POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC5160 / TMC5160A DATASHEET
Universal high voltage controller/driver for two-phase bipolar stepper motor.
StealthChop™ for quiet
movement. External MOSFETs for up to 20A motor current per coil. With Step/Dir Interface and SPI.
A
PPLICATIONS
Robotics & Industrial Drives
Textile, Sewing Machines
Packing Machines
Factory & Lab Automation
High-speed 3D Printers
Liquid Handling
Medical
Office Automation
CCTV
ATM, Cash Recycler
Pumps and Valves
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC5160 / TMC5160A is a high-power
stepper motor controller and driver IC
with serial communication interfaces. It
combines a flexible ramp generator for
automatic target positioning with indus-
tries’ most advanced stepper motor
driver. Using external transistors, highly
dynamic, high torque drives can be
realized. Based on TRINAMICs sophisti-
cated SpreadCycle and StealthChop
choppers, the driver ensures absolutely
noiseless operation combined with maxi-
mum efficiency and best motor torque.
High integration, high energy efficiency
and a small form factor enable miniatu-
rized and scalable systems for cost
effective solutions. The complete solution
reduces learning curve to a minimum
while giving best performance in class.
2-phase
stepper motors up to 20A coil current (external MOSFETs)
Motion Controller
with
SixPoint™
ramp
Step/Dir Interface
with microstep interpolation
MicroPlyer™
Voltage Range
8
…
60V DC
SPI & Single Wire UART
Encoder Interface
and
2x Ref.-Switch Input
Highest Resolution
256 microsteps per full step
StealthChop2™
for quiet operation and smooth motion
Resonance Dampening
for mid-range resonances
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%
Passive Braking
and freewheeling mode
Full Protection & Diagnostics
Compact Size
7x7mm
2
(body) TQFP48 package / 8x8mm² QFN
B
LOCK
D
IAGRAM
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC5160/TMC5160A DATASHEET (Rev. 1.15 / 2021-JUN-01)
2
APPLICATION EXAMPLES: HIGH VOLTAGE
–
MULTIPURPOSE USE
The TMC5160 scores with complete motion controlling features, powerful external MOSFET driver stages,
and high-quality current regulation. It offers a versatility that covers a wide spectrum of applications from
battery powered high efficiency systems up to embedded applications with 20A motor current per coil. The
TMC5160 contains the complete intelligence which is required to drive a motor. Receiving target positions,
the TMC5160 manages motor movement. Based on TRINAMICs unique features StallGuard2, CoolStep,
DcStep, SpreadCycle, and StealthChop, it optimizes drive performance. It trades off velocity vs. motor
torque, optimizes energy efficiency, smoothness of the drive, and noiselessness. The small form factor of
the TMC5160 keeps costs down and allows for miniaturized layouts. Extensive support at the chip, board,
and software levels enables rapid design cycles and fast time-to-market with competitive products. High
energy efficiency and reliability deliver cost savings in related systems such as power supplies and cooling.
For smaller designs, the compatible, integrated TMC5130 driver provides 1.4A of motor current.
M
INIATURIZED
D
ESIGN
FOR ONE
S
TEPPER
M
OTOR
Ref.
Switches
SPI
High-Level
Interface
CPU
TMC5160
M
Encoder
An ABN encoder interface with scaler unit
and two reference switch inputs are used to
ensure correct motor movement. Automatic
interrupt upon deviation is available.
C
OMPACT
D
ESIGN
FOR MULTIPLE
S
TEPPER
M
OTORS
High-Level
Interface
CPU
SPI or
UART
TMC5160
Addr.
Chaining
with UART
M
TMC5160
Addr.
M
An application with 2 stepper motors is
shown. Additionally, the ABN Encoder
interface and two reference switches can be
used for each motor. A single CPU controls
the whole system, as there are no real time
tasks required to move a motor. The CPU-
board and the controller / driver boards are
highly economical and space saving.
More TMC5160 or TMC5130 or TMC5072
NCS signal for SPI
The TMC5160-EVAL is part of TRINAMICs
universal evaluation board system which
provides a convenient handling of the
hardware as well as a user-friendly
software tool for evaluation. The
TMC5160 evaluation board system
consists
of
three
parts:
LANDUNGSBRÜCKE
(base
board),
ESELSBRÜCKE (connector board including
several test points), and TMC5160-EVAL.
