRT hysteresis start value added to HEND chm=0 %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 5 hstrt1 4 hstrt0 TFD [2..0] fast decay time setting chm=1 Fast decay time setting (MSB: fd3): %0000 … %1111: Fast decay time setting TFD with NCLK= 32*HSTRT (%0000: slow decay only) 3 toff3 TOFF off time and driver enable Off time setting controls duration of slow decay phase NCLK= 12 + 32*TOFF %0000: Driver disable, all bridges off %0001: 1 – use only with TBL ≥ 2 %0010 … %1111: 2 … 15 2 toff2 1 toff1 0 toff0

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 36 www.trinamic.com

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

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 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. 21 sgt5 20 sgt4 19 sgt3 18 sgt2 17 sgt1 16 sgt0 15 seimin minimum current for smart current control 0: 1/2 of current setting (IRUN) 1: 1/4 of current setting (IRUN) 14 sedn1 current down step speed %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 13 sedn0 12 - reserved set to 0 11 semax3 stallGuard2 hysteresis value for smart current control If the stallGuard2 result is equal to or above (SEMIN+SEMAX+1)*32, the motor current becomes decreased to save energy. %0000 … %1111: 0 … 15 10 semax2 9 semax1 8 semax0 7 - reserved set to 0 6 seup1 current up step width Current increment steps per measured stallGuard2 value %00 … %11: 1, 2, 4, 8 5 seup0 4 - reserved set to 0 3 semin3 minimum stallGuard2 value for smart current control and smart current enable If the stallGuard2 result falls below SEMIN*32, the motor current becomes increased to reduce motor load angle. %0000: smart current control coolStep off %0001 … %1111: 1 … 15 2 semin2 1 semin1 0 semin0

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 37 www.trinamic.com

5.5.4 PWMCONF – Voltage PWM Mode stealthChop

0X70: PWMCONF – VOLTAGE MODE PWM STEALTHCHOP Bit Name Function Comment … - reserved set to 0 21 freewheel1 Allows different 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 20 freewheel0 19 pwm_ symmetric Force symmetric PWM 0 The PWM value may change within each PWM cycle (standard mode)

1 A symmetric PWM cycle is enforced

18 pwm_ autoscale PWM automatic amplitude scaling 0 User defined PWM amplitude. The current settings have no influence.

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. 17 pwm_freq1 PWM frequency selection %00: fPWM=2/1024 fCLK %01: fPWM=2/683 fCLK %10: fPWM=2/512 fCLK %11: fPWM=2/410 fCLK 16 pwm_freq0

15 PWM_

(gradient) or regulation loop gradient pwm_ autoscale=0 Velocity dependent gradient for PWM amplitude: PWM_GRAD * 256 / TSTEP is added to PWM_AMPL 11 pwm_ autoscale=1 User defined maximum PWM amplitude change per half wave (1 to 15) 10

7 PWM_

(offset) pwm_ autoscale=0 User defined PWM amplitude offset (0-255) The resulting amplitude (limited to 0…255) is: PWM_AMPL + PWM_GRAD * 256 / TSTEP 3 pwm_ autoscale=1 User defined maximum PW M 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 38 www.trinamic.com

5.5.5 DRV_STATUS – stallGuard2 Value and Driver Error Flags

0X6F: DRV_STATUS – STALLGUARD2 VALUE AND DRIVER ERROR FLAGS Bit Name Function Comment 31 stst standstill indicator This flag indicates motor s tand still in each operation mode. This occurs 2^20 clocks after the last step pulse. 30 olb open load indicator phase B 1: Open load detected on phase A or B. Hint: This is just an informative flag. The driver takes no action upon it. False detection ma y occur in fast motion and standstill. Check during slow motion, only. 29 ola open load indicator phase A 28 s2gb short to ground indicator phase B 1: Short to GND detected on phase A o r B. The driver becomes disabled. The flags stay active, until the d river is disabled by software (TOFF=0) or by the ENN input. 27 s2ga short to ground indicator phase A 26 otpw overtemperature pre- warning flag 1: Overtemperature pre-warning threshold is exceeded. The overtemperature pre -warning flag is common for both bridges. 25 ot overtemperature flag 1: Overtemperature limit has been reached. Drivers become disabled until otpw is also cleared due to cooling down of the IC. The overtemperature flag is common for both bridges. 24 stallGuard stallGuard2 status 1: Motor stall detected ( SG_RESULT=0) or dcStep stall in dcStep mode. 23 - reserved Ignore these bits 20 CS ACTUAL actual motor current / smart energy current 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. 15 fsactive full step active indicator 1: Indicates that the driver has switched to fullstep as de fined by chopper mode settings and velocity thresholds. 14 - reserved Ignore these bits

9 SG_

Mechanical load measurement: The stallGuard2 resu lt gives a means to measure mecha nical motor load. A higher value means lower mecha nical load. A value of 0 signals highest load. With opti mum 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. 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 micro step 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 39 www.trinamic.com 6 stealthChop™ stealthChop is an extremely quiet mode of operation for low and medium velocities. It is based on a voltage mode PWM. In case of standstill and at low velocities, th e 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 exc ept for the regulation of the PWM voltage to yield the motor target 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 voltage mode PWM voltage must be scaled depending on the actual motor velocity. Several additional factors influence the required voltage level to drive the motor at the target current: The motor resistance, its back EMF (i.e. directly proportional to its velocity) as well as actual level of the supply voltage. For the ease of use, two modes of PWM regulation are provided: An automatic mode using current feedback ( pwm_autoscale = 1) and a feed forward velocity controlled mode (pwm_autoscale = 0). The feed forward velocity controlled mode will not react to a change of the supply voltage or to events like a motor stall, but it provides very stable amplitude. It does not use nor require any means of current measurement. This is perfect when motor type and supply voltage are well known. Since this mode does not measure the actual current, it will not respond to modification of the current setting, like stand still current reduction. Therefore we recommend the automatic mode, unless current regulation is not satisfying in the given operating conditions. The PWM frequency can be chosen in a range in four steps in order to adapt the frequency divider to the frequency of the clock source. A setting in the range of 30-50kHz is good for many applications. It balances low current ripple and good higher velocity performance vs. dynamic power dissipation. CHOICE OF PWM FREQUENCY FOR STEALTHCHOP Clock frequency fCLK PWM_FREQ=%00 fPWM=2/1024 fCLK PWM_FREQ=%01 fPWM=2/683 fCLK PWM_FREQ=%10 fPWM=2/512 fCLK PWM_FREQ=%11 fPWM=2/410 fCLK 18MHz 35.2kHz 52.7kHz 70.3kHz 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

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 40 www.trinamic.com

6.2 Automatic Scaling

In stealthChop voltage PWM mode, th e 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 cur rent 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 allo w 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 s etting 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. 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

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 41 www.trinamic.com Velocity Time Stand still PWM scale PWM reaches max. amplitude 255 Motor current Nominal current (sine wave RMS) RMS current constant PWM scale Current may drop due to high velocity Velocity Time Stand still PWM scale 255 Motor current Nominal current (sine wave RMS) PWM scale PWM_GRAD too small PWM_GRAD ok Current drops due to too small PWM_GRAD Current overshoots due to too small PWM_GRAD PWM_GRAD ok Setting for PWM_GRAD ok. 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 autoscaling function 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 stea lthChop autoscaling mode rises with the supply voltage and 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 onc e the motor is in standstill. The lower motor coil current limit can be calculated from motor parameters and chopper settings:

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 42 www.trinamic.com 𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 𝑡𝐵𝐿𝐴𝑁𝐾 ∗ 𝑓𝑃𝑊𝑀 ∗ 𝑉𝑀 𝑅𝐶𝑂𝐼𝐿 With VM the motor supply voltage and RCOIL the motor coil resistance. ILower Limit can be treated as a thumb value for the minimum possible motor current setting. Example: A motor has a coil resistance of 5Ω, the supply voltage is 24V. With TBL=%01 and PWM_FREQ=%00, tBLANK is 24 clock cycles, fPWM is 2/(1024 clock cycles): 𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 24 𝑡𝐶𝐿𝐾 ∗ 2 1024 𝑡𝐶𝐿𝐾 ∗ 24𝑉 5Ω = 24 512 ∗ 24𝑉 5Ω = 225𝑚𝐴 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 PWM_AMPL for Using stealthChop and spreadCycle

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. (Refer to chapter 6.4 for more details about combining stealthChop with other chopper modes.) 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), PWM_AMPL can be set to 255 as most universal setting. Note The autoscaling function only starts up regulation during motor standstill. After enabling stealthChop and setting all parameters, be sure to wait until PWM_SCALE has reached a stable state before starting a motion. Failure to do so will result in zero motor current! 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.

