POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC5072 DATASHEET
Dual controller/driver for up to two 2-phase bipolar stepper motors. No-noise stepper operation.
Integrated motion controller and encoder counter. SPI, UART (single wire) and Step/Dir.
A
PPLICATIONS
CCTV, Security
Office Automation
Antenna Positioning
Heliostat Controller
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 TMC5072 is a dual high performance
stepper motor controller and driver IC
with serial communication interfaces. 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.
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)
Motion Controller
with
sixPoint™
ramp
Voltage Range
4.75… 26V DC
SPI & Single Wire UART
Dual Encoder Interface
and
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
dcStep™
load dependent speed control
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
ABN Encoder
Input
2x Ref. Switches
Step/Dir
Power
Supply
Charge
Pump
Encoder
Unit
TMC5072
MOTION CONTROLLER
with Linear 6 Point
RAMP Generator
Programmable
256 µStep
Sequencer
Protection
& Diagnostics
Protection
& Diagnostics
Motor 1
DRIVER 1
UART
SPI
Motor 2
DRIVER 2
Encoder
Unit
MOTION CONTROLLER
with Linear 6 Point
RAMP Generator
Programmable
256 µStep
Sequencer
stallGuard2
coolStep
dcStep
ABN Encoder
Input
2x Ref. Switches
Step/Dir
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC5072 DATASHEET (Rev. 1.22 / 2017-MAY-16)
2
APPLICATION EXAMPLES: HIGH FLEXIBILITY – MULTIPURPOSE USE
The TMC5072 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 ONE
S
TEPPER
M
OTOR
Ref.
Switches
SPI
High-Level
Interface
CPU
TMC5072
M
Encoder
The stepper motor driver
outputs are switched in
parallel. A dual ABN encoder
interface and two reference
switch inputs are used.
C
OMPACT
D
ESIGN
FOR UP TO
510 S
TEPPER
M
OTORS
Motor 1
High-Level
Interface
CPU
UART
M
TMC5072
M
Motor 2
Motor 3
M
TMC5072
M
Motor 4
An application for up to 510
stepper motors is shown.
The UART single wire diffe-
rential interface allows for a
decentralized
distributed
system with a minimized
number of components.
Additionally,
an
ABN
encoder and up to two
reference switches can be
used for each motor. A
single CPU can control the
whole system. The CPU-
board and controller / driver
boards are highly economi-
cal and space saving.
Up to 255 TMC5072
can be addressed.
TMC5072-EVAL E
VALUATION
B
OARD
E
VALUATION
&
DEVELOPMENT PLATFORM
The TMC5072-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
TMC5072 evaluation board system consists of three
parts: STARTRAMPE (base board), ESELSBRÜCKE
(connector board including several test points), and
TMC5072-EVAL.
O
RDER
C
ODES
Order code
TMC5072-LA
TMC5072-EVAL
STARTRAMPE
ESELSBRÜCKE
Description
Dual axis stealthChop controller/driver, QFN-48
Evaluation board for TMC5072
Baseboard for TMC5072-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
TMC5072 DATASHEET (Rev. 1.22 / 2017-MAY-16)
3
T
ABLE OF
C
ONTENTS
1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
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
5.5
6
6.1
6.2
6.3
6.4
6.5
6.6
7
7.1
8
8.1
8.2
8.3
8.4
8.5
8.6
PRINCIPLES OF OPERATION
5
9
9.1
9.2
9.3
10
SPREADCYCLE AND CLASSIC CHOPPER
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
SPREAD
C
YCLE
57
58
61
62
63
63
63
63
64
64
65
67
67
68
70
71
73
73
73
73
74
74
74
76
77
K
EY
C
ONCEPTS
5
C
ONTROL
I
NTERFACES
6
S
OFTWARE
6
M
OVING AND
C
ONTROLLING THE
M
OTOR
7
STEALTH
C
HOP
D
RIVER WITH
P
ROGRAMMABLE
M
ICROSTEPPING
W
AVE
7
STALL
G
UARD
2 – M
ECHANICAL
L
OAD
S
ENSING
7
COOL
S
TEP
– L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
8
DC
S
TEP
– L
OAD
D
EPENDENT
S
PEED
C
ONTROL
8
E
NCODER
I
NTERFACES
8
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
R
ING
M
ODE
REGISTER MAPPING
G
ENERAL
C
ONFIGURATION
R
EGISTERS
R
AMP
G
ENERATOR
R
EGISTERS
E
NCODER
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™
9
9
9
12
12
13
14
14
16
16
18
18
19
20
21
21
23
23
24
26
27
28
31
37
39
41
46
47
48
49
10.1
10.2
10.3
11
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
11.1
11.2
11.3
11.4
11.5
12
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
12.1
12.2
12.3
12.4
12.5
13
COOLSTEP OPERATION
U
SER
B
ENEFITS
S
ETTING UP FOR COOL
