POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2100-LA DATASHEET
Standalone intelligent Step/Direction driver for two-phase bipolar stepper motor.
stealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0 A motor current per coil.
A
PPLICATIONS
Textile, Sewing Machines
Office Automation
Consumer, Home
CCTV, Security
ATM, Cash recycler
POS
Printers & Scanners
D
ESCRIPTION
F
EATURES
AND
B
ENEFITS
2-phase
stepper motors up to 2.0A coil current (2.5A peak)
Standalone Driver
Step/Dir Interface
with microstep interpolation
microPlyer™
Voltage Range
4.75… 46 V DC
Highest Resolution
256 microsteps per full step
stealthChop™
for extremely quiet operation and smooth
motion
spreadCycle™
highly dynamic motor control chopper
Integrated Current Sense Option
Standstill Current Reduction
Full Protection & Diagnostics
(two outputs)
Small Size
5x6mm
2
QFN36 package or TQFP48 package
The
TMC2100
is
TRINAMICs
most
autonomous driver IC. This small and
intelligent standalone driver for two phase
stepper motors offers market-leading
features while being configured by seven
pins only. CPU interaction is not required.
Drive the motor via Step and Direction
signals.
TRINAMICs
sophisticated
stealthChop chopper ensures noiseless
operation combined with efficiency and
best motor torque. Integrated power
MOSFETs handle motor currents up to 1.2A
RMS continuously (QFN package) / 1.4A RMS
(TQFP) per coil. For saving energy, the
TMC2100
provides
standstill
current
reduction.
Protection
and
diagnostic
features support robust and reliable
operation.
The
TMC2100
enables
miniaturized designs with low external
component count for cost-effective and
highly competitive solutions.
B
LOCK
D
IAGRAM
Configuration via 7 pins
IREF
optional current scaling
Power
Supply
+5V Regulator
Charge Pump
Configuration
Interface with
TRISTATE Detection
TMC2100
DAC Reference
Motor
Step Multiplyer
spreadCycle
Step/Dir
Standstill Current
Reduction
256 µStep
Sequencer
DRIVER
stealthChop
CLK
CLK Oscillator /
Selector
Protection
& Diagnostics
ERROR / INDEX
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
2
APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE
The TMC2100 scores with power density, integrated power MOSFETs, smooth and quiet operation, and
a congenial simplicity. The TMC2100 covers a wide spectrum of applications from battery systems up
to embedded applications with up to 2.0A motor current per coil. TRINAMICs unique chopper modes
spreadCycle and stealthChop optimize drive performance. stealthChop reduces motor noise to the
point of silence during low velocities. Standby current reduction keeps costs for power dissipation
and cooling down. Extensive support enables rapid design cycles and fast time-to-market with
competitive products.
S
TANDALONE
D
ESIGN
S/D
ERROR, INDEX
FOR ONE
0A+
S
TEPPER
M
OTOR
S
N
TMC2100
0A-
0B+
0B-
In this example, configuration is hard
wired. The motor is driven via step
and direction signals. Motion control
tasks and interpreting ERROR and
INDEX are software based.
.
M
INIATURIZED
D
ESIGN
High-Level
Interface
FOR ONE
S/D
S
TEPPER
M
OTOR
0A+
CPU
ERROR, INDEX
TMC2100
0A-
0B+
S
N
Configuration / Enable
0B-
Here, the CPU sends step and direction
signals to the TMC2100 and reads out
ERROR and INDEX for diagnostic tasks.
Further, the CPU configures the
TMC2100 and manages motion control.
Based on Step/Dir signals, the TMC2100
provides motor currents for each axis
and smoothens and optimizes drive
performance.
E
VALUATION
B
OARD
S
YSTEM
The
TMC2100-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 TMC2100 evaluation
board system consists of three parts:
STARTRAMPE
(base
board),
ESELSBRÜCKE (connector board with
several test points), and TMC2100-EVAL.