6.2.3 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 ve ry 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. The basic idea is to have a linear approximation of the voltage required to drive

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 43 www.trinamic.com 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 bas ic 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: 𝑃𝑊𝑀_𝐴𝑀𝑃𝐿 = 374 ∗ 𝑅𝐶𝑂𝐼𝐿 ∗ 𝐼𝐶𝑂𝐼𝐿 𝑉𝑀 With VM the motor supply voltage and ICOIL the 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: 𝑈𝑃𝑊𝑀 = 𝑉𝑀 ∗ 𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 256 ∗ 248 256 ∗ 1 = 𝑉𝑀 ∗ 𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 374 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 TMC2 130 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: 𝑃𝑊𝑀_𝑆𝐶𝐴𝐿𝐸 = 𝑃𝑊𝑀_𝐴𝑀𝑃𝐿 + 𝑃𝑊𝑀_𝐺𝑅𝐴𝐷 ∗ 256 ∗ 𝑓𝑆𝑇𝐸𝑃 𝑓𝐶𝐿𝐾 With fSTEP being the microstep frequency for 256 microstep resolution equivalent and fCLK the clock frequency supplied to the driver or the actual internal frequency As a first approximation, the back EMF subtracts from the supply voltage and thus the effective current amplitude decreases. This way, a first approximation for PWM_GRAD setting can be calculated: 𝑃𝑊𝑀_𝐺𝑅𝐴𝐷 = 𝐶𝐵𝐸𝑀𝐹 [ 𝑉 𝑟𝑎𝑑 𝑠 ] ∗ 2𝜋 ∗ 𝑓𝐶𝐿𝐾 ∗ 1.46 𝑉𝑀 ∗ 𝑀𝑆𝑃𝑅 CBEMF is the back EMF constant of the motor in Volts per radian/second MSPR is the number of microsteps per rotation, e.g. 51200 = 256µsteps multiplied by 200 fullsteps for a 1.8° motor. PWM scaling (PWM_STATUS) Velocity PWM_AMPL PWM reaches max. amplitude 255 PWM_GRAD Motor current Nominal current (e.g. sine wave RMS) Current drops (depends on motor load) Constant motor RMS current VPWMMAX Figure 6.5 Velocity based PWM scaling (pwm_autoscale=0)

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 44 www.trinamic.com 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 th is 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 BEMF has the same numeric value as the numeric value of the torque constant. For example, a motor with a torque constant of 1 Nm/A would have a C BEMF of 1V/rad/s. Turning such a motor with 1 rps (1 rps = 1 revolution per second = 6.28 rad/s) generates a back EMF voltage of 6.28V. Thus, the back EMF constant can be calculated as: 𝐶𝐵𝐸𝑀𝐹 [ 𝑉 𝑟𝑎𝑑/𝑠] = 𝐻𝑜𝑙𝑑𝑖𝑛𝑔𝑇𝑜𝑟𝑞𝑢𝑒[𝑁𝑚] 2 ∗ 𝐼𝐶𝑂𝐼𝐿𝑁𝑂𝑀 [𝐴] ICOILNOM is the motor’s rated phase current for the specified holding torque HoldingTorque is the motor specific holding torque, i.e. the torque reached at I COILNOM on both coils. The torque unit is [Nm] where 1Nm = 100Ncm = 1000mNm. The voltage is valid as RMS voltage per coil, thus the nominal current is multiplied by 2 in this formula, since the nominal current assumes a full step position, with two coils operating.

6.4 Combining stealthChop with other Chopper Modes

The TMC 2130 allows combining stealthChop and different chopper modes based on velocity thresholds. This way, the optimum chopper principle can be chosen for different velocity ranges. 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 mot ion. 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. At low velocities (e.g. 1 to a few 10 RPM), it can be completely neglected for most motors. Therefore, the TPWMTHRS should be set to a low velocity, in order to eliminate any jerk in case an automatic switching between two chopper modes is desired. Set TPWMTHRS zero if you want to work with stealthChop only. When enabling the st ealthChop 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 cu rrent 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 supp ly 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 moto r 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 fr om 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 45 www.trinamic.com

6.5 Flags in stealthChop

6.5.1 Open Load Flags

In stealthChop mode, status information i s different from the cycle-by-cycle regulated chopper modes. OLA and OLB show if the current regulation sees that the nominal curre nt can be reached on both coils. - A flickering OLA or OLB can result from tiny 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. - 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 acceleration required a quick action of the current regulator). With automatic scaling and PWM_GRAD > 1, the current regulation tries to increase the current quickly to reach the target current in the interrupted motor coil . At the sam e time but a bit slower the current regulation tries to decrease the motor current due to the other motor coil seeing too high current. Therefore it is recommended to do an on -demand open load test using the spreadCycle or classic chopper prior to operati on in stealthChop, and not to switch on stealthChop in case of open load failure. Alternatively, PWM_SCALE can be checked for plausible values.

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 stallGuard 2) 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).

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 46 www.trinamic.com 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 Setting Comment en_pwm_ mode General enable for use of stealthCho p (register GCONF)

0 Do not use stealthChop

TPWMTHRS Specifies the upper velocity for operation in stealthChop voltage PWM mode. Entry the TSTEP reading (time between two microsteps) when operating at the desired threshold velocity. 0 … 1048575 stealthChop also is disabled if TSTEP falls below TCOOLTHRS or THIGH pwm_ autoscale Enable automatic current scaling using current measurement or use forward controlled velocity based mode.

0 Forward controlled mode

1 Automatic scaling with

PWM_FREQ PWM frequency selection. stealthChop uses a fixed PWM frequency by dividing the system clock frequency using a programmable divider. Use the lowest setting giving good results. 0 fPWM=1/1024 fCLK 1 fPWM=1/683 fCLK 2 fPWM=1/512 fCLK 3 fPWM=1/410 fCLK PWM_GRAD User defined PWM amplitude (gradient) for velocity based scaling or regulation loop gradient when pwm_autoscale=1. 1 … 15 With pwm_autoscale=1 0 … 255 With pwm_autoscale=0 PWM_AMPL User defined PWM amplitu de (offset) for velocity based scaling or amplitude limit for re -entry into stealthChop mode when pwm_autoscale=1. 0 … 255 pwm_ symmetric Activate to force a symmetric PWM for each cycle. Reduces the number of updates to the PWM cycle. Special use only.

0 Normal operation

1 A symmetric PWM cycle

FREEWHEEL Stand still option when motor current setting is 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 Freewheeling

2 Coil shorted using LS

3 Coil shorted using HS

PWM_SCALE Read back of the actual stealthChop voltage PWM scaling as determined by the current regulation. Can be used to detect motor load and stall when autoscale=1. 0 … 255 (read only) The scaling value becomes frozen when operating in a different chopper mode TOFF General enable for the motor driver, the actual value does not influence stealthChop

0 Driver off

1 … 15 Driver enabled TBL 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, e.g. when filter networks are used, a setting of 2 or 3 will be required. A lower setting allows stealthChop to regulate down to lower coil current values. 0 16 tCLK 1 24 tCLK 2 36 tCLK 3 54 tCLK IRUN IHOLD Run and hold current setting for stealth Chop operation – only used with pwm_autoscale=1 See chapter on current setting for details

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 47 www.trinamic.com 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 chopp ers work independently of each other. In Figure 7.1 the different chopper phases are shown. RSENSE ICOIL On Phase: current flows in direction of target current RSENSE ICOIL Fast Decay Phase: current flows in opposite direction of target current RSENSE ICOIL Slow Decay Phase: current re-circulation +VM +VM +VM 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 o n 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 t he 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 dischar ging 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 magnet ic 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 frequ ency 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 wh en using spreadCycle. A higher frequency leads to increased switching losses. It is advised to check the resulting frequency and to work below 50 kHz.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 48 www.trinamic.com Three parameters are used for controlling both chopper modes: 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 . Se veral parameters are available to optimize the chopper to the application. Each chopper cycle is com prised 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: Assumptions: Target Chopper frequency: 25kHz Two slow decay cycles make up for 50% of overall chopper cycle time 𝑡𝑂𝐹𝐹 = 1 25𝑘𝐻𝑧 ∗ 50 100 ∗ 1 2 = 10µ𝑠 For the TOFF setting this means: 𝑇𝑂𝐹𝐹 = (𝑡𝑂𝐹𝐹 ∗ 𝑓𝐶𝐿𝐾 − 12)/32 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 forc es 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 c omparator is disabled during blanking. Parameter Description Setting Comment TOFF Sets the slow decay time ( off time). This setting also limits the maximum chopper frequency. 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. 0 chopper off 1…15 off time setting NCLK= 12 + 32*TOFF (1 will work with minimum blank time of 24 clocks) TBL 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, e.g. when filter networks are used, a setting of 2 or 3 will be required. 0 16 tCLK 1 24 tCLK 2 36 tCLK 3 54 tCLK chm Selection of the chopper mode 0 spreadCycle 1 classic const. off time

