POWER DRIVER FOR STEPPER MOTORS
INTEGRATED CIRCUITS
TMC2100-LA DATASHEET
Standalone intelligent Step/Direction driver for two-phase bipolar stepper motor.
stealthChop™ for quiet movement. Integrated MOSFETs for up to 2.0 A motor current per coil.
APPLICATIONS
Textile, Sewing Machines
Office Automation
Consumer, Home
CCTV, Security
ATM, Cash recycler
POS
Printers & Scanners
DESCRIPTION
FEATURES
AND
BENEFITS
2-phase stepper motors up to 2.0A coil current (2.5A peak)
Standalone Driver
Step/Dir Interface with microstep interpolation
microPlyer™
Voltage Range 4.75… 46 V DC
Highest Resolution 256 microsteps per full step
stealthChop™ for extremely quiet operation and smooth
motion
spreadCycle™ highly dynamic motor control chopper
Integrated Current Sense Option
Standstill Current Reduction
Full Protection & Diagnostics (two outputs)
Small Size 5x6mm2 QFN36 package or TQFP48 package
The
TMC2100
is
TRINAMICs
most
autonomous driver IC. This small and
intelligent standalone driver for two phase
stepper motors offers market-leading
features while being configured by seven
pins only. CPU interaction is not required.
Drive the motor via Step and Direction
signals.
TRINAMICs
sophisticated
stealthChop chopper ensures noiseless
operation combined with efficiency and
best motor torque. Integrated power
MOSFETs handle motor currents up to 1.2A
RMS continuously (QFN package) / 1.4A RMS
(TQFP) per coil. For saving energy, the
TMC2100
provides
standstill
current
reduction.
Protection
and
diagnostic
features support robust and reliable
operation.
The
TMC2100
enables
miniaturized designs with low external
component count for cost-effective and
highly competitive solutions.
BLOCK DIAGRAM
Configuration via 7 pins
Power
Supply
IREF optional current scaling
TMC2100
+5V Regulator
Charge Pump
Configuration
Interface with
TRISTATE Detection
DAC Reference
Motor
spreadCycle
Step Multiplyer
Step/Dir
CLK
Standstill Current
Reduction
256 µStep
Sequencer
CLK Oscillator /
Selector
Protection
& Diagnostics
ERROR / INDEX
TRINAMIC Motion Control GmbH & Co. KG
Hamburg, Germany
DRIVER
stealthChop
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
2
APPLICATION EXAMPLES: SIMPLE SOLUTIONS – HIGHLY EFFECTIVE
The TMC2100 scores with power density, integrated power MOSFETs, smooth and quiet operation, and
a congenial simplicity. The TMC2100 covers a wide spectrum of applications from battery systems up
to embedded applications with up to 2.0A motor current per coil. TRINAMICs unique chopper modes
spreadCycle and stealthChop optimize drive performance. stealthChop reduces motor noise to the
point of silence during low velocities. Standby current reduction keeps costs for power dissipation
and cooling down. Extensive support enables rapid design cycles and fast time-to-market with
competitive products.
STANDALONE DESIGN
FOR ONE
STEPPER MOTOR
In this example, configuration is hard
wired. The motor is driven via step
and direction signals. Motion control
tasks and interpreting ERROR and
INDEX are software based.
0A+
S/D
ERROR, INDEX
TMC2100
S
0A-
N
0B+
.
0B-
MINIATURIZED DESIGN
FOR ONE
STEPPER MOTOR
0A+
S/D
High-Level
Interface
CPU
ERROR, INDEX
TMC2100
0A0B+
Configuration / Enable
0B-
S
N
Here, the CPU sends step and direction
signals to the TMC2100 and reads out
ERROR and INDEX for diagnostic tasks.
Further, the CPU configures the
TMC2100 and manages motion control.
Based on Step/Dir signals, the TMC2100
provides motor currents for each axis
and smoothens and optimizes drive
performance.
EVALUATION BOARD SYSTEM
The
TMC2100-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 TMC2100 evaluation
board system consists of three parts:
STARTRAMPE
(base
board),
ESELSBRÜCKE (connector board with
several test points), and TMC2100-EVAL.
ORDER CODES
Order code
TMC2100-LA
TMC2100-TA
TMC2100-EVAL
LANDUNGSBRÜCKE
ESELSBRÜCKE
www.trinamic.com
Description
1-axis stealthChop standalone driver; QFN36
1-axis stealthChop standalone driver; TQFP48
Evaluation board for TMC2100 two phase stepper motor
controller/driver
Baseboard for TMC2100-EVAL and further evaluation boards
Connector board for plug-in evaluation board system
Size [mm2]
5x6
9x9
85 x 55
85 x 55
61 x 38
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
3
Table of Contents
1
KEY CONCEPTS ................................................... 4
1.1
1.2
1.3
1.4
2
SOFTWARE ...................................................... 5
STEP/DIR INTERFACE .................................... 5
STANDSTILL CURRENT REDUCTION .................. 5
DIAGNOSTICS AND PROTECTION ..................... 5
PIN ASSIGNMENTS ........................................... 6
2.1
2.2
3
PACKAGE OUTLINE .......................................... 6
SIGNAL DESCRIPTIONS ................................... 7
OPERATION ......................................................... 8
3.1
4
CFG PIN CONFIGURATION .............................. 8
SUGGESTIONS FOR LAYOUT ........................11
4.1
4.2
4.3
4.4
4.5
4.6
4.7
5
BASIC HINTS FOR POWER SUPPLY ................11
REDUCED NUMBER OF COMPONENTS .............11
INTERNAL CURRENT SENSING ........................11
EXTERNAL 5V POWER SUPPLY ......................12
5V ONLY SUPPLY..........................................13
HIGH MOTOR CURRENT .................................14
DRIVER PROTECTION AND EME CIRCUITRY ...15
STEALTHCHOP™ ..............................................16
5.1
5.2
5.3
5.4
CURRENT REGULATION ..................................16
AUTOMATIC SCALING ....................................16
ACCELERATION ..............................................18
SWITCHING BETWEEN STEALTHCHOP AND
SPREADCYCLE .............................................................19
6
SPREADCYCLE ...................................................20
6.1
SPREADCYCLE
CHOPPER ................................21
7
SELECTING SENSE RESISTORS ....................23
8
MOTOR CURRENT CONTROL ........................24
