POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2041 DATASHEET
Dual step/direction driver for up to two 2-phase bipolar stepper motors. stallGuard for sensorless
homing. SPI, UART (single wire) Configuration and Diagnostics Interface.
A
PPLICATIONS
Office Automation
Antenna Positioning
3D printers
Battery powered applications
Printer and Scanner
Pumps and Valves
Medical Applications
Office and Laboratory equipment
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC2041 is a compact, dual stepper
motor driver IC with serial interfaces for
configuration and diagnostics. It is pin
compatible to the fully featured TMC5041
and TMC5072 drivers with internal mo-
tion controller. The TMC2041 is intended
for all applications, where an internal
motion controller is not desired, and
ramping is done in a microcontroller.
Based on TRINAMICs high-performance
spreadCycle chopper, the driver allows
precise and smooth motor operation. It
offers coolStep for energy savings and
stallGuard for sensorless stall detection.
The complete set of protection and
diagnostic functionality ensures reliable
operation. High integration, high energy
efficiency and a small form factor enable
miniaturized and scalable systems for
cost effective solutions.
Two 2-phase
stepper motors
Drive Capability
up to 2x 1.1A coil current (2x 1.5A peak)
Parallel Option
for one motor at 2.2A (3A peak)
Voltage Range
4.75… 26V DC
SPI & Single Wire UART
for configuration and diagnostics
Highest Resolution
up to 256 microsteps per full step
microPlyer™
microstep interpolation
spreadCycle™
highly dynamic motor control chopper
stallGuard2™
high precision sensorless motor load detection
coolStep™
current control for energy savings up to 75%
Full Protection & Diagnostics
Compact Size
7x7mm
2
QFN48 package
B
LOCK
D
IAGRAM
Step/Dir
Power
Supply
Charge
Pump
256 µStep
Sequencer
Protection
& Diagnostics
Protection
& Diagnostics
TMC2041
Motor 1
DRIVER 1
SPI
UART
UART / SPI
configuration&
diagnostics
Motor 2
DRIVER 2
256 µStep
Sequencer
stallGuard2
coolStep
Enable
Step/Dir
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
2
APPLICATION EXAMPLES: HIGH FLEXIBILITY – MULTIPURPOSE USE
The TMC2041 scores with power density and sensorless homing. It features serial interfaces for advanced
monitoring and configuration options. The small form factor 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.
S
TEP
/D
IR
FOR UP TO TWO
S
TEPPER
M
OTORS
Step/Dir
High-Level
Interface
CPU
SPI or UART
M
TMC2041
The stepper motor driver
outputs are switched in
parallel. This way, up to
2.2A RMS motors can be
driven.
S
TEP
/D
IR
FOR UP TO TWO
S
TEPPER
M
OTORS
Step/Dir
High-Level
Interface
CPU
SPI or UART
Step/Dir
M
TMC2041
M
In this application, a single
CPU controls two motors
using a Step and Direction
interface per motor. It
initially
configures
the
drivers by programming
current
settings
and
chopper, and run and hold
current using either the 4
wire SPI interface, or the
single wire UART interface.
During
operation
the
interface allows access to
status
information
like
stallGuard sensorless load
measurement.
TMC2041-EVAL E
VALUATION
B
OARD
E
VALUATION
&
DEVELOPMENT PLATFORM
The TMC2041-EVAL
is part of TRINAMICs universal
Layout for Evaluation
evaluation board system which provides a
convenient handling of the hardware as well as a
user-friendly software tool for evaluation. The
TMC2041 evaluation board system consists of three
parts: STARTRAMPE (base board), ESELSBRÜCKE
(connector board including several test points), and
TMC2041-EVAL.