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 49 www.trinamic.com 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 smooth ly at low velocity settings . This can best be checked when mea suring 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 hystere sis 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 curre nt 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 22Fehler! Verweisquelle konnte nicht gefunden werden.. 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 m easuring 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, th e 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. Th is 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 clock s. 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 50 www.trinamic.com t I target current target current - hysteresis start target current + hysteresis start on sd fd sd target current + hysteresis end target current - hysteresis end HDEC Figure 7.3 spreadCycle chopper scheme showing coil current during a chopper cycle Two parameters control spreadCycle mode: Parameter Description Setting Comment HSTRT Hysteresis start setting. This value is an offset from the hysteresis end value HEND. 0…7 HSTRT=1…8 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…-1: negative HEND 3 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: In the example a hysteresis of 4 has been chosen. You might decide to not use hysteresis decrement. In this case set: HEND=6 (sets an effective end value of 6-3=3) HSTRT=0 (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 hy steresis end. The resulting configuration register values are as follows: HEND=0 (sets an effective end value of -3) HSTRT=6 (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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 51 www.trinamic.com

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 re sistors, 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. t I mean value = target current target current + offset on sdfd sdon fd 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 cro ssing. If it is set too high, it makes a larger microstep. Typically, a positive offset setting is required for smoothest operation. t I Target current Coil current t I Target current Coil current 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:

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 52 www.trinamic.com Parameter Description Setting Comment TFD (fd3 & HSTRT) Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle. 0 slow decay only 1…15 duration of fast decay phase OFFSET (HEND) Sine wave offset . With CHM=1, these bits control the sine wave offset. A positive offset corrects for zero crossing error. 0…2 negative offset: -3…-1 3 no offset: 0 4…15 positive offset 1…12 disfdcc Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. 0 enable comparator termination of fast decay cycle 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 mot or 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 rndtf This bit switches on a random off time generator, which slightly modulates the off time TOFF using a random polynomial. 0 disable 1 random modulation enable

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 53 www.trinamic.com 7.4 chopSync2 for Quiet 2-Phase Motor chopSync2 is an alternative add -on concept for spreadCycle chopper and cons tant 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 appli cations, 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 wi th 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 cyc les 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. 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 gi ves 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 w ithin the chopper frequency range of 19.8 kHz to 25 kHz. Parameter Description Setting Comment SYNC 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 mot or velocities. It is automatically switched off above VHIGH. 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 cho pper frequency for chm=1. 0 chopSync off 1…15 fCLK/64 fCLK/(15*64) 𝑆𝑌𝑁𝐶 = ⌊ 𝑓𝐶𝐿𝐾 64 ∗ 𝑓𝑆𝑌𝑁𝐶 A suitable chopSync2 SYNC value can be calculated as follows:

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 54 www.trinamic.com

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 refer ence 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 a n 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. The integration of an NTC into the voltage divider feeding AIN allows the realization of temperat ure dependent motor current scaling. 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. 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. DAC Reference AIN_IREF IREF

8 Bit DAC

2.5V precision reference 0-2.4V for current scaling DAC Reference AIN_IREF IREF PWM output of µC with >20kHz 0-2.4V for current scaling 22k Precision current scaler Simple PWM based current scaler DAC Reference AIN_IREF IREF 1-2.4V for fixed current scaling Fixed resistor divider to set current scale (use external reference for enhanced precision) 5VOUT or precise reference voltage R1+R2»10K 100k Optional digital control BC847 Figure 8.1 Scaling the motor current using the analog input

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 55 www.trinamic.com

9 Current Setting

The internal 5 V supply voltage available at the pin 5VOUT is used as a reference for the coil current regulation based on the sense resistor voltage measurement. The desired maximum motor current is set by selecting an appropriate value for the sense resistor. 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 b est 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. After c hoosing the vsense setting and selecting the sense resistor, the currents to both coils are scaled by the 5-bit current scale parameters ( IHOLD, IRUN). The sense resistor value is chosen so that the maximum desired current (or slightly more) flows at the m aximum current setting ( IRUN = %11111). Using the internal sine wave table, which has the amplitude of 248, the RMS motor current can be calculated by: 𝐼𝑅𝑀𝑆 = 𝐶𝑆 + 1 32 ∗ 𝑉𝐹𝑆 𝑅𝑆𝐸𝑁𝑆𝐸 + 20𝑚Ω ∗ 1 The momentary motor current is calculated by: 𝐼𝑀𝑂𝑇 = 𝐶𝑈𝑅𝐴/𝐵 248 ∗ 𝐶𝑆 + 1 32 ∗ 𝑉𝐹𝑆 𝑅𝑆𝐸𝑁𝑆𝐸 + 20𝑚Ω CS is the current scale setting as set by the IHOLD and IRUN and coolStep. VFS is the full scale voltage as determined by vsense control bit (please refer to electrical characteristics, VSRTL and VSRTH). CURA/B is the actual value from the internal sine wave table. When I_scale_analog is enabled for analog scaling of VFS, the resulting voltage VFS‘ is calculated by: 𝑉𝐹𝑆 ′ = 𝑉𝐹𝑆 ∗ 𝑉𝐴𝐼𝑁 2.5𝑉 with VAIN the voltage on pin AIN_IREF in the range 0V to V5VOUT/2 CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT RSENSE [Ω] RMS current [A] (CS=31, vsense=0) RMS current [A] (CS=31, vsense=1) 1.00 0.23 0.12 0.82 0.27 0.15 0.75 0.30 0.17 0.68 0.33 0.18 0.50 0.44 0.24 0.47 0.47 0.26 0.33 0.66 0.36 0.27 0.79 0.44 0.22 0.96 0.53 0.15 1.35 0.75 0.12 1.64 0.91 0.10 1.92*) 1.06 *) Value exceeds upper current rating.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 56 www.trinamic.com Hint For best precision of current setting, it is advised to measure and fine tune the current in the application. Parameter Description Setting Comment IRUN Current scale when motor is running. Scales coil 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. 0 … 31 scaling factor IHOLD Identical to IRUN, but for motor in stand still. IHOLD DELAY Allows smooth current reduction from run current 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. 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. 0 instant IHOLD 1 …15 1*218 … 15*218 clocks per current decrement vsense Allows control of the sense resistor voltage range for full scale current. 0 VFS = 0.32 V 1 VFS = 0.18 V

9.1 Sense Resistors

Sense resistors should be carefully selected. The full motor current flows through the sense resistors. They also see the switching spikes from the MOSFET bridges. A low -inductance type such as film or composition resistors is required to prevent spikes causing ringing on the sense voltage inputs leading to unstable measurement results. 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 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. The peak sense resistor power dissipation is: 𝑃𝑅𝑆𝑀𝐴𝑋 = 𝐼𝐶𝑂𝐼𝐿 2 ∗ 𝑅𝑆𝐸𝑁𝑆𝐸 For high current applications, power dissipation is halved by using the low vsense setting and using an adapted resistance value. Please be aware, that in this case any voltage drop in PCB traces has a larger influence on the result. A compact layout with massive ground plane is best to avoid parasitic resistance effects.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 57 www.trinamic.com

10 RDSon Sensing Eliminates Sense Resistors

The TMC 2130 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 is used to provide 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.

10.1 Limitations of RDSon Sensing

While the RDSon based measurements bring benefits concerning cost and size of the driver, it gives slightly less precise current setting when compared to external sense re sistors. External sense resistors provide the possibility to adapt the driver to a wide range of motor operation currents without trading in more noise due to scaling down chopper comparator reference voltage. Therefore the use of RDSon based measurement should be considered for motor currents between 0. 4A RMS and 1.2A RMS. For lower and higher current motors, the performance should be evaluated first. Low current motors (below 0.4A RMS) also perform well when using RDSon measurement in combination with the stealthChop mode, because digital scaling does not directly increase chopper noise and reduce effective microstep performance. RDSon sensing may suffer from increased chopper noise and reduced microstep precision in combination with spreadCycle, because t he current measurement required for spreadCycle does not guarantee the same precision and symmetry as a sense resistor can deliver. Therefore, consider using classic constant off time chopper instead of spreadCycle in case audible high pitch chopper noise appears.