8.1
9
10
ANALOG CURRENT SCALING AIN ..................24
INTERNAL SENSE RESISTORS......................26
DRIVER DIAGNOSTIC AND PROTECTION
.........................................................................28
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10.1
10.2
10.3
10.4
11
TEMPERATURE MEASUREMENT ....................... 28
SHORT TO GND PROTECTION ....................... 28
EMERGENCY STOP ......................................... 28
DIAGNOSTIC OUTPUT ................................... 28
STEP/DIR INTERFACE ................................ 30
11.1 TIMING ......................................................... 30
11.2 CHANGING RESOLUTION ............................... 31
11.3 MICROPLYER STEP INTERPOLATOR AND STAND
STILL DETECTION ....................................................... 32
11.4 INDEX OUTPUT ........................................... 33
12
EXTERNAL RESET ........................................ 34
13
CLOCK OSCILLATOR AND INPUT ........... 34
13.1
CONSIDERATIONS ON THE FREQUENCY.......... 34
14
ABSOLUTE MAXIMUM RATINGS ............ 35
15
ELECTRICAL CHARACTERISTICS ............ 35
15.1
15.2
15.3
16
16.1
16.2
16.3
16.4
17
17.1
17.2
17.3
OPERATIONAL RANGE ................................... 35
DC AND TIMING CHARACTERISTICS .............. 36
THERMAL CHARACTERISTICS.......................... 39
LAYOUT CONSIDERATIONS..................... 40
EXPOSED DIE PAD ........................................ 40
WIRING GND .............................................. 40
SUPPLY FILTERING........................................ 40
LAYOUT EXAMPLE: TMC2100-BOB.............. 41
PACKAGE MECHANICAL DATA................ 43
DIMENSIONAL DRAWINGS QFN36 5X6 ....... 43
DIMENSIONAL DRAWINGS TQFP-EP48 ....... 45
PACKAGE CODES ........................................... 46
18
DISCLAIMER ................................................. 47
19
ESD SENSITIVE DEVICE............................ 47
20
TABLE OF FIGURES .................................... 48
21
REVISION HISTORY ................................... 48
22
REFERENCES ................................................. 48
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
1
4
Key Concepts
The TMC2100 is easy to use. It can be configured by seven hardware pins. CPU interaction is not
necessary. The TMC2100 positions the motor based on step and direction signals and the integrated
microPlyer automatically smoothens motion. Basic standby current control can be done by the
TMC2100. Optional feedback signals allow error detection and synchronization. Optionally, current
scaling is possible by providing an analog reference current IREF.
A CPU for configuration, motion control, and diagnostics can be connected, but this is not basically
needed to drive the motor.
AIN_IREF
optional current scaling
DIR
STEP
step & dir input
RREF
5VOUT
Optional for internal current
sensing. RREF=9K1 allows for
maximum coil current.
VCP
charge pump
CPO
CFG1
VSA
2R2
470n
TG= toggle with 166K resistor between VCC
and GND to detect open pin
CFG0
TG
CFG1
TG
CFG2
TG
CFG3
TG
CFG4
TG
CFG5
TG
DRV_ENN_CFG6
TG
TRISTATE configuration
(GND, VCC_IO or open)
Opt. driver
enable input
CFG4
CFG1
B.Dwersteg, ©
TRINAMIC 2014
PDD=100k pulldown
PMD=50k to VCC/2
Index pulse
Driver error
opt. ext. clock
10-16MHz
+VIO
3.3V or 5V
I/O voltage
DIAG1
PDD
DIAG0
PMD
CLK_IN
IREF
ISENSE
sine table
4*256 entry
CFG2
BRA
ISENSE
RS
GNDP
CFG1
CFG5
spreadCycle &
stealthChop
Chopper
DRV_ENN
Stepper driver
Protection
& diagnostics
x
OA2
Half Bridge 2
CFG0
Configuration
interface
with TRISTATE
detection
+VM
OA1
Half Bridge 1
DAC Reference
le &
dCyc p
a
e
r
p
o
s
thCh
steal driver
r
moto
VCC
2R2 and 470n are optional
filtering components for
best chopper precision
CFG3
Standstill
current
reduction
CFG6
5V Voltage
regulator
5VOUT
4.7µ
F
step multiplier
microPlyer
22n
100n
100n
VS
CFG2
CPI
100n
F
F = 60ns spike filter
TMC 2100 Standalone
Stepper Motor Driver
+VM
CFG2
current
comparator
current
comparator
IREF
DAC
RS=0R15 allows for
maximum coil
current;
Tie BRA and BRB to
GND for internal
current sensing
DAC
IREF
f ace
Inter
GNDP
S
N
2 phase
stepper
motor
RS
BRB
Half Bridge 2
Status out
(open drain)
OB2
ISENSE
Half Bridge 1
CLK oscillator/
selector
ISENSE
VCC_IO
OB1
VS
100n
+VM
GNDA
DIE PAD
TST_MODE
GNDD
100n
Figure 1.1 TMC2100 standalone driver application diagram
The TMC2100 implements advanced features which are exclusive to TRINAMIC products. These features
contribute toward greater precision and smoother motion in many stepper motor applications.
Particularly, the TMC2100 provides special chopper algorithms in order to reduce engine noise and
react extremely fast to changes in velocity and motor load.
stealthChop™
is a voltage chopper based principle. It guarantees that the motor is absolutely
quiet in standstill and in slow motion, except for noise generated by ball bearings.
The extremely smooth motion is beneficial for many applications.
spreadCycle™
offers smooth operation and great power efficiency over a wide range of speed and
load. The spreadCycle chopper scheme automatically integrates a fast decay cycle
and guarantees smooth zero crossing performance.
microPlyer™
microstep interpolator for obtaining increased smoothness of microstepping.
www.trinamic.com
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
5
1.1 Software
Usually, the TMC2100 is configured to a fixed configuration using the related hardware pins. Status
bits for error detection can be read out using ERROR and INDEX. The TMC2100 is a stepper motor
driver chip that can be driven software based with only little effort. It does not need a master CPU or
a motion controller IC, but step and direction signals have to be provided to drive a motor.
1.2 STEP/DIR Interface
The motor is controlled by a step and direction input. Active edges on the STEP input are rising ones.
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.