O
RDER
C
ODES
Order code
TMC2100-LA
TMC2100-TA
TMC2100-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
Description
1-axis stealthChop standalone driver; QFN36
1-axis stealthChop standalone driver; TQFP48
Evaluation board for TMC2100 two phase stepper motor
controller/driver
Baseboard for TMC2100-EVAL and further evaluation boards
Connector board for plug-in evaluation board system
Size [mm
2
]
5x6
9x9
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
3
Table of Contents
1
KEY CONCEPTS
................................................... 4
1.1
1.2
1.3
1.4
2
S
OFTWARE
...................................................... 5
STEP/DIR I
NTERFACE
.................................... 5
S
TANDSTILL
C
URRENT
R
EDUCTION
.................. 5
D
IAGNOSTICS AND
P
ROTECTION
..................... 5
10.1
10.2
10.3
10.4
11
T
EMPERATURE
M
EASUREMENT
....................... 28
S
HORT TO
GND P
ROTECTION
....................... 28
E
MERGENCY
S
TOP
......................................... 28
D
IAGNOSTIC
O
UTPUT
................................... 28
STEP/DIR INTERFACE
................................ 30
PIN ASSIGNMENTS
........................................... 6
2.1
2.2
P
ACKAGE
O
UTLINE
.......................................... 6
S
IGNAL
D
ESCRIPTIONS
................................... 7
3
OPERATION
......................................................... 8
3.1
CFG P
IN
C
ONFIGURATION
.............................. 8
11.1 T
IMING
......................................................... 30
11.2 C
HANGING
R
ESOLUTION
............................... 31
11.3
MICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
....................................................... 32
11.4 INDEX O
UTPUT
........................................... 33
12
13
13.1
14
15
15.1
15.2
15.3
16
16.1
16.2
16.3
16.4
17
17.1
17.2
17.3
18
19
20
21
22
EXTERNAL RESET
........................................ 34
CLOCK OSCILLATOR AND INPUT
........... 34
C
ONSIDERATIONS ON THE
F
REQUENCY
.......... 34
ABSOLUTE MAXIMUM RATINGS
............ 35
ELECTRICAL CHARACTERISTICS
............ 35
O
PERATIONAL
R
ANGE
................................... 35
DC
AND
T
IMING
C
HARACTERISTICS
.............. 36
T
HERMAL
C
HARACTERISTICS
.......................... 39
LAYOUT CONSIDERATIONS.....................
40
E
XPOSED
D
IE
P
AD
........................................ 40
W
IRING
GND
.............................................. 40
S
UPPLY
F
ILTERING
........................................ 40
L
AYOUT
E
XAMPLE
: TMC2100-BOB
.............. 41
PACKAGE MECHANICAL DATA
................ 43
D
IMENSIONAL
D
RAWINGS
QFN36 5
X
6
....... 43
D
IMENSIONAL
D
RAWINGS
TQFP-EP48
....... 45
P
ACKAGE
C
ODES
........................................... 46
DISCLAIMER
................................................. 47
ESD SENSITIVE DEVICE............................
47
TABLE OF FIGURES
.................................... 48
REVISION HISTORY
................................... 48
REFERENCES
................................................. 48
4
SUGGESTIONS FOR LAYOUT
........................11
4.1
4.2
4.3
4.4
4.5
4.6
4.7
B
ASIC
H
INTS FOR
P
OWER
S
UPPLY
................11
R
EDUCED
N
UMBER OF
C
OMPONENTS
.............11
I
NTERNAL
C
URRENT
S
ENSING
........................11
E
XTERNAL
5V P
OWER
S
UPPLY
......................12
5V O
NLY
S
UPPLY
..........................................13
H
IGH
M
OTOR
C
URRENT
.................................14
D
RIVER
P
ROTECTION AND
EME C
IRCUITRY
...15
5
STEALTHCHOP™
..............................................16
5.1
5.2
5.3
5.4
C
URRENT
R
EGULATION
..................................16
A
UTOMATIC
S
CALING
....................................16
A
CCELERATION
..............................................18
S
WITCHING BETWEEN STEALTH
C
HOP AND
SPREAD
C
YCLE
.............................................................19
6
SPREADCYCLE
...................................................20
6.1
SPREAD
C
YCLE
C
HOPPER
................................21
7
8
SELECTING SENSE RESISTORS
....................23
MOTOR CURRENT CONTROL
........................24
8.1
A
NALOG
C
URRENT
S
CALING
AIN
..................24
9
10
INTERNAL SENSE RESISTORS
......................26
DRIVER DIAGNOSTIC AND PROTECTION
.........................................................................28
www.trinamic.com
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
4
1
Key Concepts
The TMC2100 is easy to use. It can be configured by seven hardware pins. CPU interaction is not
necessary. The TMC2100 positions the motor based on step and direction signals and the integrated
microPlyer automatically smoothens motion. Basic standby current control can be done by the
TMC2100. Optional feedback signals allow error detection and synchronization. Optionally, current
scaling is possible by providing an analog reference current IREF.
A CPU for configuration, motion control, and diagnostics can be connected, but this is not basically
needed to drive the motor.
step & dir input
optional current scaling
5VOUT
AIN_IREF
R
REF
STEP
DIR
Optional for internal current
sensing. R
REF
=9K1 allows for
maximum coil current.