10.2 Dimensioning of Reference Resistor

For RDSon measurement, up to 1.5A (2 A max.) peak current can be driven into the motor (with vsense=0). An external reference current into the AIN /IREF pin is used as a reference current . AIN/IREF input resistance is about 1kOhm. 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 ). The resulting current into AIN /IREF is amplified 3000 times. Thus, a current of 0.5mA yields a motor current of 1.5A peak. When using reference currents above 0.5mA resulting in higher theoretical current settings of up to 2A, the resulting current decreases linearly when chip temperature exceeds a certain maximum temperature. For a 2A setting it decreases from 2A at up to 100°C down to about 1.5A at 150°C. The resulting curve limits the maximum current setting in this mode. For calculation of the reference resistor, the internal resistance of AIN/RREF needs to be considered additionally. vsense=1 allows a lower peak current setting of about 55% of the value yielded with vsense=0 (as specified by VSRTH / VSRTL). For fine tuning use the current scale CS.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 58 www.trinamic.com CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS RREF [Ω] Peak current [A] (CS=31, vsense=0) Peak current [A] (CS=31, vsense=1) 6k8 1.92 1.06 7k5 1.76 0.97 8k2 1.63 0.90 9k1 1.49 0.82 10k 1.36 0.75 12k 1.15 0.63 15k 0.94 0.52 18k 0.79 0.43 22k 0.65 0.36 27k 0.60 0.33 33k 0.54 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 con stant 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 result s 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 59 www.trinamic.com

11 Velocity Based Mode Control

The TMC 2130 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 opt imized for lowest noise & high precision, highest dynamics, or maximum torque at highest velocity. Some of the features like coolStep or stallGuard 2 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. option option option option optionoption option microstep microstep high velocity fullstep microstep + coolStep microstep + coolStep microstepping microstepping motor stand still motor going to standby motor in standby motor in standby v t VPWMTHRS+Δ VPWMTHRS VCOOLTHRS+Δ VHIGH+Δ VACTUAL ~1/TSTEP VCOOLTHRS VHIGH current TZEROWAIT RMS current I_HOLD I_RUN dI * IHOLDDELAY coolStep current reduction stealthChop spreadCycle const. Toff Chopper mode TRINAMIC, B. Dwersteg, 14.3.14 Figure 11.1 Choice of velocity dependent modes Figure 11.1 shows all available thr esholds 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 micros tep 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 hig her 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 60 www.trinamic.com Parameter Description Setting Comment stst This flag indicates motor stand still in each operation mode. This occurs 2^20 clocks after the last step pulse. 0/1 Status bit, read only TPOWER DOWN This is the delay time after stand still ( stst) of the motor to motor current power down. Time range is about 0 to 4 seconds. 0…255 Time in multiples of 2^18 tCLK TSTEP 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. 1048575 Status register, read only. Actual measured step time in multiple of tCLK TPWMTHRS TSTEP ≥ TPWMTHRS - stealthChop PWM mode is enabled, if configured - dcStep is disabled 1048575 Setting to control the upper velocity threshold for operation in stealthChop TCOOLTHRS TCOOLTHRS ≥ TSTEP ≥ THIGH: - coolStep is enabled, if configured - stealthChop voltage PWM mode is disabled TCOOLTHRS ≥ TSTEP - Stop on stall and stall output signal is enabled, if configured 1048575 Setting to control the lower velocity threshold for operation with coolStep and stallGuard THIGH TSTEP ≤ 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. 1048575 Setting to control the upper threshold for operation with coolStep and stallGuard as well as optional high velocity step mode small_ hysteresis Hysteresis for step frequency comparison based on TSTEP (lower velocity threshold) and (TSTEP*15/16)-1 respectively (TSTEP*31/32)-1 (upper velocity threshold)

0 Hysteresis is 1/16

1 Hysteresis is 1/32

vhighfs 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 micr ostep table at the 45° position.

0 No switch to fullstep

1 Fullstep at high velocities

vhighchm 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.

0 No change of chopper

1 Classic const. Toff chopper at high velocities en_pwm_ mode stealthChop voltage PWM enable flag (depending on velocity thresholds). Switch from off to on state while in stand still, only.

0 No stealthChop

1 StealthChop below

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 61 www.trinamic.com

12 Driver Diagnostic Flags

The TMC2130 drivers supply a complete set of diagnostic and protection capabilitie s, 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 cri tical 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 war ning 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 addition al 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 detecti on 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 ra ther 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 62 www.trinamic.com 14 stallGuard2 Load Measurement stallGuard2 provides an accurate measurement of the load on the motor. It can be u sed 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 sho wn 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. motor load (% max. torque) stallGuard2 reading 100 200 300 400 500 600 700 800 900 1000 0 10 20 30 40 50 60 70 80 90 100 Start value depends on motor and operating conditions Motor stalls above this point. Load angle exceeds 90° and available torque sinks. stallGuard value reaches zero and indicates danger of stall. This point is set by stallGuard threshold value SGT. Figure 14.1 Function principle of stallGuard2 Parameter Description Setting Comment SGT This signed value controls the stallGuard2 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. 0 indifferent value +1… +63 less sensitivity -1… -64 higher sensitivity sfilt Enables the stallGuard2 filter for more precision of the measurement. If set, reduces the measurement frequency to one measurement per electrical period of the motor (4 fullsteps). 0 standard mode 1 filtered mode Status word Description Range Comment SG This is the stallGuard2 result. A higher reading 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 reading of roughly 0 to 100 at maximum load before motor stall. 0… 1023 0: highest load 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!

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 63 www.trinamic.com

14.1 Tuning stallGuard2 Threshold SGT

The stallGuard2 value SG 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. 2. Apply slowly increasing mechanical load to the motor. If the motor stalls before SG reaches zero, decrease SGT. If SG 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 outpu t signal via DIAG0 or DIAG1 output (configure properly) and stop the motor when a pulse is seen on the respective output. M ake 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 is between 0 and roughly 100 at increasing load shortly before the motor stalls, and SG 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 S GT 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 a t 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 on the motor load, because the motor does not generate significant back EMF. Ther efore, 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 starts rising. With a high SGT, SG will rise up to the maximum value . Reduce again to the highest value, where SG stays at 0. Now the SGT value is set as sensibly as possible. When you see SG 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 goes to zero when the motor stalls and the stall signal is activated. The external motion controller should react to a single pulse by stop ping the motor if desired . Set TCOOLSTEP to match the lower velocity threshold where stallGuard delivers a good result. The system clock frequency affects SG. An external crystal -stabilized clock should be used for applications that demand the highest pe rformance. The power supply voltage also affects SG, so tighter regulation results in more accurate values. SG 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 64 www.trinamic.com

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. back EMF reaches supply voltage optimum SGT setting Motor RPM (200 FS motor) stallGuard2 reading at no load 100 200 300 400 500 600 700 800 900 1000 0 0 50 100 150 200 250 300 350 400 450 500 550 600 lower limit for stall detection good operation range with single SGT setting 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 velocit y 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 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 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: 𝑠𝑡𝑎𝑙𝑙𝐺𝑢𝑎𝑟𝑑 𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 𝑒𝑟𝑟𝑜𝑟 = ±𝑚𝑎𝑥(1, |𝑆𝐺𝑇|)

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 65 www.trinamic.com 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 t o 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 the SG value 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 the SG value 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 sto p. 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 velo cities: 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 w ill compensate for this. Other conditions will also lead to extreme settings of SGT and poor response of the measurement value SG 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 66 www.trinamic.com 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

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. 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.) 0 disable coolStep 1…15 threshold is SEMIN*32 SEMAX 4-bit unsigned integer that controls an upper 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. 0…15 threshold is (SEMIN+SEMAX+1)*32 Figure 15.1 shows the operating regions of coolStep: - The black line represents the SG 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 falls below SEMIN, and coolStep increases the current. When the load decreases, SG rises above (SEMIN + SEMAX + 1) * 32, and the current is reduced. Energy efficiency – consumption decreased up to 75% Motor generates less heat – improved mechanical precision Less cooling infrastructure – for motor and driver Cheaper motor – does the job!