1.3 Standstill Current Reduction
The automatic standstill current reduction allows to automatically reduce the motor current by nearly
two-thirds to save energy in standstill. This is possible in many applications, as normally less holding
torque is required. In case the standstill current option has been enabled, the motor current becomes
softly ramped down from 100% to 34% in 44M clock cycles (3 to 4 seconds) if no step pulse has been
issued for more than 3M clock cycles (standby delay time). The soft current ramp avoids a jerk on the
motor.
STEP
CURRENT
I_RUN
I_HOLD = 34% * I_RUN
t
RMS current with CFG6_ENN = open
Standby
delay time
Standby
ramp time
Figure 1.2 Standstill current reduction
1.4 Diagnostics and Protection
The TMC2100 offers safeguards to detect and protect against shorted outputs, overtemperature, and
undervoltage conditions for enhancing safety and recovery from equipment malfunctions.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
2
6
Pin Assignments
TST_MODE
GNDP
OA1
BRA
OA2
VS
VSA
VCP
36
35
34
33
32
31
30
29
2.1 Package Outline
CLK
1
28
CFG3
2
27
CPI
CPO
CFG2
3
26
VCC
CFG1
4
5VOUT
CFG0
5
24
GNDA
STEP
6
TMC2100-LA
QFN-36
25
23
7
5mm x 6mm
AIN_IREF
DIR
22
CFG6_ENN
VCC_IO
8
21
INDEX
-
9
20
ERROR
GNDD
10
19
CFG5
OB2
18
15
BRB
17
14
OB1
CFG4
13
GNDP
16
12
VS
11
-
PAD = GNDD
OA2
-
VS
VSA
VCP
CPI
41
40
39
38
37
43
42
-
BRA
44
46
45
-
OA1
47
GNDP
48
Figure 2.1 TMC2100-LA package and pinning QFN-36 (5x6mm²)
TST_MODE
1
36
CLK
2
35
CPO
CFG3
3
34
VCC
CFG2
4
33
5VOUT
CFG1
5
32
GNDA
-
6
31
-
CFG0
7
30
AIN_IREF
STEP
8
29
CFG6_ENN
DIR
9
28
-
VCC_IO
10
27
INDEX
-
11
26
ERROR
GNDD
12
25
CFG5
TMC2100-TA
TQFP-48
9mm x 9mm
13
14
15
16
17
18
19
20
21
22
23
24
GNDP
-
OB1
-
BRB
-
OB2
-
VS
-
-
CFG4
PAD = GNDD
Figure 2.2 TMC2100-TA package and pinning TQFP-48 (9x9mm² with leads)
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
7
2.2 Signal Descriptions
Pin
QFN36
TQFP48
Type
CLK
1
2
DI
CFG3
CFG2
CFG1
CFG0
STEP
DIR
VCC_IO
2
3
4
5
6
7
8
DI
DI
DI
DI
DI
DI
DNC
9, 17
GNDD
N.C.
GNDP
OB1
10
11
12, 35
13
3
4
5
7
8
9
10
11, 14, 16,
18, 20, 22,
23, 28, 41,
43, 45, 47
12
6, 31, 36
13, 48
15
BRB
14
17
OB2
15
19
VS
16, 31
21, 40
CFG4
CFG5
ERROR
INDEX
CFG6_ENN
18
19
20
21
22
24
25
26
27
29
DI
DI
DO
DO
DI
AIN_IREF
23
30
AI
GNDA
24
32
5VOUT
25
33
VCC
26
34
CPO
27
35
CPI
28
37
VCP
29
38
VSA
30
39
OA2
32
42
BRA
33
44
OA1
TST_MODE
34
36
46
1
Exposed
die pad
-
-
www.trinamic.com
DI
Function
CLK input. Tie to GND using short wire for internal clock or
supply external clock.
Configuration input
Configuration input
Configuration input
Configuration input
STEP input
DIR input
3.3 V to 5 V IO supply voltage for all digital pins.
Do not connect. Leave open!
Digital GND. Connect to GND.
Unused pin, connect to GND for compatibility to future versions.
Power GND. Connect to GND plane near pin.
Motor coil B output 1
Sense resistor connection for coil B. Place sense resistor to GND
near pin. Tie to GND when using internal sense resistors.
Motor coil B output 2
Motor supply voltage. Provide filtering capacity near pin with
short loop to nearest GNDP pin (respectively via GND plane).
Configuration input
Configuration input
Diagnostic open drain output: driver error
Diagnostic open drain output: microstep table position index
Enable input (high to disable) and power down configuration
Analog reference voltage for current scaling or reference current
for use of internal sense resistors (optional mode)
Analog GND. Tie to GND plane.
Output of internal 5 V regulator. Attach 2.2 µF to 10µF ceramic
capacitor to GNDA near to pin for best performance.
5V supply input for digital circuitry within chip and charge
pump. Attach 470nF capacitor to GND (GND plane). May be
supplied by 5VOUT. A 2.2 or 3.3 Ohm resistor is recommended
for decoupling noise from 5VOUT. When using an external
supply, make sure, that VCC comes up before or in parallel to
5VOUT or VCC_IO, whichever comes up later!
Charge pump capacitor output.
Charge pump capacitor input. Tie to CPO using 22 nF 50 V
capacitor.
Charge pump voltage. Tie to VS using 100 nF 16 V capacitor.
Analog supply voltage for 5V regulator. Normally tied to VS.
Provide a 100 nF filtering capacitor.
Motor coil A output 2
Sense resistor connection for coil A. Place sense resistor to GND
near pin. Tie to GND when using internal sense resistors.
Motor coil A output 1
Test mode input. Tie to GND using short wire.
Connect the exposed die pad to a GND plane. Provide as many
as possible vias for heat transfer to GND plane. Serves as GND
pin for digital circuitry.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
3
8
Operation
Optional use lower
voltage down to 6V
100n
16V
VCP
22n
63V
CPI
CPO
AIN_IREF
DIR
STEP
STEP/DIR inputs control the driver. The TMC2100 works in spreadCycle mode or stealthChop mode. It
provides microstep interpolation and automatic standstill current reduction. ERROR signals driver error
and INDEX signals the microstep table index position (low active open drain outputs).
