POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC5041 DATASHEET
Dual controller/driver for up to two 2-phase bipolar stepper motors. stealthChop™ no-noise stepper
operation. Integrated motion controller with SPI interface.
A
PPLICATIONS
CCTV, Security
Office Automation
Antenna Positioning
Battery powered applications
ATM, Cash recycler, POS
Lab Automation
Liquid Handling
Medical
Printer and Scanner
Pumps and Valves
F
EATURES
AND
B
ENEFITS
D
ESCRIPTION
The TMC5041 is a cost-effective dual
stepper motor controller and driver IC
with serial communication interface. It
combines flexible ramp generators for
automatic
target
positioning
with
industries’ most advanced stepper motor
drivers.
Based
on
TRINAMICs
sophisticated stealthChop chopper, the
driver ensures absolutely noiseless
operation combined with maximum
efficiency and best motor torque. High
integration, high energy efficiency and a
small form factor enable miniaturized
and scalable systems for cost effective
solutions. The complete solution reduces
learning curve to a minimum while
giving best performance in class. This
ensures a highly competitive solution.
Two 2-phase
stepper motors
Drive Capability
up to 2x 1.1A coil current (2x 1.5A peak)
Motion Controller
with
sixPoint™
ramp
Voltage Range
4.75… 26V DC
SPI Interface
2x
Ref.-Switch input
per axis
Highest Resolution
up to 256 microsteps per full step
stealthChop™
for extremely quiet operation and smooth motion
spreadCycle™
highly dynamic motor control chopper
stallGuard2™
high precision sensorless motor load detection
coolStep™
current control for energy savings up to 75%
Passive Breaking
and freewheeling mode
Full Protection & Diagnostics
Compact Size
7x7mm
2
QFN48 package
B
LOCK
D
IAGRAM
2x Ref. Switches
Power
Supply
Charge
Pump
Programmable
256 µStep
Sequencer
Protection
& Diagnostics
TMC5041
Motor 1
DRIVER 1
MOTION CONTROLLER
with Linear 6 Point
RAMP Generator
SPI
Protection
& Diagnostics
Motor 2
DRIVER 2
MOTION CONTROLLER
with Linear 6 Point
RAMP Generator
Programmable
256 µStep
Sequencer
stallGuard2
coolStep
2x Ref. Switches
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16)
2
APPLICATION EXAMPLES: HIGH FLEXIBILITY – MULTIPURPOSE USE
The TMC5041 scores with power density, complete motion controlling features and integrated power
stages. It offers a versatility that covers a wide spectrum of applications from battery systems up to
embedded applications with 1.5A motor current per coil. 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.
M
INIATURIZED
D
ESIGN
FOR UP TO TWO
S
TEPPER
M
OTORS
Ref.
Switches
SPI
High-Level
Interface
CPU
TMC5041
M
Two reference switch inputs
can be used for each motor.
A single CPU controls the
whole system, which is
highly economical and space
saving, because the TMC5041
covers
all
functionality
required to drive the motor.
Ref.
Switches
High-Level
Interface
CPU
SPI
M
TMC5041
M
Ref.
Switches
TMC5041-EVAL E
VALUATION
B
OARD
E
VALUATION
&
DEVELOPMENT PLATFORM
The TMC5041-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
TMC5041 evaluation board system consists of three
parts: STARTRAMPE (base board), ESELSBRÜCKE
(connector board including several test points), and
TMC5041-EVAL.
O
RDER
C
ODES
Order code
TMC5041-LA
TMC5041-EVAL
STARTRAMPE
ESELSBRÜCKE
Description
Dual axis stealthChop controller/driver, QFN-48
Evaluation board for TMC5041
Baseboard for TMC5041-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
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16)
3
T
ABLE OF
C
ONTENTS
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
2
2.1
2.2
3
3.1
3.2
3.3
3.4
3.5
4
4.1
4.2
4.3
5
5.1
5.2
5.3
5.4
5.5
6
6.1
7
7.1
7.2
7.3
7.4
7.5
7.6
8
8.1
8.2
8.3
9
9.1
9.2
9.3
PRINCIPLES OF OPERATION
5
10
RAMP GENERATOR
R
EAL
W
ORLD
U
NIT
C
ONVERSION
M
OTION
P
ROFILES
I
NTERRUPT
H
ANDLING
V
ELOCITY
T
HRESHOLDS
R
EFERENCE
S
WITCHES
53
53
54
56
56
57
59
60
62
62
62
62
63
63
63
65
66
66
66
67
68
72
72
73
73
73
73
74
75
75
75
76
79
80
80
80
80
81
82
82
82
83
83
K
EY
C
ONCEPTS
5
SPI C
ONTROL
I
NTERFACE
6
S
OFTWARE
6
M
OVING AND
C
ONTROLLING THE
M
OTOR
6
STEALTH
C
HOP
D
RIVER WITH
P
ROGRAMMABLE
M
ICROSTEPPING
W
AVE
6
STALL
G
UARD
2 – M
ECHANICAL
L
OAD
S
ENSING
6
COOL
S
TEP
– L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
7
PIN ASSIGNMENTS
P
ACKAGE
O
UTLINE
S
IGNAL
D
ESCRIPTIONS
SAMPLE CIRCUITS
S
TANDARD
A
PPLICATION
C
IRCUIT
5 V O
NLY
S
UPPLY
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
REGISTER MAPPING
G
ENERAL
C
ONFIGURATION
R
