POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2160 DATASHEET
Universal high voltage 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 TMC2160 is a high-power stepper
motor driver IC with SPI interface. It
features industries’ most advanced
stepper motor driver with simple Step /
Direction
interface.
Using
external
transistors, highly dynamic, high torque
drives can be realized. Based on
TRINAMICs sophisticated spreadCycle and
stealthChop choppers, 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 fully
compatible TMC5160 offers an additional
motion controller to make stepper motor
control even easier.
2-phase
stepper motors up to 20A coil current (external MOSFETs)
Step/Dir Interface
with microstep interpolation
microPlyer™
Voltage Range
8
…
60V DC
SPI
Interface
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
9x9mm
2
TQFP48 package
B
LOCK
D
IAGRAM
Step/Dir
+V
M
1 of 2 full bridges
shown
Diagnostic
outputs
Step Multiplyer
Standstill current
reduction
TMC2160
C
BOOT
Motor
SPI
SPI Interface
Control Register Set
Programmable
256 µStep
Sequencer
Protection
& Diagnostics
spreadCycle
stealthChop
MOSFET
Driver
C
BOOT
Power
Supply
Charge
Pump
CLK
Oscillator / Selector
stallGuard2
coolStep
dcStep
Diff. Sensing
R
SENSE
CLK
Enable
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
TMC2160 DATASHEET (Rev. 1.01 / 2018-OKT-29)
2
APPLICATION EXAMPLES: HIGH VOLTAGE
–
MULTIPURPOSE USE
The TMC2160 scores with advanced motor commutation algorithms, combined with 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. Based on TRINAMICs unique features stallGuard2, coolStep, dcStep, spreadCycle, and
stealthChop, the TMC2160 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 TMC2160 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 TMC2130 driver provides 1.4A of motor current.
M
INIATURIZED
D
ESIGN FOR ONE
S
TEPPER
M
OTOR
0A+
High-Level
Interface
S/D
CPU
TMC2160
0A-
0B+
S
N
SPI
0B-
In this application, the CPU initializes the
TMC2160 motor driver via SPI interface and
controls motor movement by sending step
and direction signals. A real time software
realizes motion control.
The CPU initializes the TMC4361 motion
controller and the TMC2160. Thereafter, it
sends target positions to the TMC4361.
Now, the TMC4361 takes control over the
TMC2160. Combining the TMC4361 and the
TMC2160 offers diverse possibilities for
demanding applications including servo
drive features.
D
ESIGN FOR
D
EMANDING
A
PPLICATIONS WITH
S-S
HAPED
R
AMP
P
ROFILES
0A+
High-Level
Interface
CPU
SPI
TMC4361
Motion
Controller
SPI
SPI
S/D
TMC2160
0A-
0B+
0B-
S
N
The TMC2160-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
TMC2160 evaluation board system
consists
of
three
parts:
LANDUNGSBRÜCKE
(base
board),
ESELSBRÜCKE (connector board including
several test points), and TMC2160-EVAL.
O
RDER
C
ODES
Order code
TMC2160-TA
TMC2160-TA-T
TMC2160-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
Description
stepper controller/driver for external MOSFETs; TQFP48
-T denotes tape on reel packing
Evaluation board for TMC2160 two phase stepper motor
controller/driver
Baseboard for TMC2160-EVAL and further evaluation boards.
Connector board for plug-in evaluation board system.