+VM
+VM
VS
VSA
5VOUT
100n
4.7µ
5V Voltage
regulator
Step&Dir input
with microPlyer
charge pump
DAC Reference
100n
100n
100µF
IREF
2R2
VCC
OA1
470n
Full Bridge A
CFG0
OA2
S
CFG1
CFG2
TRISTATE configuration
(GND, VCC_IO or open)
CFG3
CFG4
Configuration
interface
with TRISTATE
detection
N
stepper
motor
Use low inductivity SMD
type, e.g. 1206, 0.5W
Sequencer
BRA
Driver
RSA
CFG5
Opt. driver
enable input
CFG6_ENN
B.Dwersteg, ©
TRINAMIC 2014
OB1
Status out
(open drain)
OB2
TMC2100
CLK_IN
Use low inductivity SMD
type, e.g. 1206, 0.5W
BRB
RSB
TST_MODE
100n
GNDD
VCC_IO
GNDA
opt. ext. clock
12-16MHz
+VIO
3.3V or 5V
I/O voltage
ERROR
Full Bridge B
GNDP
Driver error
INDEX
DIE PAD
Index pulse
Figure 3.1 Standalone operation example circuit
3.1 CFG Pin Configuration
TMC2100 configuration is hard wired. All pins CFG0 to CFG6 are evaluated using tristate detection in
order to differentiate between:
-
CFG pin tied to GND
CFG pin open (no connection)
CFG pin tied to VCC_IO
CFG6_ENN enables the driver chip. Further, it selects whether standby current reduction is used or not.
CFG6_ENN: ENABLE PIN AND CONFIGURATION OF STANDSTILL POWER DOWN
CFG6
GND
VCC_IO
open
Motor driver enable
Enable
Disable
Enable
Standstill power down
N
Driver disabled.
Y. Motor current ramps down from 100% to 34% in 44M
clock cycles (3 to 4 seconds) after standstill detection (no
step pulse for more than 1M clock). In combination with
stealthChop, be sure not to work with too low overall
current setting, as regulation will not be able to
measure the motor current after stand still current
reduction. This will result in very low motor current after
the stand-still period.
Please refer to Figure 1.2 for more information about standstill power down.
www.trinamic.com
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
9
A current control mode can be set with CFG3. In particular, the source for the reference voltage (on
chip or external) and the method of current scaling can be chosen.
CFG3 SETS MODE OF CURRENT SETTING
CFG3
GND
VCC_IO
open
Current Setting
Internal reference voltage. Current scale set by external sense resistors, only.
Internal sense resistors. Use analog input current on AIN as reference current for
internal sense resistor. This setting gives best results when combined with
stealthChop voltage PWM chopper.
External reference voltage on pin AIN. Current scale set by sense resistors and
scaled by AIN.
The desired microstep resolution for the STEP input can be chosen via CFG2 and CFG1 configurations.
The driver automatically uses microstep positions which result in a symmetrical wave especially when
switching to a lower microstep resolution.
Note that spreadCycle mode is possible with and without step interpolation to 256 microsteps.
TRINAMIC recommends using step interpolation for achieving a smoother drive. While the parameters
for spreadCycle can be configured for best microstep performance, stealthChop has a fixed setting.
CFG0 and CFG4 settings do not influence the stealthChop configuration. This way, it is possible to
switch between spreadCycle and stealthChop mode by simply switching CFG1 and CFG2.
CFG1 AND CFG2: SET MICROSTEP RESOLUTION FOR STEP INPUT
CFG2, CFG1
GND, GND
GND, VCC_IO
GND, open
VCC_IO, GND
VCC_IO, VCC_IO
VCC_IO, open
open, GND
open, VCC_IO
open, open
Microsteps
1 (Fullstep)
2 (Halfstep)
2 (Halfstep)
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
Interpolation
N
N
Y, to 256 µsteps
N
N
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps
Chopper Mode
spreadCycle
stealthChop
Hint
Be sure to allow the motor to rest for at least 100 ms (assuming a minimum of 10 MHz fCLK) before
starting a motion using stealthChop. This will allow the current regulation to ramp up to the initial
motor current.
CFG0, CFG4 and CFG5 are intended for chopper configuration. CFG0 is used to set the chopper off
time. This setting also limits the maximum chopper frequency. For operation with stealthChop, this
parameter is not used. In case of operation with stealthChop only, any CFG0 setting is OK.
CFG0: SETS CHOPPER OFF TIME (DURATION OF SLOW DECAY PHASE)
CFG0
GND
VCC_IO
open
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TOFF Setting
140 tCLK (recommended, most universal choice)
236 tCLK
332 tCLK
low setting
medium setting
high setting
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
10
CFG4: SETS CHOPPER HYSTERESIS (TUNING OF ZERO CROSSING PRECISION)
CFG4
GND
Hysteresis Setting
5 (recommended most universal choice): low hysteresis with ≈4% of full scale
current.
9: medium setting with ≈5% of the full scale current at sense resistor.
13: high setting with ≈6% of full scale current at sense resistor.
VCC_IO
open
CFG5 selects the comparator blank time. This time needs to safely cover the switching event and the
duration of the ringing on the sense resistor. For most applications, a setting of 24 clock cycles is
good. For higher capacitive loads, e.g. when filter networks are used, a setting 36 clock cycles will be
required.
CFG5: SETS CHOPPER BLANK TIME (DURATION OF BLANKING OF SWITCHING SPIKE)
CFG5
GND
VCC_IO
open
Blank time (in number of clock cycles)
16 (best performance for stealthChop)
24 (recommended, most universal choice)
36 (may be necessary with high capacitive loads on motor
outputs)
low setting
medium setting
high setting
EXAMPLE 1
It is desired to do slow motions in smooth and noiseless stealthChop mode. For quick motions,
spreadCycle is to be used. The controller can deliver 1/16 microstep step signals. Leave open CFG2 and
drive CFG1 with a three state driver. Switch CFG1 to GND to operate in spreadCycle, switch it to hi-Z
(open) state for a motion in stealthChop. Be sure to switch during standstill only, because when
switching from a fixed level to an open input, a different mode may be passed for a short time.
EXAMPLE 2
Low slow decay time
CFG0
CFG1
16 microstep step input with
stealthChop
Use sense resistors
Low hysteresis
Medium blank time
Use stand still current reduction
Use internal clock
+VIO
3.3V or 5V
I/O voltage
CFG2
CFG3
CFG4
Configuration
interface
with TRISTATE
detection
CFG5
DRV_ENN_CFG6
B.Dwersteg, ©
TRINAMIC 2014
CLK_IN
VCC_IO
100n
Figure 3.2 TMC2100 example configuration for stealthChop
Attention
Pin open detection will fail, when paralleling CFG pins of different ICs!
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
4
11
Suggestions for Layout
The sample circuits show the connection of external components in different operation and supply
modes.