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 67 www.trinamic.com stallGuard2 reading 0=maximum load motor current increment area motor current reduction area stall possible SEMIN SEMAX+SEMIN+1 Zeit motor current current setting I_RUN (upper limit) ½ or ¼ I_RUN (lower limit) mechanical load current increment due to increased load slow current reduction due to reduced motor load load angle optimized load angle optimized load angle 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 becomes incremented for each measured stallGuard2 value below the lower threshold. 0…3 step width is 1, 2, 4, 8 SEDN Sets the number of stallGuard2 readings above the upper threshold necessary for each current decrement of the motor current. 0…3 number of stallGuard2 measurements per decrement: 32, 8, 2, 1 SEIMIN Sets the lower motor current limit for coolStep operation by scaling the IRUN current setting. 0 0: 1/2 of IRUN 1 1: 1/4 of IRUN TCOOLTHRS Lower velocity threshold for switching on coolStep and stop on stall . Below this velocity coolStep becomes disabled (not used in Step/Dir mode). Adapt to the lower limit of the velocity range where stallGuard2 gives a stable result. Hint: May be adapted to dis able coolStep during acceleration and deceleration phase by setting identical to VMAX. 2^20-1 Specifies lower coolStep velocity by comparing the threshold value to TSTEP THIGH Upper velocity threshold value for coolStep and stop on stall . Above this ve locity coolStep becomes disabled. Adapt to the velocity range where stallGuard2 gives a stable result. 2^20-1 Also controls additional functions like switching to fullstepping. Status word Description Range Comment CSACTUAL 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 68 www.trinamic.com

15.3 Tuning coolStep

Before tuning coolStep, first tune the stallGuard2 threshold level SGT, which affects the range of the load measurement value SG. coolStep uses SG 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 ca n 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 m ore 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 syst em 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 defa ult 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 DRVCTRL 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 espe cially if the signals are carried on cables, the signals should be filtered or differentially transmitted. +VCC_IO SchmittTrigger

0.44 VCC_IO

0.56 VCC_IO250k

0.26pF Input filter R*C = 65ns +-30% STEP or DIR Input Internal Signal DIR STEP tDSHtSH tSLtDSU Active edge (DEDGE=0) Active edge (DEDGE=0) Figure 16.1 STEP and DIR timing, Input pin filter STEP and DIR interface timing AC-Characteristics clock period is tCLK Parameter Symbol Conditions Min Typ Max Unit step frequency (at maximum microstep resolution) fSTEP dedge=0 ½ fCLK dedge=1 ¼ fCLK fullstep frequency fFS fCLK/512 STEP input low time *) tSL max(tFILTSD, tCLK+20) ns STEP input high time *) tSH max(tFILTSD, tCLK+20) ns DIR to STEP setup time tDSU 20 ns DIR after STEP hold time tDSH 20 ns STEP and DIR spike filtering time tFILTSD rising and falling edge 36 60 85 ns STEP and DIR sampling relative to rising CLK input tSDCLKHI before rising edge of CLK input tFILTSD ns *) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase filtering delay tFILTSD, due to an internal input RC filter.

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16.2 Changing Resolution

Sometimes operation of a motor in reduced microstep resolution is desired, in order to stay compatible to an older, less performing driver, or, when using motion controllers with limited frequency capabilities for the STEP/DI R interface. The internal microstep table uses 1024 sine wave entries to generate the wave. The step width taken within the table depends on the microstep resolution setting. Depending on the DIR input, the microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the step width. In principle, the microstep resolution can be changed at any time. The microstep resolution determines the increment respectively the decrement, the sequencer uses for advancing in the microstep table. At maximum resolution, it advances one step for each step pulse. At half resolution, it advances two steps and so on. This way, a change of resolution is possible transparently at each time. The sequencer has special provision to allow seamless switching bet ween different microstep rates. When the microstep resolution becomes switched to a lower resolution, it calculates the nearest step within the target resolution and reads the current vector at that position. This behavior is especially important for low r esolutions like fullstep and halfstep, because any failure in the step sequence would lead to asymmetrical run when comparing a motor running clockwise and counterclockwise. Generally, different microstep resolutions are realized by stepping through the internal 256 entry microstep table in more coarse steps. In 256 microstep resolution, 1024 steps are done for a full electrical revolution using an increment of one. The increment is higher for lower resolutions, up to 256 for fullstep. When a lower resolu tion, each calculated table pointer becomes modified as follows, in order to point to the nearest valid microstep table address in the target resolution: Fullstep: The first valid table position is 128 (45° electrical position, i.e. both coils on identic al current). This value is the RMS -Value of 0.7 * sine wave amplitude. Step size is 256 (90° electrical) Half step: The first valid table position is 64 (22.5° electrical), Step size is 128 (45° steps) Quarter step: The first valid table position is 32 ( i.e. 90°/8=11.25° electrical), Step size is 64 (22.5° steps) etc. 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. Especially for full stepping the condition one coil at maximum current and one coil off should be avoided, because in this condition only one coil contributes to the motion at each point of time. Step position MSCNT value current coil A current coil B Half step 0 0 0% 100% Full step 0 128 70.7% 70.7% Half step 1 256 100% 0% Full step 1 384 70.7% -70.7% Half step 2 512 0% -100% Full step 2 640 -70.7% -70.7% Half step 3 768 -100% 0% Full step 3 896 -70.7% 70.7%

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 71 www.trinamic.com 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 di viding it into up to 256 equal parts. The maximum time between two microsteps corresponds to 2 20 (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 clo ck 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 microstep Active edge (dedge=0) Active edge (dedge=0) Active edge (dedge=0) 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 Active edge (dedge=0) STANDSTILL (stst) active 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Motor angle 52 53 54 55 56 57 58 59 60 61 62 63 64 65 6651 2^20 tCLK 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 ca n 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. DIAG1 DIAG0 PMD PDD PDD=100k pulldown PMD=50k to VCC/2 Power-on reset Driver error diag0_error Overtemp. prewarning diag0_otpw Stall diag0_stall diag0_pushpull Sequencer microstep 0 index diag1_index Chopper on-state diag1_onstate diag1_steps_skipped diag1_pushpull diag1_stall dcStep steps skipped Figure 17.1 DIAG outputs in STEP/DIR mode The stall output signal allows stallGuard2 to be hand led by the external motion controller like a stop switch. 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 73 www.trinamic.com 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 compensati ng for mechanical torque peaks. In case the motor becomes completely blocked, the stall flag becomes set.

18.1 User Benefits

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 f lywheel 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. Classic operation area with safety margin torque velocity [RPM] dcStep operation - no step loss can occur additional flywheel mass torque reserve microstep operation MNOM1 MMAX VDCMIN VMAX MNOM: Nominal torque required by application MMAX: Motor pull-out torque at v=0 application area max. motor torquesafety margin dcStep extended Safety margin: Classical application operation area is limited by a certain percentage of motor pull-out torque MNOM2 Figure 18.1 dcStep extended application operation area Quick Start For detail configuration procedure see Application Note AN003 - dcStep Motor – never loses steps Application – works as fast as possible Acceleration – automatically as high as possible Energy efficiency – highest at speed limit Cheaper motor – does the job!

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 74 www.trinamic.com 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 t dcStep active VDCMIN VMAX AMAX DMAX D1A1 Nominal ramp profile Ramp profile with torque overload and same target position overload 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 sit uation. 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 reduc ed 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 vel ocity settings. In this case, dcStep is disabled while in stealthChop mode, i.e. at velocities below the stealthChop switching velocity.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 75 www.trinamic.com - DCO – Informs the motion controller when motor is not ready to take a new step (low level). The motion controller sha ll 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 t erminated 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 ste p 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 need s 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 stop s the execution of steps if low and sets DCO low. +IMAX -IMAX STEP 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. Actual motor velocity VDCMIN dcStep enabled continuosly VTARGET Phase Current (one phase shown) Theoretical sine wave corresponding to fullstep pattern Steps from STEP input skipped by the driver due to light motor overload LOSTSTEPS 0 2 4 8 12 16 20 22 24 LOSTSTEPS would count down if motion direction is negative Light motor overload reduces effective motor velocity 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 micr ostep 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 cont roller 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. µC or Motion Controller TMC2130 STEP DCO DIR DCEN DCIN Optional axis synchronization Figure 18.4 Full signal interconnection for dcStep +IMAX -IMAX Phase Current (one phase shown) STEP DCEN DCO STEP_FILT_INTERN ∆2 INTCOM DC_OUT TIMEOUT (in controller) Long pulse = override motor block situation TIMOUT counter in controller Theoretical sine wave corresponding to fullstep pattern Increasing mechanical load forces slower motion ∆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 deceler ated 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 st all 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 s lightly 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 i n CHOPCONF need to be set for dcStep operation. As soon as VDCMIN becomes exceeded, the chopper becomes switched to fullstepping. 0 / 1 set to 1 for dcStep TOFF dcStep often benefits from an increased off time value in CHOPCONF. Settings >2 should be preferred. 2… 15 Settings 8…15 do not make any difference to setting 8 for dcStep operation. VDCMIN In case the external motion controller cannot 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. Activation of stealthChop also disables dcStep. 0… 2^22 0: Disable Set to the low velocity limit for dcStep operation if desired. DC_TIME This setting controls the reference pulse width for dcStep. It needs to be set to a value higher than the effective blank time set by TBL. 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). 0… 255 tBLANK (as defined by TBL) in clock cycles + n with n in the range 1 to 100 (for a typical motor) DC_SG This setting controls stall d etection in dcStep mode. A stall can be used as an error condition by issuing a hard stop for the motor. Check best setting under nominal operation conditions, and re-check under extreme operating conditions (e.g. lowest operation supply voltage, highest m otor temperature, and highest supply voltage, lowest motor temperature). The stall detection is available as a pulse on DIAG0 or DIAG1 output. 0… 255 Set slightly higher than DC_TIME/16