O
RDER
C
ODES
Order code
TMC5160A-TA
TMC5160A-WA
TMC5160A-xx-T
TMC5160-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
PN
00-0179
00-0192
…-T
40-0138
40-0167
40-0098
Description
stepper controller/driver for external MOSFETs; TQFP48
stepper controller/driver f. ext. MOSFETs; wett. QFN8x8
-T denotes tape on reel packing (xx= TA or WA)
Evaluation board for TMC5160 (/A)
Baseboard for TMC5160-EVAL and further boards.
Connector board fitting to Landungsbrücke
Size
[mm
2
]
7 x 7 (body)
8x8
85 x 55
85 x 55
61 x 38
Hint:
TMC5160 in this manual always refers to both, the TMC5160A and TMC5160, unless explicitly noted
with “non-A-version” or “A-version”. The
A-version
compatibly replaces the
non-A-version.
www.trinamic.com
TMC5160/TMC5160A DATASHEET (Rev. 1.15 / 2021-JUN-01)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 5
1.1
1.2
1.3
1.4
1.5
1.6
1.7
K
EY
C
ONCEPTS
................................................ 6
C
ONTROL
I
NTERFACES
..................................... 7
S
OFTWARE
...................................................... 7
M
OVING AND
C
ONTROLLING THE
M
OTOR
........ 8
A
UTOMATIC
S
TANDSTILL
P
OWER
D
OWN
......... 8
S
TEALTH
C
HOP
2 & S
PREAD
C
YCLE
D
RIVER
....... 8
S
TALL
G
UARD
2
–
M
ECHANICAL
L
OAD
S
ENSING
.
....................................................................... 9
1.8
C
OOL
S
TEP
–
L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
...................................................................... 9
1.9
D
C
S
TEP
–
L
OAD
D
EPENDENT
S
PEED
C
ONTROL
.
.....................................................................10
1.10 E
NCODER
I
NTERFACE
.....................................10
2
PIN ASSIGNMENTS
.........................................11
2.1
2.2
3
P
ACKAGE
O
UTLINE
........................................11
S
IGNAL
D
ESCRIPTIONS
.................................12
8
SPREADCYCLE AND CLASSIC CHOPPER
... 68
8.1
8.2
9
10
11
11.1
11.2
11.3
12
12.1
12.2
12.3
12.4
13
13.1
13.2
13.3
13.4
13.5
14
14.1
14.2
14.3
15
15.1
15.2
15.3
16
16.1
16.2
17
S
PREAD
C
YCLE
C
HOPPER
................................ 69
C
LASSIC
C
ONSTANT
O
FF
T
IME
C
HOPPER
...... 72
SELECTING SENSE RESISTORS
.................... 74
VELOCITY BASED MODE CONTROL
....... 76
DIAGNOSTICS AND PROTECTION.........
78
T
EMPERATURE
S
ENSORS
................................ 78
S
HORT
P
ROTECTION
...................................... 78
O
PEN
L
OAD
D
IAGNOSTICS
........................... 80
RAMP GENERATOR
..................................... 81
R
EAL
W
ORLD
U
NIT
C
ONVERSION
................. 81
M
OTION
P
ROFILES
........................................ 82
V
ELOCITY
T
HRESHOLDS
................................. 84
R
EFERENCE
S
WITCHES
.................................. 85
STALLGUARD2 LOAD MEASUREMENT
... 87
T
UNING
S
TALL
G
UARD
2 T
HRESHOLD
SGT
..... 88
S
TALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
.... 90
D
ETECTING A
M
OTOR
S
TALL
......................... 90
H
OMING WITH
S
TALL
G
UARD
........................ 90
L
IMITS OF
S
TALL
G
UARD
2 O
PERATION
.......... 90
COOLSTEP OPERATION
............................. 91
U
SER
B
ENEFITS
............................................. 91
S
ETTING UP FOR
C
OOL
S
TEP
.......................... 91
T
UNING
C
OOL
S
TEP
....................................... 93
STEP/DIR INTERFACE
................................ 94
T
IMING
......................................................... 94
C
HANGING
R
ESOLUTION
............................... 95
M
ICRO
P
LYER AND
S
TAND
S
TILL
D
ETECTION
. 96
DIAG OUTPUTS
........................................... 97
STEP/DIR M
ODE
......................................... 97
M
OTION
C
ONTROLLER
M
ODE
........................ 97
DCSTEP
.......................................................... 99
SAMPLE CIRCUITS
..........................................15
3.1
3.2
3.3
3.4
3.5
S