Size [mm
2
]
9x9
85 x 55
85 x 55
61 x 38
www.trinamic.com
TMC2160 DATASHEET (Rev. 1.01 / 2018-OKT-29)
3
Table of Contents
1
PRINCIPLES OF OPERATION
......................... 5
1.1
K
EY
C
ONCEPTS
................................................ 6
1.2
C
ONTROL
I
NTERFACES
..................................... 6
1.3
S
OFTWARE
...................................................... 7
1.4
M
OVING THE
M
OTOR
...................................... 8
1.5
A
UTOMATIC
S
TANDSTILL
P
OWER
D
OWN
......... 8
1.6
STEALTH
C
HOP
2 &
SPREAD
C
YCLE
D
RIVER
........ 8
1.7
STALL
G
UARD
2
–
M
ECHANICAL
L
OAD
S
ENSING
9
1.8
COOL
S
TEP
–
L
OAD
A
DAPTIVE
C
URRENT
C
ONTROL
...................................................................... 9
1.9
DC
S
TEP
–
L
OAD
D
EPENDENT
S
PEED
C
ONTROL
9
2
PIN ASSIGNMENTS
.........................................11
2.1
2.2
3
P
ACKAGE
O
UTLINE
........................................11
S
IGNAL
D
ESCRIPTIONS
.................................11
11
11.1
11.2
11.3
11.4
11.5
12
12.1
12.2
12.3
13
13.1
13.2
13.3
14
15
15.1
15.2
15.3
15.4
16
16.1
16.2
17
18
19
19.1
20
21
22
22.1
22.2
23
24
24.1
24.2
24.3
25
25.1
25.2
25.3
25.4
26
STALLGUARD2 LOAD MEASUREMENT
... 68
T
UNING STALL
G
UARD
2 T
HRESHOLD
SGT
..... 69
STALL
G
UARD
2 U
PDATE
R
ATE AND
F
ILTER
.... 71
D
ETECTING A
M
OTOR
S
TALL
......................... 71
H
OMING WITH STALL
G
UARD
......................... 71
L
IMITS OF STALL
G
UARD
2 O
PERATION
.......... 71
COOLSTEP OPERATION
............................. 72
U
SER
B
ENEFITS
............................................. 72
S
ETTING UP FOR COOL
S
TEP
.......................... 72
T
UNING COOL
S
TEP
........................................ 74
STEP/DIR INTERFACE
................................ 75
T
IMING
......................................................... 75
C
HANGING
R
ESOLUTION
............................... 76
MICRO
P
LYER AND
S
TAND
S
TILL
D
ETECTION
. 77
DIAG OUTPUTS
........................................... 78
DCSTEP
.......................................................... 79
U
SER
B
ENEFITS
............................................. 79
D
ESIGNING
-I
N DC
S
TEP
................................. 79
S
TALL
D
ETECTION IN DC
S
TEP
M
ODE
............ 80
DC
S
TEP WITH
STEP/DIR I
NTERFACE
........... 81
SINE-WAVE LOOK-UP TABLE...................
84
U
SER
B
ENEFITS
............................................. 84
M
ICROSTEP
T
ABLE
........................................ 84
EMERGENCY STOP
...................................... 85
QUICK CONFIGURATION GUIDE
............ 86
GETTING STARTED
..................................... 90
I
NITIALIZATION
E
XAMPLES
........................... 90
STANDALONE OPERATION
...................... 91
EXTERNAL RESET
........................................ 93
CLOCK OSCILLATOR AND INPUT
........... 93
U
SING THE
I
NTERNAL
C
LOCK
........................ 93
U
SING AN
E
XTERNAL
C
LOCK
......................... 93
ABSOLUTE MAXIMUM RATINGS
............ 94
ELECTRICAL CHARACTERISTICS
............ 94
O
PERATIONAL
R
ANGE
................................... 94
DC
AND
T
IMING
C
HARACTERISTICS
.............. 95
T
HERMAL
C
HARACTERISTICS
.......................... 97
LAYOUT CONSIDERATIONS.....................
99
E
XPOSED
D
IE
P
AD
........................................ 99
W
IRING
GND
.............................................. 99
S
UPPLY
F
ILTERING
........................................ 99
L
AYOUT
E
XAMPLE
....................................... 100
PACKAGE MECHANICAL DATA
.............. 102
SAMPLE CIRCUITS
..........................................14
3.1
3.2
3.3
3.4
S
TANDARD
A
PPLICATION
C
IRCUIT
................14
E
XTERNAL
G
ATE
V
OLTAGE
R
EGULATOR
..........15
C
HOOSING
MOSFET
S AND
S
LOPE
................16
T
UNING THE
MOSFET B
RIDGE
.....................18
4
SPI INTERFACE
................................................21
4.1
4.2
4.3
SPI D
ATAGRAM
S
TRUCTURE
.........................21
SPI S
IGNALS
................................................22
T
IMING
.........................................................23
5
REGISTER MAPPING
.......................................24
5.1
G
ENERAL
C
ONFIGURATION
R
EGISTERS
..........25
5.2
V
ELOCITY
D
EPENDENT
D
RIVER
F
EATURE
C
ONTROL
R
EGISTER
S
ET
.............................................31
5.3
M
OTOR
D
RIVER
R
EGISTERS
...........................34
6
STEALTHCHOP™
..............................................44
6.1
6.2
6.3
6.4
6.5
6.6
6.7
A
UTOMATIC
T
UNING
.....................................44
STEALTH
C
HOP
O
PTIONS
................................47
STEALTH
C
HOP
C
URRENT
R
EGULATOR
.............47
V
ELOCITY
B
ASED
S
CALING
............................49
C
OMBINING STEALTH
C
HOP AND SPREAD
C
YCLE
..