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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

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 pos ition 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 tak en 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. MSCNT y 256 256 248 -248 512 768 00 X1 X3X2 W0: +2/+3 W1: +1/+2 W2: +0/+1 W3: -1/+0 LUT stores entries 0 to 255 255 START_SIN START_SIN90 Figure 19.1 LUT programming example Microstepping – extremely improved with low cost motors Motor – runs smooth and quiet Torque – reduced mechanical resonances yields improved torque

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 79 www.trinamic.com 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 and for the default table function stored in the drivers. 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 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 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 st ep disable function. Set GCONF flag stop_enable to activate this option. Whenever DCIN becomes pulled low, 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 l imit 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 vel ocity. 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 Current Setting Sense Resistors used? GCONF set internal_RsenseN Analog Scaling? Y GCONF set I_scale_analogY CHOPCONF set vsense for max. 180mV at sense resistor (0R15: 1.1A peak) Set I_RUN as desired up to 31, I_HOLD 70% of I_RUN or lower N Low Current range? N Y GCONF set en_pwm_mode Set I_HOLD_DELAY to 1 to 15 for smooth standstill current decay Set TPOWERDOWN up to 255 for delayed standstill current reduction Configure Chopper to test current settings stealthChop Configuration PWMCONF set pwm_autoscale, set PWM_GRAD=1, PWM_AMPL=255 PWMCONF select PWM_FREQ with regard to fCLK for about 35kHz PWM frequency Make sure that no step pulses are generated Check hardware setup and motor RMS current CHOPCONF Enable chopper using basic config.: TOFF=4, TBL=2, HSTART=4, HEND=0 Move the motor by slowly accelerating from 0 to VMAX operation velocity Is performance good up to VMAX? Select a velocity threshold for switching to spreadCycle chopper and set TPWMTHRS N SC2 Y Figure 22.1 Current setting and first steps with stealthChop

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 82 www.trinamic.com TUNING STEALTHCHOP AND SPREADCYCLE SC2 Try motion with desired acceleration and deceleration (not exceeding TPWMTRHRS) PWMCONF increase PWM_GRAD (max. 15) Coil current overshoot upon deceleration? Y Move slowly, try different velocities N Motor current stable? PWMCONF change PWM_FREQ or slightly drecrease PWM_GRAD N Try motion also above TPWMTRHRS, if used Y Coil current overshoot upon deceleration? PWMCONF decrease PWM_AMPL (do not go below about 50) Y Optimize spreadCycle configuration if TPWMTHRS used N Go to motor stand still and check motor current Stand still current too high? N CHOPCONF, PWMCONF decrease TBL or PWM frequency and check impact on motor motion Y GCONF disable en_pwm_mode spreadCycle Configuration CHOPCONF Enable chopper using basic config.: TOFF=5, TBL=2, HSTART=0, HEND=0 Move the motor by slowly accelerating from 0 to VMAX operation velocity Monitor sine wave motor coil currents with current probe at low velocity CHOPCONF increase HEND (max. 15) Current zero crossing smooth? N Move motor very slowly or try at stand still CHOPCONF set TOFF=4 (min. 4), try lower / higher TBL or reduce motor current Audible Chopper noise? Y Y Move motor at medium velocity or up to max. velocity Audible Chopper noise? CHOPCONF decrease HEND and increase HSTART (max. Y Finished or Enable coolStep Figure 22.2 Tuning stealthChop and spreadCycle

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 83 www.trinamic.com ENABLING COOLSTEP (ONLY IN COMBINATION WITH SPREADCYCLE) Enable coolStep Move the motor by slowly accelerating from 0 to VMAX operation velocity Does SG_RESULT go down to 0 with load? Monitor SG_RESULT value during medium velocity and check response with mechanical load Is coil current sine- shaped at VMAX? Decrease VMAX (max. operation velocity of ext. motion controller) N Y Increase SGTY COOLCONF Enable coolStep basic config.: SEMIN=1, all other 0 N Set THIGH To match TSTEP at VMAX for upper coolStep velocity limit Set TCOOLTHRS slightly above TSTEP at the selected velocity for lower velocity limit 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 Monitor CS_ACTUAL and motor torque during rapid mechanical load increment within application limits Does CS_ACTUAL reach IRUN with load before motor stall? Increase SEUPN Finished Figure 22.3 Enabling coolStep (only in combination with spreadCycle)

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 84 www.trinamic.com

23 Getting Started

Please refer to the TMC 2130 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 proc ess 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 a nd initialize the chopper for spreadCycle operation and for stealthChop at <60 RPM: SPI send: 0xEC000100C5; // CHOPCONF: TOFF=5, 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 PWM_CONF) SPI send: 0x93000001F4; // TPWM_THRS=500 yields a switching velocity about 35000 = ca. 30RPM SPI send: 0xF0000401C8; // PWM_CONF: AUTO=1, 2/1024 Fclk, Switch amplitude limit=200, Grad=1 Hint Tune the configuration parameters for your motor and application for optimum performance.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 85 www.trinamic.com

24 Standalone Operation

For standalone operation, no SPI interface is required to con figure 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 VCC_IO TMC2130 Step&Dir input with microPlyer STEP DIR 5V Voltage regulator charge pump 22n 63V 100n 16V CLK_IN +VM 5VOUT VSA 4.7µ +VIO DRV_ENN GNDP GNDA TST_MODE DIE PAD VCC opt. ext. clock 12-16MHz 3.3V or 5V I/O voltage 100n 100n Sequencer Full Bridge A Full Bridge B +VM VS stepper motor N S OA1 OA2 OB1 OB2 Driver 100n BRB 100µF CPI CPO BRA RSA Use low inductivity SMD type, e.g. 1206, 0.5W RSB 100n VCP Optional use lower voltage down to 6V 2R2 470n DAC Reference AIN_IREF IREF Use low inductivity SMD type, e.g. 1206, 0.5W opt. driver enable Status out (open drain) Configuration interface with TRISTATE detection CFG0 CFG1 CFG3 CFG2 DIAG0 DIAG1 TRISTATE configuration (GND, VCC_IO or open) Index pulse Driver error CFG4 CFG5 DRV_ENN_CFG6Opt. driver enable input GNDD B.Dwersteg, © TRINAMIC 2014SPI_MODE 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 TOFF Setting Registers GND 140 TCLK (recommended, most universal choice) TOFF=4 VCC_IO 236 TCLK TOFF=7 open 332 TCLK TOFF=10