TANDARD
A
PPLICATION
C
IRCUIT
................15
E
XTERNAL
G
ATE
V
OLTAGE
R
EGULATOR
..........16
C
HOOSING
MOSFET
S AND
S
LOPE
................17
T
UNING THE
MOSFET B
RIDGE
.....................19
H
IGHER
V
OLTAGE
A
PPLICATIONS
..................22
4
SPI INTERFACE
................................................23
4.1
4.2
4.3
SPI D
ATAGRAM
S
TRUCTURE
.........................23
SPI S
IGNALS
................................................24
T
IMING
.........................................................25
5
UART SINGLE WIRE INTERFACE
................26
5.1
5.2
5.3
5.4
D
ATAGRAM
S
TRUCTURE
.................................26
CRC C
ALCULATION
.......................................28
UART S
IGNALS
............................................28
A
DDRESSING
M
ULTIPLE
S
LAVES
....................29
6
REGISTER MAPPING
.......................................31
6.1
G
ENERAL
C
ONFIGURATION
R
EGISTERS
..........32
6.2
V
ELOCITY
D
EPENDENT
D
RIVER
F
EATURE
C
ONTROL
R
EGISTER
S
ET
.............................................38
6.3
R
AMP
G
ENERATOR
R
EGISTERS
.......................40
6.4
E
NCODER
R
EGISTERS
.....................................45
6.5
M
OTOR
D
RIVER
R
EGISTERS
...........................47
7
STEALTHCHOP™
..............................................57
7.1
7.2
7.3
7.4
7.5
7.6
7.7
A
UTOMATIC
T
UNING
.....................................57
S
TEALTH
C
HOP
O
PTIONS
................................60
S
TEALTH
C
HOP
C
URRENT
R
EGULATOR
.............60
V
ELOCITY
B
ASED
S
CALING
............................63
C
OMBINING
S
TEALTH
C
HOP AND
S
PREAD
C
YCLE
.
.....................................................................64
F
LAGS IN
S
TEALTH
C
HOP
...............................66
F
REEWHEELING AND
P
ASSIVE
B
RAKING
........66
17.1 U
SER
B
ENEFITS
............................................. 99
17.2 D
ESIGNING
-I
N
D
C
S
TEP
................................ 99
17.3 D
C
S
TEP
I
NTEGRATION WITH THE
M
OTION
C
ONTROLLER
............................................................ 100
17.4 S
TALL
D
ETECTION IN
D
C
S
TEP
M
ODE
.......... 100
17.5 M
EASURING
A
CTUAL
M
OTOR
V
ELOCITY IN
D
C
S
TEP
O
PERATION
................................................ 101
17.6 D
C
S
TEP WITH
STEP/DIR I
NTERFACE
......... 102
18
18.1
18.2
19
SINE-WAVE LOOK-UP TABLE.................
105
U
SER
B
ENEFITS
........................................... 105
M
ICROSTEP
T
ABLE
...................................... 105
EMERGENCY STOP
.................................... 106
www.trinamic.com
TMC5160/TMC5160A DATASHEET (Rev. 1.15 / 2021-JUN-01)
20
ABN INCREMENTAL ENCODER
INTERFACE
.............................................................. 107
20.1 E
NCODER
T
IMING
....................................... 108
20.2 S
ETTING THE
E
NCODER TO
M
ATCH
M
OTOR
R
ESOLUTION
............................................................ 108
20.3 C
LOSING THE
L
OOP
.................................... 109
21
21.1
22
23
23.1
24
25
26
26.1
26.2
27
28
28.1
28.2
DC MOTOR OR SOLENOID
.................... 110
S
OLENOID
O
PERATION
............................... 110
QUICK CONFIGURATION GUIDE
......... 111
GETTING STARTED
.................................. 116
I
NITIALIZATION
E
XAMPLES
......................... 116
STANDALONE OPERATION
.................... 117
EXTERNAL RESET
...................................... 119
CLOCK OSCILLATOR AND INPUT
........ 119
U
SING THE
I
NTERNAL
C
LOCK
...................... 119
U
SING AN
E
XTERNAL
C
LOCK
....................... 119
ABSOLUTE MAXIMUM RATINGS
.......... 120
ELECTRICAL CHARACTERISTICS
.......... 120
O
PERATIONAL
R
ANGE
................................ 120
DC
AND
T
IMING
C
HARACTERISTICS
........... 121
28.3
29
29.1
29.2
29.3
29.4
29.5
30
30.1
30.2
30.3
31
32
33
34
35
36
37
4
T
HERMAL
C
HARACTERISTICS
........................ 123
LAYOUT CONSIDERATIONS...................