EGISTERS
R
AMP
G
ENERATOR
R
EGISTERS
M
ICROSTEP
T
ABLE
R
EGISTERS
M
OTOR
D
RIVER
R
EGISTERS
V
OLTAGE
PWM
MODE STEALTH
C
HOP
CURRENT SETTING
S
ENSE
R
ESISTORS
STEALTHCHOP™
8
8
8
11
11
12
13
14
14
16
16
17
18
19
20
22
28
30
35
36
37
38
10.1
10.2
10.3
10.4
10.5
11
STALLGUARD2 LOAD MEASUREMENT
T
UNING STALL
G
UARD
2 T
HRESHOLD
SGT
STALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
D
ETECTING A
M
OTOR
S
TALL
H
OMING WITH STALL
G
UARD
L
IMITS OF STALL
G
UARD
2 O
PERATION
11.1
11.2
11.3
11.4
11.5
12
COOLSTEP OPERATION
U
SER
B
ENEFITS
S
ETTING UP FOR COOL
S
TEP
T
UNING COOL
S
TEP
12.1
12.2
12.3
13
SINE-WAVE LOOK-UP TABLE
U
SER
B
ENEFITS
M
ICROSTEP
T
ABLE
C
HANGING
R
ESOLUTION
13.1
13.2
13.3
14
15
QUICK CONFIGURATION GUIDE
GETTING STARTED
I
NITIALIZATION
E
XAMPLES
15.1
16
17
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
17.1
17.2
17.3
18
19
ABSOLUTE MAXIMUM RATINGS
ELECTRICAL CHARACTERISTICS
O
PERATIONAL
R
ANGE
DC C
HARACTERISTICS AND
T
IMING
C
HARACTERISTICS
T
HERMAL
C
HARACTERISTICS
T
WO
M
ODES FOR
C
URRENT
R
EGULATION
38
A
UTOMATIC
S
CALING
39
F
IXED
S
CALING
41
C
OMBINING STEALTH
C
HOP WITH OTHER
C
HOPPER
M
ODES
43
F
LAGS IN STEALTH
C
HOP
44
F
REEWHEELING AND
P
ASSIVE
M
OTOR
B
RAKING
45
SPREADCYCLE AND CLASSIC CHOPPER
SPREAD
C
YCLE
19.1
19.2
19.3
20
LAYOUT CONSIDERATIONS
E
XPOSED
D
IE
P
AD
W
IRING
GND
S
UPPLY
F
ILTERING
L
AYOUT
E
XAMPLE
46
47
50
51
52
52
52
52
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
20.1
20.2
20.3
20.4
21
PACKAGE MECHANICAL DATA
D
IMENSIONAL
D
RAWINGS
P
ACKAGE
C
ODES
21.1
21.2
22
23
DESIGN PHILOSOPHY
DISCLAIMER
www.trinamic.com
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16)
24
25
26
ESD SENSITIVE DEVICE
TABLE OF FIGURES
REVISION HISTORY
83
84
85
27
REFERENCES
4
85
www.trinamic.com
TMC5041 DATASHEET (Rev. 1.13 / 2017-MAY-16)
5
1
Principles of Operation
ref. / stop switches motor 1
REFR1
REFL1
+V
M
VCP
100n
TMC5041
Dual stepper motor
driver / controller
CPI
CPO
22n
F
F
reference switch
processing
charge pump
2x linear 6 point
RAMP generator
5V Voltage
regulator
Step &
Direction pulse
generation
programmable
sine table
4*256 entry
otor
ep m
t
coolS river
d
DRV_ENN
100n
+V
M
VS
Half Bridge 1
Half Bridge 1
Stepper
#1
S
N
O1A1
O1A2
O1B1
x
spreadCycle &
stealthChop
chopper
Half Bridge 2
Half Bridge 2
2 phase
stepper
motor
VSA
100n
4.7µ
5VOUT
VCC
n
Motio
ol
contr
temperature
measurement
O1B2
BR1A / B
coolStep™
R
SENSE
R
SENSE
GNDP
stallGuard2™
2 x current
comparator
2 x DAC
R
SENSE
=0R25 allows for
maximum coil current
SPI™
CSN
SCK
SDI
SDO
Control register
set
SPI interface
SINGLEDRV
f ac
Inter
e
Stepper driver
Protection
& diagnostics
CLK oscillator/
selector
stallGuard2™
2 x current
comparator
2 x DAC
GNDP
R
SENSE
R
SENSE
l
ontro
io n c
Mot
INT
interrupt out
opt. ext. clock
8-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
coolStep™
BR2A / B
Step &
Direction pulse
generation
Half Bridge 2
Half Bridge 2
programmable
sine table
4*256 entry
O2B2
O2B1
O2A2
S
N
PP
CLK_IN
VCC_IO
INT & position
pulse output
2x linear 6 point
RAMP generator
x
reference switch
processing
F
F
otor
tep m
coolS river
d
spreadCycle &
stealthChop
chopper
Half Bridge 1
Half Bridge 1
O2A1
VS
2 phase
stepper
motor
F = 60ns spike filter
100n
+V
M
Stepper
#2
Figure 1.1 Basic application and block diagram
The TMC5041 motion controller and driver chip is an intelligent power component interfacing between
the CPU and one or two stepper motors. All stepper motor logic is completely within the TMC5041. No
software is required to control the motor – just provide target positions. The TMC5041 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 TMC5041 uses stealthChop, coolStep, and stallGuard2
automatically to optimize every motor movement. The clear concept and the comprehensive solution
save design time.
1.1 Key Concepts
The TMC5041 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.
stealthChop™
stallGuard2™
coolStep™
spreadCycle™
sixPoint™
No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor.
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%.
High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm.
Fast and precise positioning using a hardware ramp generator with a set of four
acceleration / deceleration settings. Quickest response due to dedicated hardware.
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.
TST_MODE
ref. / stop switches motor 2
opt. driver enable
REFL2
REFR2
DIE PAD
GNDA
GND
DRV_ENN
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