4.1 Basic Hints for Power Supply
Use low ESR capacitors for filtering the power supply which are capable to cope with the current
ripple. The current ripple often depends on the power supply and cable length. The VCC_IO voltage
can be supplied from 5VOUT, or from an external source, e.g. a low drop 3.3 V regulator. In order to
minimize linear voltage regulator power dissipation of the internal 5 V voltage regulator in
applications where VM is high, a different (lower) supply voltage can be used for VSA, if available. For
example, many applications provide a 12 V supply in addition to a higher supply voltage, like 24 V or
36 V. Using the 12 V supply for VSA will reduce the power dissipation of the internal 5V regulator to
about 37% resp. 23% of the dissipation caused by supply with the full motor voltage.
Basic Layout Hints
Place sense resistors and all filter capacitors as close as possible to the related IC pins. Use a solid
common GND for all GND connections, also for sense resistor GND. Connect 5VOUT filtering capacitor
directly to 5VOUT and GNDA pin. See layout hints for more details. Low ESR electrolytic capacitors are
recommended for VS filtering.
Attention
In case VSA is supplied by a different voltage source, make sure that VSA does not exceed VS by
more than one diode drop upon power up or power down.
4.2 Reduced Number of Components
Optional use lower
voltage down to 6V
+VM
VSA
5VOUT
100n
5V Voltage
regulator
4.7µ
VCC
Figure 4.1 Reduced number of filtering components
The standard application circuit uses RC filtering to de-couple the output of the internal linear
regulator from high frequency ripple caused by digital circuitry supplied by the VCC input. For cost
sensitive applications, the RC-filtering on VCC can be eliminated. This leads to more noise on 5VOUT
caused by operation of the charge pump and the internal digital circuitry. There is a slight impact on
microstep vibration and chopper noise performance.
4.3 Internal Current Sensing
For cost critical or space limited applications, it may be desired to eliminate the sense resistors. The
TMC2100 allows using the resistance of the internal MOSFETs as a sense resistor. Further, this slightly
reduces power dissipation, because the effective resistance of the driver bridge is reduced. In this
application, a reference current set by a tiny external resistor programs the output current. For
calculation of the reference resistor, refer chapter 9.
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12
5VOUT
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
AIN_IREF
RREF
DAC Reference
IREF
OA1
Full Bridge A
OA2
S
N
stepper
motor
BRA
Driver
OB1
Full Bridge B
OB2
BRB
Figure 4.2 RDSon based sensing eliminates high current sense resistors
4.4 External 5V Power Supply
When an external 5 V power supply is available, the power dissipation caused by the internal linear
regulator can be eliminated. This especially is beneficial in high voltage applications, and when
thermal conditions are critical. There are two options for using an external 5 V source: either the
external 5 V source is used to support the digital supply of the driver by supplying the VCC pin, or the
complete internal voltage regulator becomes bridged and is replaced by the external supply voltage.
4.4.1
Support for the VCC Supply
This scheme uses an external supply for all digital circuitry within the driver (Figure 4.3). As the digital
circuitry makes up for most of the power dissipation, this way the internal 5 V regulator sees only low
remaining load. The precisely regulated voltage of the internal regulator is still used as the reference
for the motor current regulation as well as for supplying internal analog circuitry.
When cutting VCC from 5VOUT, make sure that the VCC supply comes up before or synchronously
with the 5VOUT supply to ensure a correct power up reset of the internal logic. A simple schematic
uses two diodes forming an OR of the internal and the external power supplies for VCC. In order to
prevent the chip from drawing part of the power from its internal regulator, a low drop 1A Schottky
diode is used for the external 5V supply path, while a silicon diode is used for the 5VOUT path.
+VM
VSA
5VOUT
+5V
100n
4.7µ
5V Voltage
regulator
LL4448
VCC
MSS1P3
470n
VCC supplied from external 5V. 5V or 3.3V IO voltage.
Figure 4.3 Using an external 5V supply for digital circuitry of driver
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
4.4.2
13
Internal Regulator Bridged
In case a clean external 5 V supply is available, it can be used for supply of analog and digital part
(Figure 4.4). The circuit will benefit from a well-regulated supply, e.g. when using a +/-1% regulator. A
precise supply guarantees increased motor current precision, because the voltage on 5VOUT directly is
used as reference for all internal units of the driver, especially for motor current control. For best
performance, the power supply should have low ripple to give a precise and stable supply at 5VOUT
pin with remaining ripple well below 5 mV. Some switching regulators have a higher remaining
ripple, or different loads on the supply may cause lower frequency ripple. In this case, increase
capacity attached to 5VOUT. In case the external supply voltage has poor stability or low frequency
ripple, this would affect the precision of the motor current regulation as well as add chopper noise.
Well-regulated, stable
supply, better than +-5%
+5V
VSA
5V Voltage
regulator
5VOUT
4.7µ
10R
VCC
470n
Figure 4.4 Using an external 5V supply to bypass internal regulator
100n
16V
VCP
22n
63V
CPI
CPO
AIN_IREF
DIR
STEP
4.5 5V Only Supply
+5V
+5V
VS
VSA
5VOUT
5V Voltage
regulator
Step&Dir input
with microPlyer
4.7µ
charge pump
DAC Reference
100n
100n
100µF
IREF
VCC
OA1
470n
Full Bridge A
CFG0
OA2
S
CFG1
CFG2
TRISTATE configuration
(GND, VCC_IO or open)
CFG3
CFG4
Configuration
interface
with TRISTATE
detection
N
stepper
motor
Use low inductivity SMD
type, e.g. 1206, 0.5W
Sequencer
BRA
Driver
RSA
CFG5
Opt. driver
enable input
DRV_ENN_CFG6
B.Dwersteg, ©
TRINAMIC 2014
OB1
Status out
(open drain)
OB2
TMC2100
CLK_IN
Use low inductivity SMD
type, e.g. 1206, 0.5W
BRB
RSB
GNDD
GNDD
100n
GNDP
VCC_IO
GNDA
opt. ext. clock
12-16MHz
+VIO
3.3V or 5V
I/O voltage
ERROR
Full Bridge B
DIE PAD
Driver error
INDES
TST_MODE
Index pulse
leave open
Figure 4.5 5V only operation
While the standard application circuit is limited to roughly 5.5 V lower supply voltage, a 5 V only
application lets the IC run from a normal 5 V +/-5% supply. In this application, linear regulator drop
must be minimized. Therefore, the major 5 V load is removed by supplying VCC directly from the
external supply. In order to keep supply ripple away from the analog voltage reference, 5VOUT should
have an own filtering capacity and the 5VOUT pin does not become bridged to the 5V supply.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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4.6 High Motor Current
When operating at a high motor current, the driver power dissipation due to MOSFET switch onresistance significantly heats up the driver. This power dissipation will significantly heat up the PCB
cooling infrastructure, if operated at an increased duty cycle. This in turn leads to a further increase of
driver temperature. An increase of temperature by about 100 °C increases MOSFET resistance by
roughly 50%. This is a typical behavior of MOSFET switches. Therefore, under high duty cycle, high
load conditions, thermal characteristics have to be carefully taken into account, especially when
increased environment temperatures are to be supported. Refer the thermal characteristics and the
layout hints for more information. As a thumb rule, thermal properties of the PCB design become
critical for the tiny QFN-36 package at or above about 1000 mA RMS motor current for increased
periods of time. Keep in mind that resistive power dissipation raises with the square of the motor
current. On the other hand, this means that a small reduction of motor current significantly saves heat
dissipation and energy.