100n
F = 60ns spike filter
+V
M
+V
M
VCP
100n
TMC 2100 Standalone
Stepper Motor Driver
CPI
CPO
22n
F
F
VS
CFG1
CFG2
step multiplier
microPlyer
Standstill
current
reduction
CFG3
DAC Reference
IREF
ISENSE
Half Bridge 1
OA1
charge pump
CFG6
VSA
100n
4.7µ
2R2 and 470n are optional
filtering components for
best chopper precision
5VOUT
2R2
5V Voltage
regulator
VCC
470n
TG= toggle with 166K resistor between VCC
and GND to detect open pin
CFG0
CFG1
CFG2
TRISTATE configuration
(GND, VCC_IO or open)
Opt. driver
enable input
CFG3
CFG4
CFG5
DRV_ENN_CFG6
TG
TG
TG
TG
TG
TG
TG
&
ycle
eadC hop
spr
thC
steal driver
r
moto
CFG0
CFG4
CFG1
CFG5
CFG2
Half Bridge 2
ISENSE
OA2
BRA
R
S
GNDP
CFG1
CFG2
Configuration
interface
with TRISTATE
detection
B.Dwersteg, ©
TRINAMIC 2014
sine table
4*256 entry
x
DRV_ENN
spreadCycle &
stealthChop
Chopper
Stepper driver
Protection
& diagnostics
current
comparator
IREF
DAC
R
S
=0R15 allows for
maximum coil
current;
Tie BRA and BRB to
GND for internal
current sensing
S
N
current
comparator
DAC
IREF
GNDP
R
S
2 phase
stepper
motor
PDD=100k pulldown
PMD=50k to VCC/2
f ac
Inter
e
BRB
Half Bridge 2
ISENSE
Index pulse
Driver error
DIAG1
DIAG0
PDD
PMD
OB2
Status out
(open drain)
opt. ext. clock
10-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
CLK_IN
VCC_IO
CLK oscillator/
selector
ISENSE
Half Bridge 1
OB1
VS
100n
+V
M
DIE PAD
GNDD
Figure 1.1 TMC2100 standalone driver application diagram
The TMC2100 implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision and smoother motion in many stepper motor applications.
Particularly, the TMC2100 provides special chopper algorithms in order to reduce engine noise and
react extremely fast to changes in velocity and motor load.
stealthChop™
is a voltage chopper based principle. It guarantees that the motor is absolutely
quiet in standstill and in slow motion, except for noise generated by ball bearings.
The extremely smooth motion is beneficial for many applications.
offers smooth operation and great power efficiency over a wide range of speed and
load. The spreadCycle chopper scheme automatically integrates a fast decay cycle
and guarantees smooth zero crossing performance.
microstep interpolator for obtaining increased smoothness of microstepping.
spreadCycle™
microPlyer™
www.trinamic.com
TST_MODE
GNDA
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
5
1.1 Software
Usually, the TMC2100 is configured to a fixed configuration using the related hardware pins. Status
bits for error detection can be read out using ERROR and INDEX. The TMC2100 is a stepper motor
driver chip that can be driven software based with only little effort. It does not need a master CPU or
a motion controller IC, but step and direction signals have to be provided to drive a motor.
1.2 STEP/DIR Interface
The motor is controlled by a step and direction input. Active edges on the STEP input are rising ones.
On each active edge, the state sampled from the DIR input determines whether to step forward or
back. Each step can be a fullstep or a microstep, in which there are 2, 4, 8, 16, 32, 64, 128, or 256
microsteps per fullstep. 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
resolution. An internal table translates the counter value into the sine and cosine values which
control the motor current for microstepping.
1.3 Standstill Current Reduction
The automatic standstill current reduction allows to automatically reduce the motor current by nearly
two-thirds to save energy in standstill. This is possible in many applications, as normally less holding
torque is required. In case the standstill current option has been enabled, the motor current becomes
softly ramped down from 100% to 34% in 44M clock cycles (3 to 4 seconds) if no step pulse has been
issued for more than 3M clock cycles (standby delay time). The soft current ramp avoids a jerk on the
motor.
STEP
CURRENT
I_RUN
I_HOLD = 34% * I_RUN
t
RMS current with CFG6_ENN = open
Standby
delay time
Standby
ramp time
Figure 1.2 Standstill current reduction
1.4 Diagnostics and Protection
The TMC2100 offers safeguards to detect and protect against shorted outputs, overtemperature, and
undervoltage conditions for enhancing safety and recovery from equipment malfunctions.
www.trinamic.com
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