.....................................................................51
F
LAGS IN STEALTH
C
HOP
................................53
F
REEWHEELING AND
P
ASSIVE
B
RAKING
........53
7
SPREADCYCLE AND CLASSIC CHOPPER
...55
7.1
7.2
C
HOPPER
................................56
C
LASSIC
C
ONSTANT
O
FF
T
IME
C
HOPPER
.......59
SPREAD
C
YCLE
8
9
10
SELECTING SENSE RESISTORS
....................61
VELOCITY BASED MODE CONTROL
............63
DIAGNOSTICS AND PROTECTION
.........65
T
EMPERATURE
S
ENSORS
................................65
S
HORT
P
ROTECTION
......................................65
O
PEN
L
OAD
D
IAGNOSTICS
............................67
10.1
10.2
10.3
www.trinamic.com
TMC2160 DATASHEET (Rev. 1.01 / 2018-OKT-29)
26.1
26.2
27
28
D
IMENSIONAL
D
RAWINGS
TQFP48-EP
..... 102
P
ACKAGE
C
ODES
........................................ 104
DISCLAIMER
.............................................. 105
ESD SENSITIVE DEVICE
......................... 105
29
30
31
4
TABLE OF FIGURES
.................................. 106
REVISION HISTORY
................................. 107
REFERENCES
............................................... 107
www.trinamic.com
TMC2160 DATASHEET (Rev. 1.01 / 2018-OKT-29)
5
1
Principles of Operation
The TMC2160 driver chip is an intelligent power component interfacing between a motion controller
and a high-power stepper motor. It uses stealthChop, dcStep, coolStep, and stallGuard2 automatically
to optimize every motor movement. The TMC2160 ideally extends the TMC2100 and TMC2130 family to
higher voltages and higher motor currents.
T
HE
TMC2160
OFFERS TWO BASIC MODES OF OPERATION
:
MODE 1: 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 TMC2160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion.
MODE 2: Simple Step & Direction Driver
The TMC2160 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 TMC2160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low.
+V
M
22n
100V
100n
16V
STEP
CPO
+V
M
VSA
VCP
DIR
CPI
100n
VS
C
E
CB2
11.5V Voltage
regulator
5V Voltage
regulator
12VOUT
100n
2.2µ
TMC2160
step multiplier
microPlyer
Standstill
current
reduction
charge pump
HS
HB2
CB1
HB1
BMB1
BMB2
C
B
C
B
470n
5VOUT
2R2
2.2µ
HS
R
G
R
G
VCC
470n
LS
LB1
R
G
R
G
CSN
SCK
SDI
SDO
DIAG1
DIAG0
LS
SPI interface
Control register
set
programmable
sine table
4*256 entry
LB2
x
spreadCycle &
stealthChop
Chopper
B.Dwersteg, ©
Protection
TRINAMIC 2014
SRBH
SRBL
47R
R
S
S
C
B
47R
N
DIAG / INT out
and
Single wire
interface
Stepper driver
& diagnostics
B.Dwersteg, ©
TRINAMIC 2014
CA2
HS
+V
M
470n
stepper
motor
HA2
CA1
HA1
BMA1
BMA2
coolStep
HS
C
B
R
G
R
G
opt. ext. clock
12-16MHz
+V
IO
CLK_IN
stallGuard2
dcStep
3.3V or 5V
I/O voltage
100n
VCC_IO
LS
LS
LA1
R
G
R
G
LA2
SRAH
47R
R
S
mode selection
SRAL
pd
pd
pd
47R
SPI_MODE
DIE PAD
DRV_ENN
+V
IO
dcStep control
opt. driver enable
Figure 1.1 TMC2160 STEP/DIR application diagram
www.trinamic.com
TST_MODE
GNDD
DCIN
GNDA
DCEN
DCO
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