An effect which might be perceived at medium motor velocities and motor sine wave peak currents
above roughly 1.2 A peak is slight sine distortion of the current wave when using spreadCycle. It
results from an increasing negative impact of parasitic internal diode conduction, which in turn
negatively influences the duration of the fast decay cycle of the spreadCycle chopper. This is, because
the current measurement does not see the full coil current during this phase of the sine wave,
because an increasing part of the current flows directly from the power MOSFETs’ drain to GND and
does not flow through the sense resistor. This effect with most motors does not negatively influence
the smoothness of operation, as it does not impact the critical current zero transition. It does not
occur with stealthChop.
4.6.1
Reduce Linear Regulator Power Dissipation
When operating at high supply voltages, as a first step the power dissipation of the integrated 5V
linear regulator can be reduced, e.g. by using an external 5V source for supply. This will reduce overall
heating. It is advised to reduce motor stand still current in order to decrease overall power
dissipation. If applicable, also use coolStep. A decreased clock frequency will reduce power dissipation
of the internal logic. Further a decreased clock frequency also reduces power dissipation.
4.6.2
Operation near to / above 2A Peak Current
The driver can deliver up to 2.5 A motor peak current. Considering thermal characteristics, this only is
possible in duty cycle limited operation. When a peak current up to 2.5 A is to be driven, the driver
chip temperature is to be kept at a maximum of 105 °C. Linearly derate the design peak temperature
from 125 °C to 105 °C in the range 2 A to 2.5 A output current (see Figure 4.6). Exceeding this may lead
to triggering the short circuit detection.
Limit by lower limit of
overtemperature threshold
High temperature
range
125°C
115°C
d
de
en e
m tim
om of
ec s
t r i od
no er
n dp
tio e
ra as
ea cre
Op r in
fo
Die
Temperature
135°C
Specified operational
range for max. 125°C
105°C
1.5A 1.75A
2A
Current
limitation
Derating
for >2A
2.25A 2.5A Peak coil
current
Figure 4.6 Derating of maximum sine wave peak current at increased die temperature
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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4.7 Driver Protection and EME Circuitry
Some applications have to cope with ESD events caused by motor operation or external influence.
Despite ESD circuitry within the driver chips, ESD events occurring during operation can cause a reset
or even a destruction of the motor driver, depending on their energy. Especially plastic housings and
belt drive systems tend to cause ESD events of several kV. It is best practice to avoid ESD events by
attaching all conductive parts, especially the motors themselves to PCB ground, or to apply electrically
conductive plastic parts. In addition, the driver can be protected up to a certain degree against ESD
events or live plugging / pulling the motor, which also causes high voltages and high currents into
the motor connector terminals. A simple scheme uses capacitors at the driver outputs to reduce the
dV/dt caused by ESD events. Larger capacitors will bring more benefit concerning ESD suppression,
but cause additional current flow in each chopper cycle, and thus increase driver power dissipation,
especially at high supply voltages. The values shown are example values – they might be varied
between 100pF and 1nF. The capacitors also dampen high frequency noise injected from digital parts
of the application PCB circuitry and thus reduce electromagnetic emission. A more elaborate scheme
uses LC filters to de-couple the driver outputs from the motor connector. Varistors in between of the
coil terminals eliminate coil overvoltage caused by live plugging. Optionally protect all outputs by a
varistor against ESD voltage.
470pF
100V
OA1
Full Bridge A
OA1
OA2
S
N
stepper
motor
Full Bridge A
50Ohm @
100MHz
V1A
V1
OA2
50Ohm @
100MHz
470pF
100V
BRA
Driver
RSA
470pF
100V
S
N
stepper
motor
V1B
470pF
100V
Driver
100nF
16V
470pF
100V
OB1
Full Bridge B
OB1
Full Bridge B
OB2
50Ohm @
100MHz
V2A
V2
OB2
50Ohm @
100MHz
470pF
100V
BRB
RSB
100nF
16V
470pF
100V
Fit varistors to supply voltage
rating. SMD inductivities
conduct full motor coil
current.
Figure 4.7 Simple ESD enhancement and more elaborate motor output protection
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V2B
470pF
100V
Varistors V1 and V2 protect
against inductive motor coil
overvoltage.
V1A, V1B, V2A, V2B:
Optional position for varistors
in case of heavy ESD events.
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
5
16
stealthChop™
stealthChop is an extremely quiet mode of operation for stepper motors. It is based on a
voltage mode PWM. In case of standstill and at low velocities, the motor is absolutely
noiseless. Thus, stealthChop operated stepper motor applications are very suitable for
indoor or home use. The motor operates absolutely free of vibration at low velocities.
With stealthChop, the motor current is applied by driving a certain effective voltage into
the coil, using a voltage mode PWM. There are no more configurations required except for the
regulation of the PWM voltage to yield the motor target current. Consider spreadCycle for high
velocity drives.
Figure 5.1 Motor coil sine wave current with stealthChop (measured with current probe)
5.1 Current Regulation
In order to match the motor current to a certain level, the voltage mode PWM voltage must be scaled
depending on the actual motor velocity. Several additional factors influence the required voltage level
to drive the motor at the target current: the motor resistance, its back EMF (i.e. directly proportional to
its velocity) as well as actual level of the supply voltage. For the ease of use, the TMC2100 uses an
automatic mode for current regulation which considers current feedback. The PWM frequency is
internally divided from the clock frequency.