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 86 www.trinamic.com CFG1 AND CFG2: SETS MICROSTEP RESOLUTION FOR STEP INPUT CFG2, CFG1 Microsteps Interpolation Chopper Mode Registers GND, GND 1 (Fullstep) N spreadCycle MRES=8, intpol=0 GND, VCC_IO 2 (Halfstep) N MRES=7, intpol=0 GND, open 2 (Halfstep) Y, to 256 µsteps MRES=7, intpol=1 VCC_IO, GND 4 (Quarterstep) N MRES=6, intpol=0 VCC_IO, VCC_IO 16 µsteps N MRES=4, intpol=0 VCC_IO, open 4 (Quarterstep) Y, to 256 µsteps MRES=6, intpol=1 open, GND 16 µsteps Y, to 256 µsteps MRES=4, intpol=1 open, VCC_IO 4 (Quarterstep) Y, to 256 µsteps stealthChop MRES=6, intpol=1, en_PWM_mode=1 open, open 16 µsteps Y, to 256 µsteps MRES=4, intpol=1, en_PWM_mode=1 CFG3: SETS MODE OF CURRENT SETTING CFG3 Current Setting Registers GND Internal reference voltage. Current scale set by sense resistors, only. VCC_IO Internal sense resistors. Use analog input current on AIN as reference current for internal sense resistor . This setting gives best re sults when combined with stealthChop voltage PWM chopper. internal_Rsense=1 open External reference voltage on pin AIN. Current scale set by sense resistors and scaled by AIN. I_scale_analog=1 CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION) CFG4 HEND Setting Registers GND 5 (recommended, most universal choice) HEND=7 VCC_IO 9 HEND=11 open 13 HEND=15 CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE) CFG5 Blank time (in number of clock cycles) Registers GND 16 TBL=%00 VCC_IO 24 (recommended, most universal choice) TBL=%01 open 36 TBL=%10

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 87 www.trinamic.com CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN CFG6 Motor driver enable Standstill power down Registers GND Enable N IRUN=31, IHOLD=31 VCC_IO Disable - (Driver disable) open Enable Y, ramp down from 100% to 34% motor current in 44M 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. IRUN=31, IHOLD=11, IHOLDDELAY=8 While the parameters for spreadCycle can be configured for good microstep performance, stealthChop mode is configured with its power on default values (PWMCONF=0x00050480): fPWM=2/683 fCLK (i.e. roughly 38kHz with internal clock) pwm_autoscale=1 PWM_GRAD=4 PWM_AMPL=128 CFG0 and CFG4 settings do n ot influence the stealthChop configuration. This way, it is even possible to switch between spreadCycle and stealthChop mode by simply switching CFG1 and CFG2. Hint Be sure to allow the motor to rest for at least 100ms (assuming a minimum of 10MHz fCLK) before starting a motion using stealthChop. This will allow the current regulation to set the initial motor current. Example: It is desired to do small motions in smooth and noiseless stealthChop mode. For quick motions, spreadCycle is to be used. The con troller 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 88 www.trinamic.com

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 ope ration. 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 onc e 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, t he inte rnal 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 CLK is 12 MHz in the actual IC. Scale velocity thr esholds, 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 1 0 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 of f 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 ca use more electromagnetic emission of the system and causes more power dissipation in the TMC 2130 digital core and voltage regulator. Generally a frequency of 1 0 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 89 www.trinamic.com The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near more than one maximum rating at a time for extended periods shall be avoided by application design. Parameter Symbol Min Max Unit Supply voltage operating with inductive load (VVS ≥ VVSA) VVS, VVSA -0.5 49 V Supply and bridge voltage max. *) VVMAX 50 V VSA when different from to VS VVSA -0.5 VVS+0.5 V I/O supply voltage VVIO -0.5 5.5 V digital VCC supply voltage (if not supplied by internal regulator) VVCC -0.5 5.5 V Logic input voltage VI -0.5 VVIO+0.5 V Maximum current to / from digital pins and analog low voltage I/Os IIO +/-10 mA 5V regulator output current (internal plus external load) I5VOUT 50 mA 5V regulator continuous power dissipation (VVM-5V) * I5VOUT P5VOUT 1 W Power bridge repetitive output current IOx 3.0 A Junction temperature TJ -50 150 °C Storage temperature TSTG -55 150 °C ESD-Protection for interface pins (Human body model, HBM) VESDAP 4 kV ESD-Protection for handling (Human body model, HBM) VESD 1 kV *) Stray inductivity of GND and VS connections will lead to ringing of the supply voltage when driving an inductive load. This ringing results from the fast switching slopes of the driver outputs in combination with reverse recovery of the body diodes of the output dr iver 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.

28.1 Operational Range

Parameter Symbol Min Max Unit Junction temperature TJ -40 125 °C Supply voltage (using internal +5V regulator) VVS, VVSA 5.5 46 V Supply voltage (internal +5V regulator bridged: VVCC=VVSA=VVS) VVS 4.7 5.4 V I/O supply voltage VVIO 3.00 5.25 V VCC voltage when using optional external source (supplies digital logic and charge pump) VVCC 4.6 5.25 V RMS motor coil current per coil (value for design guideline) for QFN36 5x6 package resp. TQFP-48 package IRMS-QFN36 IRMS-TQFP48 1.2 1.4 A Peak output current per motor coil output (sine wave peak) using external or internal current sensing IOx 2.0 A Peak output current per motor coil output (sine wave peak) for short term operation . Limit TJ ≤ 1 05°C, e.g. for 100ms short time acceleration phase below 50% duty cycle. IOx 2.5 A

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 90 www.trinamic.com

28.2 DC and Timing Characteristics

DC characteristics contain the spread of values guaranteed within the specified supply voltage range unless otherwise specified. Typic al values represent the average value of all parts measured at +25°C. Temperature variation also causes stray to some values. A device with typical values will not leave Min/Max range within the full temperature range. Power supply current DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit Total supply current, driver disabled IVS + IVSA + IVCC IS fCLK=16MHz 15 22 mA Total supply current, operating, IVS + IVSA + IVCC IS fCLK=16MHz, 23.4kHz chopper, no load 19 mA Idle supply current from VS, charge pump operating IVS0 fCLK=0Hz, driver disabled 0.25 0.5 mA Static supply current from VSA with VCC supplied by 5VOUT IVSA0 fCLK=0Hz, includes VCC supply current 1.4 2 3 mA Supply current, driver disabled, dependency on CLK frequency IVCCx fCLK variable, additional to IVSA0 0.8 mA/MHz Internal current consumption from 5V supply on VCC pin IVCC fCLK=16MHz, 23.4kHz chopper 16 mA IO supply current (typ. at 5V) IVIO no load on outputs, inputs at VIO or GND Excludes pullup / pull-down resistors 15 30 µA Motor driver section DC- and Timing-Characteristics VVS = 24.0V Parameter Symbol Conditions Min Typ Max Unit RDSON lowside MOSFET RONL measure at 100mA, 25°C, static state 0.4 0.5 Ω RDSON highside MOSFET RONH measure at 100mA, 25°C, static state 0.5 0.6 Ω slope, MOSFET turning on tSLPON measured at 700mA load current (resistive load) 50 120 220 ns slope, MOSFET turning off tSLPOFF measured at 700mA load current (resistive load) 50 120 220 ns Current sourcing, driver off IOIDLE OXX pulled to GND 120 180 250 µA Charge pump DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit Charge pump output voltage VVCP-VVS operating, typical fchop<40kHz

4.0 VVCC -

0.3 VVCC V Charge pump voltage threshold for undervoltage detection VVCP-VVS using internal 5V regulator voltage 3.3 3.6 3.8 V Charge pump frequency fCP 1/16 fCLKOSC

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 91 www.trinamic.com Linear regulator DC-Characteristics VVS = VVSA = 24.0V Parameter Symbol Conditions Min Typ Max Unit Output voltage V5VOUT I5VOUT = 0mA TJ = 25°C 4.80 5.0 5.25 V Output resistance R5VOUT Static load 3  Deviation of output voltage over the full temperature range V5VOUT(DEV) I5VOUT = 16mA TJ = full range +/-30 +/-100 mV Deviation of output voltage over the full supply voltage range V5VOUT(DEV) I5VOUT = 0mA VVSA = variable +/-15 +/-30 mV / 10V Deviation of output voltage over the full supply voltage range V5VOUT(DEV) I5VOUT = 16mA VVSA = variable -38 +/-75 mV / 10V Clock oscillator and input Timing-Characteristics Parameter Symbol Conditions Min Typ Max Unit Clock oscillator frequency fCLKOSC tJ=-50°C 9 12.4 MHz Clock oscillator frequency fCLKOSC tJ=50°C 10.1 13.2 17.2 MHz Clock oscillator frequency fCLKOSC tJ=150°C 13.4 18 MHz External clock frequency (operating) fCLK 4 10-16 18 MHz External clock high / low level time tCLKH / tCLKL CLK driven to 0.1 VVIO / 0.9 VVIO 10 ns External clock first cycle triggering switching to external clock source tCLKH1 CLK driven high 30 25 ns Detector levels DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit VVSA undervoltage threshold for RESET VUV_VSA VVSA rising 3.8 4.2 4.6 V V5VOUT undervoltage threshold for RESET VUV_5VOUT V5VOUT rising 3.5 V VVCC_IO undervoltage threshold for RESET VUV_VIO VVCC_IO rising (delay typ. 10µs) 2.1 2.55 3.0 V VVCC_IO undervoltage detector hysteresis VUV_VIOHYST 0.3 V Short to GND detector threshold (VVS - VOx) VOS2G 2 2.5 3 V Short to GND detector delay (high side switch on to short detected) tS2G High side output clamped to VSP-3V 0.8 1.3 2 µs Overtemperature prewarning tOTPW Temperature rising 100 120 140 °C Overtemperature shutdown tOT Temperature rising 135 150 170 °C