O
RDER
C
ODES
Order code
TMC2041-LA
TMC2041-EVAL
STARTRAMPE
ESELSBRÜCKE
Description
Dual axis step/dir driver, QFN-48
Evaluation board for TMC2041
Baseboard for TMC2041-EVAL and further evaluation boards
Connector board for plug-in evaluation board system
Size [mm
2
]
7x7
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
3
T
ABLE OF
C
ONTENTS
1
1.1
1.2
1.3
1.4
1.5
2
2.1
2.2
3
3.1
3.2
3.3
3.4
3.5
3.6
4
4.1
4.2
4.3
5
5.1
5.2
5.3
5.4
6
6.1
6.2
6.3
7
7.1
8
8.1
8.2
8.3
9
9.1
9.2
9.3
10
PRINCIPLES OF OPERATION
4
K
EY
C
ONCEPTS
4
C
ONTROL
I
NTERFACES
4
M
OVING AND
C
ONTROLLING THE
M
OTOR
5
STALL
G
UARD
2 – M
ECHANICAL
L
OAD
S
ENSING
5
COOL
S
TEP
– L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
5
PIN ASSIGNMENTS
P
ACKAGE
O
UTLINE
S
IGNAL
D
ESCRIPTIONS
SAMPLE CIRCUITS
S
TANDARD
A
PPLICATION
C
IRCUIT
5 V O
NLY
S
UPPLY
O
NE
M
OTOR WITH
H
IGH
C
URRENT
E
XTERNAL
5V P
OWER
S
UPPLY
O
PTIMIZING
A
NALOG
P
RECISION
D
RIVER
P
ROTECTION AND
EME C
IRCUITRY
SPI INTERFACE
SPI D
ATAGRAM
S
TRUCTURE
SPI S
IGNALS
T
IMING
UART SINGLE WIRE INTERFACE
D
ATAGRAM
S
TRUCTURE
CRC C
ALCULATION
UART S
IGNALS
A
DDRESSING
M
ULTIPLE
S
LAVES
REGISTER MAPPING
G
ENERAL
C
ONFIGURATION
R
EGISTERS
C
URRENT
S
ETTING
M
OTOR
D
RIVER
R
EGISTERS
CURRENT SETTING
S
ENSE
R
ESISTORS
SPREADCYCLE AND CLASSIC CHOPPER
SPREAD
C
YCLE
10.3
10.4
10.5
11
D
ETECTING A
M
OTOR
S
TALL
H
OMING WITH STALL
G
UARD
L
IMITS OF STALL
G
UARD
2 O
PERATION
44
44
44
45
45
45
47
48
COOLSTEP OPERATION
U
SER
B
ENEFITS
S
ETTING UP FOR COOL
S
TEP
T
UNING COOL
S
TEP
7
7
7
10
10
11
12
12
13
13
15
15
16
17
18
18
20
20
21
23
24
26
27
32
33
34
35
38
39
40
40
40
40
41
42
44
11.1
11.2
11.3
12
STEP/DIR INTERFACE
12.1
12.2
12.3
13
14
T
IMING
48
C
HANGING
R
ESOLUTION
49
MICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
49
51
53
53
54
54
54
54
54
55
55
55
56
59
60
60
60
60
60
61
62
62
62
63
63
64
65
65
QUICK CONFIGURATION GUIDE
GETTING STARTED
I
NITIALIZATION
E
XAMPLES
14.1
15
16
EXTERNAL RESET
CLOCK OSCILLATOR AND CLOCK INPUT
U
SING THE
I
NTERNAL
C
LOCK
U
SING AN
E
XTERNAL
C
LOCK
C
ONSIDERATIONS ON THE
F
REQUENCY
16.1
16.2
16.3
17
18
ABSOLUTE MAXIMUM RATINGS
ELECTRICAL CHARACTERISTICS
O
PERATIONAL
R
ANGE
DC C
HARACTERISTICS AND
T
IMING
C
HARACTERISTICS
T
HERMAL
C
HARACTERISTICS
18.1
18.2
18.3
19
LAYOUT CONSIDERATIONS
E
XPOSED
D
IE
P
AD
W
IRING
GND
S
UPPLY
F
ILTERING
S
INGLE
D
RIVER
C
ONNECTION
L
AYOUT
E
XAMPLE
19.1
19.2
19.3
19.4
19.5
20
C
HOPPER
C
LASSIC
C
ONSTANT
O
FF
T
IME
C
HOPPER
R
ANDOM
O
FF
T
IME
DRIVER DIAGNOSTIC FLAGS
T
EMPERATURE
M
EASUREMENT
S
HORT TO
GND P
ROTECTION
O
PEN
L
OAD
D
IAGNOSTICS
STALLGUARD2 LOAD MEASUREMENT
T
UNING STALL
G
UARD
2 T
HRESHOLD
SGT
STALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
PACKAGE MECHANICAL DATA
D
IMENSIONAL
D
RAWINGS
P
ACKAGE
C
ODES
20.1
20.2
21
22
23
24
25
DISCLAIMER
ESD SENSITIVE DEVICE
TABLE OF FIGURES
REVISION HISTORY
REFERENCES
10.1
10.2
www.trinamic.com
TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
4
1
Principles of Operation
DIR1
CPO
22n
STEP1
CPI
+V
M
VS
Optional use lower
voltage down to 6V
+V
M
VCP
100n
charge pump
DRV_ENN
Step/Dir interface
100n
100µF
VSA
5VOUT
100n
4.7µ
2R2
O1A1
Full Bridge A
5V Voltage
regulator
Sequencer &
Microplyer
Driver 1
O1A2
O1B1
Full Bridge B
S
N
stepper
motor #1
VCC
470n
O1B2
BR1A
R1A
CSN/IO0
SCK/IO1
SDI/IO2
SDO
NEXTADDR
SWIOP
+V
IO
SWION
SW_SEL
SPI interface
BR1B
R1B
TMC2041
Single wire
interface
Full Bridge A
VS
100n
+V
M
O2A1
O2A2
Sequencer &
Microplyer
Driver 2
S
N
stepper
motor #2
O2B1
Full Bridge B
opt. ext. clock
12-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
O2B2
BR2A
CLK_IN
Step/Dir interface
R2A
VCC_IO
BR2B
R2B
Figure 1.1 Basic application and block diagram