A higher PWM frequency leads to increased dynamic power dissipation, but it may bring a benefit for
higher motor velocity.
PWM FREQUENCY FOR STEALTHCHOP
Clock frequency fCLK
18MHz
16MHz
(internal)
12MHz
10MHz
8MHz
fPWM=2/683 fCLK
52.7kHz
46.8kHz
38kHz
35.1kHz
29.3kHz
23.4kHz
Table 5.1 PWM frequency – green: recommended
5.2 Automatic Scaling
In stealthChop voltage PWM mode, the internal autoscaling function regulates the motor current to
the desired current setting. The driver measures the motor current during the chopper on time and
uses a proportional regulator in order match the motor current to the target current. The quality of
the regulation can be examined when monitoring the motor coil current at different velocities and
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
17
during fastest applicable acceleration. Just as in the acceleration phase, during a deceleration phase
the voltage PWM amplitude must be adapted in order to keep the motor coil current constant.
Figure 5.2 Scope shot: current can follow on acceleration phase
Motor current
PWM scale
Velocity
PWM reaches
max. amplitude
255
Stand still
PWM scale
Current may drop due
to high velocity
ok
PW
M_
GR
AD
ok
Nominal current
(sine wave RMS)
AD
GR
M_
PW
RMS current
constant
0
0
Time
Current vs. velocity with acceleration in a good range
Figure 5.3 Current vs. velocity diagram
Be sure to use a symmetrical sense resistor layout and sense resistor traces of identical length and
well matching sense resistors for best performance.
The auto scaling function only starts up regulation during motor standstill. Do not start motion
directly after enabling stealthChop. Wait until the current regulation has reached a stable state before
starting a motion. Failure to do so will result in zero motor current!
In case the automatic scaling regulation is instable at your desired motion velocity, try modifying the
clock frequency. Also adapt the blank time (CFG5) and motor current for best result.
5.2.1
Lower Current Limit
The stealthChop current regulator imposes a lower limit for motor current regulation. As the coil
current can be measured in the shunt resistor during chopper on phase only, a minimum chopper
duty cycle allowing coil current regulation is given by the blank time as set by TBL and by the
chopper frequency. Therefore, the motor specific minimum coil current in stealthChop autoscaling
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
18
mode rises with the supply voltage. A lower blanking time allows a lower current limit. The run
current needs to be kept above the lower limit: In case the PWM scale drops to a too low value, e.g.
because AIN pin scaling was too low, the regulator may not be able to recover. The regulator will
recover once the motor is in standstill. The lower motor coil current limit can be calculated from
motor parameters and chopper settings:
𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 𝑡𝐵𝐿𝐴𝑁𝐾 ∗ 𝑓𝑃𝑊𝑀 ∗
𝑉𝑀
𝑅𝐶𝑂𝐼𝐿
With VM the motor supply voltage and RCOIL the motor coil resistance.
ILower Limit can be treated as a thumb value for the minimum possible motor current setting.
EXAMPLE:
A motor has a coil resistance of 5Ω, the supply voltage is 24V. tBLANK setting is 24 clock cycles:
𝐼𝐿𝑜𝑤𝑒𝑟 𝐿𝑖𝑚𝑖𝑡 = 24 𝑡𝐶𝐿𝐾 ∗
2
24𝑉 2 ∗ 24 24𝑉
∗
=
∗
= 337𝑚𝐴
683 𝑡𝐶𝐿𝐾 5Ω
683
5Ω
For pwm_autoscale mode, a lower coil current limit applies. This limit can be calculated or measured
using a current probe. Keep the motor run-current setting well above this lower current limit.
5.3 Acceleration
The automatic current regulation compensates for the change of back-EMF at different velocities (see
Figure 5.2 and Figure 5.3). It measures the actual current with each fullstep and subsequently does a
limited correction of the PWM voltage. Therefore, at high acceleration or deceleration, the internal
regulation might not react quickly enough to stabilize the motor current within a range near the
target current. Use a current probe and check the motor current during (quick) acceleration. In case
the current regulation cannot follow (see Figure 5.4), motor current will sink in acceleration phases,
and thus lead to reduced motor torque. During a deceleration phase it will rise for a short time. If the
current deviates too much, the motor cannot bring the required torque during the acceleration phase.
In case motor current drops significantly during acceleration phases with stealthChop there are
several ways to improve current regulation:
-
Reduce acceleration
Switch from hold current to run current in time before starting the motion
Increase driver supply voltage (at double voltage, the reaction speed is also doubled)
Use motor with higher current coil winding (back-EMF sinks proportionally)
Increase driver clock frequency (this will speed up regulation when accelerating from
standstill current reduction)
Switch configuration from stealthChop to spreadCycle before starting a high velocity motion
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
19
Figure 5.4 Current regulation cannot follow during high acceleration phase
Hint
Operate the motor within your application when exploring stealthChop. Motor performance often is
better with a mechanical load, because it prevents the motor from stalling due mechanical oscillations
which can occur without load.
5.4 Switching between stealthChop and spreadCycle
It is principally possible to combine stealthChop and spreadCycle by toggling between two
configurations using the related CFG pins. But care must be taken to avoid operating in a wrong
microstepping mode. As the tristate detection logic needs a number of cycles to detect transition to
or from an open pin, the switching should only be done during standstill. Allow 3072 tCLK for
detection of the changed mode selection, before driving a new step. With internal clock, a 3ms delay
will ensure proper transition to the new mode, before the next step is done.
When enabling the stealthChop mode the first time using automatic current regulation, the motor
must be at stand still in order to allow a proper current regulation. When the drive switches to a
different chopper mode at a higher velocity, stealthChop logic stores the last current regulation
setting until the motor returns to a lower velocity again. This way, the regulation has a known
starting point when returning to a lower velocity, where stealthChop becomes re-enabled. Therefore,
neither the velocity threshold nor the supply voltage must be considerably changed during the phase
while the chopper is switched to a different mode, because otherwise the motor might lose steps or
the instantaneous current might be too high or too low.
Attention
A motor stall or a sudden change in the motor velocity may lead to the driver detecting a short
circuit, as the current can exceed the upper limit in these situations. In these situations, the automatic
current regulation may also reach a state of low current from which it cannot recover.