125
E
XPOSED
D
IE
P
AD
...................................... 125
W
IRING
GND
............................................ 125
W
IRING
B
RIDGE
S
UPPLY
............................ 125
S
UPPLY
F
ILTERING
...................................... 125
L
AYOUT
E
XAMPLE
....................................... 126
PACKAGE MECHANICAL DATA
.............. 128
D
IMENSIONAL
D
RAWINGS
TQFP48-EP
..... 128
D
IMENSIONAL
D
RAWINGS
QFN-WA
......... 130
P
ACKAGE
C
ODES
......................................... 131
DESIGN PHILOSOPHY
............................. 132
DISCLAIMER
............................................... 132
ESD SENSITIVE DEVICE..........................
132
DESIGNED FOR SUSTAINABILITY
....... 132
TABLE OF FIGURES
.................................. 133
REVISION HISTORY
................................. 134
REFERENCES
............................................... 134
www.trinamic.com
TMC5160/TMC5160A DATASHEET (Rev. 1.15 / 2021-JUN-01)
5
1
Principles of Operation
The TMC5160 motion controller and driver chip is an intelligent power component interfacing between
CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No
software is required to control the motor
–
just provide target positions. The TMC5160 offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The SixPoint ramp generator of the TMC5160 uses StealthChop, DcStep, CoolStep, and
StallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the
TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents.
T
HE
TMC5160
OFFERS THREE BASIC MODES OF OPERATION
:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5160. No software is required to control the
motor
–
just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The MicroPlyer automatically smoothens motion. Tie SD_MODE high.
MODE 3: Simple Step & Direction Driver
The TMC5160 positions the motor based on step & direction signals. The MicroPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.
+V
M
REFL/STEP
REFR/DIR
CPO
+V
M
VSA
12VOUT
100n
2.2µ
2.2µ
VCP
CPI
VS
22n
100V
100n
16V
100n
C
E
CB2
11.5V Voltage
regulator
5V Voltage
regulator
Step &
Direction pulse
generation
Ref. switch
processing
TMC5160
charge pump
HS
HB2
CB1
HB1
BMB1
BMB2
C
B
C
B
470n
5VOUT
2R2
VCC
470n
linear 6 point
RAMP generator
CSN
SCK
SDI
SDO
DIAG1/SWP
DIAG0/SWN
trol
n co n
Motio
SPI interface
tep &
coolS Chop
th
steal driver
r
moto
x
spreadCycle &
stealthChop
Chopper
B.Dwersteg, ©
Protection
TRINAMIC 2014
HS
R
G
R
G
LS
LS
LB1
R
G
R
G
LB2
SRBH
47R
R
S
f ace
Inte
/
r
INT out
DIAG
and
Single wire
interface
Control register
set
B.Dwersteg, ©
TRINAMIC 2014
programmable
sine table
4*256 entry
SRBL
CA2
HS
C
B
47R
S
+V
M
470n
N
stepper
motor
Stepper driver
& diagnostics
HA2
CA1
HA1
BMA1
BMA2
coolStep™
HS
C
B
R
G
R
G
opt. ext. clock
12-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
CLK_IN
stallGuard2™
dcStep™
VCC_IO
Encoder
unit
A
B
N
LS
LS
LA1
R
G
R
G
LA2
SRAH
SRAL
47R
47R
R
S
mode selection
pd
pd
pd
DRV_ENN
ENCA_DCIN
ENCB_DCEN
ENCN_DCO
DIE PAD
SD_MODE
SPI_MODE
Encoder input /
+V
IO
+V
IO
dcStep control in S/D
mode
Both GND: UART mode
opt. driver enable
Figure 1.1 TMC5160 basic application block diagram (motion controller)
www.trinamic.com
TST_MODE
GNDD
GNDA
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