The TMC2041 driver chip is a highly integrated step & direction stepper driver for two stepper motors.
The driver, chopper logic, and a 256 microstep sequencer are integrated into the TMC2041. It is pin
compatible to the TMC5041 and TMC5072, which provide internal ramping. The TMC2041 offers a
number of unique enhancements over similar products. It features automatic standstill current
reduction and coolStep for enhanced motor efficiency and provides stallGuard2 for sensorless homing.
TST_MODE
STEP2
DIR2
DRV_ENN
DIE PAD
GNDA
GND
GNDP
1.1 Key Concepts
The TMC2041 implements several advanced features which are exclusive to TRINAMIC products. These
features contribute toward greater precision, greater energy efficiency, higher reliability, smoother
motion, and cooler operation in many stepper motor applications.
spreadCycle™
stallGuard2™
coolStep™
High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm.
High-precision load measurement using the back EMF on the motor coils.
Load-adaptive current control which reduces energy consumption by as much as
75%.
In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
The TMC2041 supports both, an SPI and a UART based single wire interface with CRC checking.
Selection of the actual interface is done via the configuration pin SW_SEL, which can be hardwired to
GND or VCC_IO depending on the desired interface. From a software point of view the TMC2041 is a
peripheral with a number of control and status registers. Most of them can either be written only or
www.trinamic.com
TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
5
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.
1.2.1
SPI 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 TMC2041 slave always consists of sending one 40-bit
command word and receiving one 40-bit status word.
The SPI command rate typically is a few commands per complete motor motion.
1.2.2
UART Interface
The single wire interface allows differential operation similar to RS485 (using SWIOP and SWION) or
single wire interfacing (leaving open SWION). It can be driven by any standard UART. No baud rate
configuration is required. An optional ring mode allows chaining of slaves to optimize interfacing for
applications with regularly distributed drives.
1.3 Moving and Controlling the Motor
1.3.1
STEP/DIR Interface
Each motor is 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 another mode bit (DEDGE). Using both edges
cuts the toggle rate of the STEP signal in half, which is useful for communication over slow interfaces
such as optically isolated interfaces. On each active edge, the state sampled from the DIR input
determines whether to step forward or back. Each step can be a fullstep or a microstep, in which
there are 2, 4, 8, 16, 32, 64, 128, or 256 microsteps per fullstep. 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.
1.4 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
1.5 coolStep – Load Adaptive Current Control
coolStep drives the motor at the optimum current. It uses the stallGuard2 load measurement
information to adjust the motor current to the minimum amount required in the actual load situation.
This saves energy and keeps the components cool.
Benefits are:
-
Energy efficiency
-
Motor generates less heat
-
Less or no cooling
-
Use of smaller motor
power consumption decreased up to 75%
improved mechanical precision
improved reliability
less torque reserve required
→
cheaper motor does the job
Figure 1.2 shows the efficiency gain of a 42mm stepper motor when using coolStep compared to
standard operation with 50% of torque reserve. coolStep is enabled above 60RPM in the example.
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