S
TEP
T
UNING COOL
S
TEP
13.1
13.2
13.3
14
DCSTEP
14.1
14.2
14.3
14.4
14.5
15
U
SER
B
ENEFITS
77
D
ESIGNING
-I
N DC
S
TEP
77
E
NABLING DC
S
TEP
78
S
TALL DETECTION IN DC
S
TEP MODE
78
M
EASURING
A
CTUAL
M
OTOR
V
ELOCITY IN DC
S
TEP
O
PERATION
79
80
80
80
82
SINE-WAVE LOOK-UP TABLE
U
SER
B
ENEFITS
M
ICROSTEP
T
ABLE
15.1
15.2
16
STEP/DIR INTERFACE
16.1
16.2
16.3
17
T
IMING
82
C
HANGING
R
ESOLUTION
83
MICRO
P
LYER
S
TEP
I
NTERPOLATOR AND
S
TAND
S
TILL
D
ETECTION
83
ABN INCREMENTAL ENCODER INTERFACE 85
E
NCODER
T
IMING
S
ETTING THE
E
NCODER TO
M
ATCH
M
OTOR
R
ESOLUTION
C
LOSING THE
L
OOP
86
86
86
88
93
T
WO
M
ODES FOR
C
URRENT
R
EGULATION
49
A
UTOMATIC
S
CALING
50
F
IXED
S
CALING
52
C
OMBINING STEALTH
C
HOP WITH OTHER
C
HOPPER
M
ODES
54
F
LAGS IN STEALTH
C
HOP
55
F
REEWHEELING AND
P
ASSIVE
M
OTOR
B
RAKING
56
17.1
17.2
17.3
18
19
QUICK CONFIGURATION GUIDE
GETTING STARTED
www.trinamic.com
TMC5072 DATASHEET (Rev. 1.22 / 2017-MAY-16)
19.1
20
21
I
NITIALIZATION
E
XAMPLES
93
95
95
95
95
96
97
97
97
98
101
102
102
102
24.3
24.4
24.5
25
S
UPPLY
F
ILTERING
S
INGLE
D
RIVER
C
ONNECTION
L
AYOUT
E
XAMPLE
4
102
102
103
104
104
104
105
105
105
106
107
107
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
PACKAGE MECHANICAL DATA
D
IMENSIONAL
D
RAWINGS
P
ACKAGE
C
ODES
21.1
21.2
21.3
22
23
25.1
25.2
26
27
28
29
30
31
ABSOLUTE MAXIMUM RATINGS
ELECTRICAL CHARACTERISTICS
O
PERATIONAL
R
ANGE
DC C
HARACTERISTICS AND
T
IMING
C
HARACTERISTICS
T
HERMAL
C
HARACTERISTICS
DESIGN PHILOSOPHY
DISCLAIMER
ESD SENSITIVE DEVICE
TABLE OF FIGURES
REVISION HISTORY
REFERENCES
23.1
23.2
23.3
24
LAYOUT CONSIDERATIONS
E
XPOSED
D
IE
P
AD
W
IRING
GND
24.1
24.2
www.trinamic.com
TMC5072 DATASHEET (Rev. 1.22 / 2017-MAY-16)
5
1
Principles of Operation
ref. / stop switches or
step & dir (motor 1)
REFL1/STEP1
REFR1/DIR1
+V
M
VCP
100n
TMC5072
Dual stepper motor
driver / controller
CPI
CPO
22n
F
F
reference switch
processing
step multiplier
charge pump
2x linear 6 point
RAMP generator
5V Voltage
regulator
Step &
Direction pulse
generation
programmable
sine table
4*256 entry
otor
tep m
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
trol
n co n
Motio
Control register
set
SINGLEDRV
O1B2
BR1A / B
coolStep™
Dual
Encoder
unit
1A
1B
1N
2A
2B
2N
ENC1A
ENC1B
IO0/SWIOP/REFL1
REFR1
REFR2
IO1/SWION/REFL2
R
SENSE
R
SENSE
SPI™
CSN/IO0
SCK/IO1
SDI/IO2
SDO/RING
SW_SEL
NEXTADDR
F
GNDP
stallGuard2™
2 x current
comparator
dcStep™
2 x DAC
R
SENSE
=0R25 allows for
maximum coil current
SPI interface
interface
selection
single wire
UART
f ac
Inter
Single wire
interface
e
Stepper driver
Protection
& diagnostics
temperature
measurement
dcStep™
CLK oscillator/
selector
2 x current
comparator
stallGuard2™
2 x DAC
GNDP
R
SENSE
R
SENSE
SWIOP
SWION
F
F
Diff. Tranceiver
M
otion
ol
contr
coolStep™
SINGLEDRV
DRV2:=DRV1
BR2A / B
Half Bridge 2
Half Bridge 2
O2B2
O2B1
O2A2
S
N
encoder or
interrupt out
opt. ext. clock
12-16MHz
+V
IO
3.3V or 5V
I/O voltage
100n
ENC1A/INT
ENC1B/PP
CLK_IN
VCC_IO
F
F
INT & position
pulse output
2x linear 6 point
RAMP generator
Step &
Direction pulse
generation
programmable
sine table
4*256 entry
x
spreadCycle &
stealthChop
Chopper
reference switch
processing
F
F
step multiplier
moto
lStep r
coo rive
d
DIE PAD
GNDA
GND
r
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 TMC5072 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 TMC5072. No
software is required to control the motor – just provide target positions. The TMC5072 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 TMC5072 uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement. The clear concept and the
comprehensive solution save design time.
1.1 Key Concepts
The TMC5072 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™
dcStep™
stallGuard2™
coolStep™
spreadCycle™
sixPoint™
No-noise, high-precision chopper algorithm for inaudible motion and inaudible
standstill of the motor.
Load dependent speed control. The motor moves as fast as possible and never loses
a step.
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.
TST_MODE
ref. / stop switches or
step & dir (motor 2)
REFL2/STEP2
REFR2/DIR2
opt. driver enable
DRV_ENN
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