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 92 www.trinamic.com Sense resistor voltage levels DC-Characteristics fCLK=16MHz Parameter Symbol Conditions Min Typ Max Unit Sense input peak threshold voltage (low sensitivity) VSRTL vsense=0 csactual=31 sin_x=248 Hyst.=0; IBRxy=0 325 mV Sense input peak threshold voltage (high sensitivity) VSRTH vsense=1 csactual=31 sin_x=248 Hyst.=0; IBRxy=0 180 mV Sense input tolerance / motor current full scale tolerance -using internal reference ICOIL I_scale_analog=0, vsense=0 -5 +5 % Sense input tolerance / motor current full scale tolerance -using external reference voltage ICOIL I_scale_analog=1, VAIN=2V, vsense=0 -2 +2 % Internal resistance from pin BRxy to internal sense comparator (additional to sense resistor) RBRxy 20 mΩ Digital pins DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit Input voltage low level VINLO -0.3 0.3 VVIO V Input voltage high level VINHI 0.7 VVIO VVIO+0.3 V Input Schmitt trigger hysteresis VINHYST 0.12 VVIO V Output voltage low level VOUTLO IOUTLO = 2mA 0.2 V Output voltage high level VOUTHI IOUTHI = -2mA VVIO-0.2 V Input leakage current IILEAK -10 10 µA Pullup / pull-down resistors RPU/RPD 132 166 200 kΩ Digital pin capacitance C 3.5 pF AIN/IREF input DC-Characteristics Parameter Symbol Conditions Min Typ Max Unit AIN_IREF input resistance to 2.5V (=5VOUT/2) RAIN Measured to GND (internalRsense=0) 260 330 400 kΩ AIN_IREF input voltage range for linear current scaling VAIN Measured to GND (IscaleAnalog=1) 0 0.5-2.4 V5VOUT/2 V AIN_IREF open input voltage level VAINO Open circuit voltage (internalRsense=0) V5VOUT/2 V AIN_IREF input resistance to GND for reference current input RIREF Measured to GND (internalRsense=1) 0.8 1 1.2 kΩ AIN_IREF current amplification for reference current to coil current at maximum setting IREFAMPL IIREF = 0.25mA 3000 Times Motor current full scale tolerance -using RDSon measurement ICOIL Internal_Rsense=1, vsense=0, IIREF = 0.25mA -10 +10 %

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 93 www.trinamic.com

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 la yout, 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 th e package is capable of continuously dissipating 4.1W at an ambient temperature of 25°C with the die temperature staying below 125°C. Parameter Symbol Conditions Typ Unit Typical power dissipation PD stealthChop or spreadCycle, 0.92A RMS in two phase motor, sinewave, 40 or 20kHz chopper, 24V, internal supply, 84°C peak surface of package (motor QSH4218-035-10-027) 2.6 W Thermal resistance junction to ambient on a multilayer board for QFN36 package RTMJA Dual signal and two internal power plane board (2s2p) as defined in JEDEC EIA JESD51-5 and JESD51-7 (FR4, 35µm CU, 84mm x 55mm, d=1.5mm)

24 K/W

Thermal resistance junction to ambient on a multilayer board for TQFP-EP48 package RTMJA Dual signal and two internal power plane board (2s2p) as defined in JEDEC EIA JESD51-5 and JESD51-7 (FR4, 35µm CU, 70mm x 133mm, d=1.5mm)

21 K/W

Thermal resistance junction to board RTJB PCB temperature measured within 1mm distance to the package

8 K/W

Thermal resistance junction to case RTJC Junction temperature to heat slug of package

3 K/W

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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 94 www.trinamic.com

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 printe d 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 comm on 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 co nnections to GND and to the TMC2 130. 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 i ts 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 cerami c 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 p lane. 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 95 www.trinamic.com

29.4 Layout Example (QFN36)

1 - Top Layer (assembly side) 2 - Inner Layer 1

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 96 www.trinamic.com 3 - Inner Layer 2 4 - Bottom Layer Components / Silksceen Top Figure 29.1 Layout example

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30.1 Dimensional Drawings QFN36 5x6

Attention: Drawings not to scale. Figure 30.1 Dimensional drawings QFN 5x6

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 98 www.trinamic.com Parameter Ref Min Nom Max total thickness A 0.8 0.85 0.9 stand off A1 0 0.035 0.05 mold thickness A2 - 0.65 - lead frame thickness A3 0.203 lead width b 0.2 0.25 0.3 body size X D 4.9 5 5.1 body size Y E 5.9 6 6.1 lead pitch e 0.5 exposed die pad size X J 3.5 3.6 3.7 exposed die pad size Y K 4 4.1 4.2 lead length L 0.35 0.4 0.45 mold flatness bbb 0.1 coplanarity ccc 0.08 lead offset ddd 0.1 exposed pad offset eee 0.1

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 99 www.trinamic.com

30.2 Dimensional Drawings TQFP-EP48

Attention: Drawings not to scale. Figure 30.2 Dimensional drawings TQFP-EP48

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 100 www.trinamic.com Parameter Ref Min Nom Max total thickness A - - 1.2 stand off A1 0.05 - 0.15 mold thickness A2 0.95 1 1.05 lead width (plating) b 0.17 0.22 0.27 lead width b1 0.17 0.2 0.23 lead frame thickness (plating) c 0.09 - 0.2 lead frame thickness c1 0.09 - 0.16 body size X (over pins) D 9.0 body size Y (over pins) E 9.0 body size X D1 7.0 body size Y E1 7.0 lead pitch e 0.5 lead L 0.45 0.6 0.75 footprint L1 1 REF  0° 3.5° 7° 1 0° - - 2 11° 12° 13° 3 11° 12° 13° R1 0.08 - - R2 0.08 - 0.2 S 0.2 - - exposed die pad size X M 4.9 5 5.1 exposed die pad size Y N 4.9 5 5.1 package edge tolerance aaa 0.2 lead edge tolerance bbb 0.2 coplanarity ccc 0.08 lead offset ddd 0.08 mold flatness eee 0.05

30.3 Package Codes

Type Package Temperature range Code & marking TMC2130-LA QFN36 (RoHS) -40°C ... +125°C TMC2130-LA TMC2130-TA TQFP-EP48 (RoHS) -40°C ... +125°C TMC2130-TA

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 101 www.trinamic.com

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 M otion 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 groundi ng 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.

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 102 www.trinamic.com

33 Table of Figures

FIGURE 7.2 NO LEDGES IN CURRENT WAVE WITH SUFFICIENT HYSTERESIS (MAGENTA: CURRENT A, YELLOW & BLUE: SENSE

TMC2130 DATASHEET (Rev. 1.07 / 2016-APR-27) 103 www.trinamic.com Version Date Author BD= Bernhard Dwersteg SD= Sonja Dwersteg V0.90 2014-AUG-21 SD First version. Based on TMC5130 datasheet V0.42. V0.91 2014-SEP-11 SD Figure 1.1 and Figure 1.2 corrected. V0.92 2014-SEP-25 BD Clarified ramp generator source as step input, etc. V1.00 2014-OCT-15 BD Some detail corrections (removed wording 3 phase) V1.01 2014-NOV-24 BD Wording thermal shutdown, QFN36 table V1.02 2014-DEC-08 BD Some detail corrections for 2130 and stallGuard description V1.03 2015-MAR-10 BD Improved AN links, dcStep stallGuard description, blue blocks Renamed TZEROWAIT to TPOWERDOWN, Added References V1.04 2015-APR-02 BD More direct_mode info V1.05 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 V1.06 2016-APR-22 BD More details on: stealthChop lower current limit, dcMotor operation, XDIRECT register Corrected: effective stealthChop PWM frequency is 2*divider setting, ESD schematic w. varistors instead of snubber V1.07 2016-APR-27 BD Added TQFP48 package Table 34.1 Document Revisions

35 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