POWER DRIVER FOR STEPPER MOTORS INTEGRATED CIRCUITS TMC2130-LA DATASHEET Universal high voltage driver for two-phase bipolar stepper motor. stealthChop for quiet movement. Integrated MOSFETs for up to 2.0A motor current per coil. With Step/Dir Interface and SPI. APPLICATIONS Textile, Sewing Machines Factory Automation Lab Automation Liquid Handling Medical Office Automation CCTV, Security ATM, Cash recycler POS Pumps and Valves FEATURES AND BENEFITS DESCRIPTION 2-phase stepper motors up to 2.0A coil current (2.5A peak) The TMC2130 is a high performance driver IC for two phase stepper motors. Standard Step/Dir Interface with microstep interpolation microPlyer SPI and STEP/DIR simplify communication. SPI Interface TRINAMICs sophisticated stealthChop Voltage Range 4.75 46V DC chopper ensures noiseless operation combined with maximum efficiency and Highest Resolution 256 microsteps per full step best motor torque. coolStep allows stealthChop for extremely quiet operation and smooth reducing energy consumption by up to motion 75%. dcStep drives high loads as fast as spreadCycle highly dynamic motor control chopper possible without step loss. Integrated dcStep load dependent speed control power MOSFETs handle motor currents up to 1.2A RMS (QFN package) / 1.4A RMS stallGuard2 high precision sensorless motor load detection (TQFP) or 2.5A short time peak current per coolStep current control for energy savings up to 75% coil. Protection and diagnostic features Integrated Current Sense Option support robust and reliable operation. Passive Braking and freewheeling mode Industries most advanced stepper motor driver enables miniaturized designs with Full Protection & Diagnostics 2 low external component count for cost- Small Size 5x6mm QFN36 package or TQFP48 package effective and highly competitive solutions. BLOCK DIAGRAM IREF optional current scaling Step/Dir Power Charge +5V Regulator Pump Supply TMC2130 Step Multiplyer Standstill Current INT Interrupt Reduction DAC Reference Motor sspprreeaaddCCyyccllee Control SPI Control, SPI Register DRIVER Programmable Config & Diags Set stealthChop 256 Step stealthChop Sequencer CLK Oscillator / Protection CLK Selector & Diagnostics stallGuard2 coolStep dcStep TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany TMC2130 DATASHEET (Rev. 1.09 / 2017-MAY-15) 2 APPLICATION EXAMPLES: HIGH VOLTAGE MULTIPURPOSE USE The TMC2130 scores with power density, integrated power MOSFETs, and a versatility that covers a wide spectrum of applications from battery systems up to embedded applications with 2.0A motor current per coil. Based on stallGuard2, coolStep, dcStep, spreadCycle, and stealthChop, the TMC2130 optimizes drive performance and keeps costs down. It considers velocity vs. motor load, realizes energy savings, smoothness of the drive and noiselessness. Extensive support at the chip, board, and software levels enables rapid design cycles and fast time-to-market with competitive products. MINIATURIZED DESIGN FOR ONE STEPPER MOTOR In this application, the CPU initializes the 0A+ TMC2130 motor driver via SPI interface and N High-Level S/D controls motor movement by sending step S CPU 0A- TMC2130 Interface and direction signals. A real time software 0B+ realizes motion control. 0B- SPI DESIGN FOR DEMANDING APPLICATIONS WITH S-SHAPED RAMP PROFILES The CPU initializes the TMC4361 motion 0A+ controller and the TMC2130. Thereafter, it N SPI TMC4361 SPI High-Level sends target positions to the TMC4361. Now, S TMC2130 0A- CPU Motion Interface S/D Controller the TMC4361 takes control over the TMC2130. 0B+ 0B- Combining the TMC4361 and the TMC2130 SPI offers diverse possibilities for demanding applications including servo drive features. COMPACT DESIGN FOR UP TO THREE STEPPER MOTORS Here, an application with up to three stepper 0A+ motors is shown. A single CPU combined STEP/ N TMC429 DIR SPI High-Level with a TMC429 motion controller manages S CPU Motion TMC2130 0A- Interface Controller the whole stepper motor driver system. This 0B+ 0B- design is highly economical and space SPI saving if more than one stepper motor is needed. STEP/ 0A+ DIR N S TMC2130 0A- 0B+ 0B- SPI STEP/ 0A+ DIR N S TMC2130 0A- 0B+ 0B- SPI ORDER CODES 2 Size mm Order code Description TMC2130-LA 1-axis dcStep, coolStep, and stealthChop driver QFN36 5 x 6 TMC2130-TA 1-axis dcStep, coolStep, and stealthChop driver TQFP48 9 x 9 TMC2130-EVAL Evaluation board for TMC2130 two phase stepper motor 85 x 55 controller/driver TMC4361-EVAL Motion controller board (part of evaluation board system) 85 x 55 STARTRAMPE Baseboard for TMC2130-EVAL and further evaluation boards 85 x 55 ESELSBRCKE Connector board for plug-in evaluation board system 61 x 38 www.trinamic.com