Stop motion, disable and re-enable the driver (using the ENN pin) and restart the motor from zero
velocity to recover from this situation.
Hint
Start the motor from standstill when switching on stealthChop the first time and keep it stopped for
at least 128 chopper periods to allow stealthChop to do initial standstill current control.
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20
spreadCycle
While stealthChop is a voltage mode PWM controlled chopper, spreadCycle is a cycle-by-cycle current
control. Therefore, it can react extremely fast to changes in motor velocity or motor load. The currents
through both motor coils are controlled using choppers. The choppers work independently of each
other. In Figure 6.1 the different chopper phases are shown.
+VM
+VM
+VM
ICOIL
ICOIL
ICOIL
RSENSE
On Phase:
current flows in
direction of target
current
RSENSE
Fast Decay Phase:
current flows in
opposite direction
of target current
RSENSE
Slow Decay Phase:
current re-circulation
Figure 6.1 Chopper phases
Although the current could be regulated using only on phases and fast decay phases, insertion of the
slow decay phase is important to reduce electrical losses and current ripple in the motor. The
duration of the slow decay phase is specified in a control parameter and sets an upper limit on the
chopper frequency. The current comparator can measure coil current during phases when the current
flows through the sense resistor, but not during the slow decay phase, so the slow decay phase is
terminated by a timer. The on phase is terminated by the comparator when the current through the
coil reaches the target current. The fast decay phase may be terminated by either the comparator or
another timer.
When the coil current is switched, spikes at the sense resistors occur due to charging and discharging
parasitic capacitances. During this time, typically one or two microseconds, the current cannot be
measured. Blanking is the time when the input to the comparator is masked to block these spikes.
The spreadCycle mode cycles through four phases: on, slow decay, fast decay, and a second slow
decay.
The chopper frequency is an important parameter for a chopped motor driver. A too low frequency
might generate audible noise. A higher frequency reduces current ripple in the motor, but with a too
high frequency magnetic losses may rise. Also power dissipation in the driver rises with increasing
frequency due to the increased influence of switching slopes causing dynamic dissipation. Therefore, a
compromise needs to be found. Most motors are optimally working in a frequency range of 16 kHz to
30 kHz. The chopper frequency is influenced by a number of parameter settings as well as by the
motor inductivity and supply voltage.
Hint
A chopper frequency in the range of 16 kHz to 30 kHz gives a good result for most motors when
using spreadCycle. A higher frequency leads to increased switching losses.
Please refer to chapter 3.1 for more information about CFG0 and CFG4 (chopper off time and chopper
hysteresis).
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
21
6.1 spreadCycle Chopper
The patented spreadCycle chopper algorithm is a precise and simple to use chopper mode which
automatically determines the optimum length for the fast-decay phase. The spreadCycle will provide
superior microstepping quality even with default settings. Several parameters are available to
optimize the chopper to the application.
Each chopper cycle is comprised of an on phase, a slow decay phase, a fast decay phase and a
second slow decay phase (see Figure 6.3). The two slow decay phases and the two blank times per
chopper cycle put an upper limit to the chopper frequency. The slow decay phases typically make up
for about 50%-75% of the chopper cycle in standstill and are important for low motor and driver
power dissipation.
EXAMPLE
1
At 16MHz clock frequency a low tOFF setting (140 tCLK) sets 𝑡𝑂𝐹𝐹 = 140 ∗
= 8.75𝜇𝑠. Each chopper
16𝑀𝐻𝑧
cycle then uses 2 * 8.75µs = 17.2 µs of slow decay time.
The hysteresis setting forces the driver to introduce a minimum amount of current ripple into the
motor coils. The current ripple must be higher than the current ripple which is caused by resistive
losses in the motor in order to give best microstepping results. This will allow the chopper to
precisely regulate the current both for rising and for falling target current. The time required to
introduce the current ripple into the motor coil also reduces the chopper frequency. Therefore, a
higher hysteresis setting will lead to a lower chopper frequency. The motor inductance limits the
ability of the chopper to follow a changing motor current. Further the duration of the on phase and
the fast decay must be longer than the blanking time, because the current comparator is disabled
during blanking.
It is easy to find the best setting by starting with the lowest hysteresis setting (CFG4=GND). Use a
higher setting in case the motor does not run smoothly at low velocity settings. This can best be
checked when measuring the motor current either with a current probe or by probing the sense
resistor voltages (see Figure 6.2). Checking the sine wave shape near zero transition will show a small
ledge between both half waves in case the hysteresis setting is too small. At medium velocities (i.e.
100 to 400 fullsteps per second), a too low hysteresis setting will lead to increased humming and
vibration of the motor.
Figure 6.2 No ledges in current wave with sufficient hysteresis (magenta: current A, yellow &
blue: sense resistor voltages A and B)
A too high hysteresis setting will lead to reduced chopper frequency and increased chopper noise but
will not yield any benefit for the wave shape.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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As experiments show, the setting is quite independent of the motor, because higher current motors
typically also have a lower coil resistance. Therefore, choosing the low default value for the hysteresis
normally fits most applications.
I
target current + hysteresis start
target current
target current - hysteresis
on
sd
fd
sd
t
Figure 6.3 spreadCycle chopper scheme showing coil current during a chopper cycle
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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23
Selecting Sense Resistors
Set the desired maximum motor current by selecting an appropriate value for the sense resistor. The
following table shows the RMS current values which can be reached using standard resistors and
motor types fitting without additional motor current scaling.
CHOICE OF RSENSE AND RESULTING MAX. MOTOR CURRENT
RSENSE [Ω]
RMS current [A]
Fitting motor type
AIN=2.5V (or open),
(examples)
1.00
0.23
0.82
0.27
0.75
0.30
300mA motor
0.68
0.33
400mA motor
0.50
0.44
470m
0.47
500mA motor
390m
0.56
600mA motor
330m
0.66
700mA motor
270m
0.79
800mA motor
220m
0.96
1A motor
180m
1.15
1.2A motor
150m
1.35
120m
1.64*)
100m
1.92*)
1.5A motor
*) Value exceeds upper current rating, scaling down required, e.g. by reduced AIN.
Sense resistors should be carefully selected. The full motor current flows through the sense resistors.
Due to chopper operation the sense resistors see pulsed current from the MOSFET bridges. Therefore,
a low-inductance type such as film or composition resistors is required to prevent voltage spikes
causing ringing on the sense voltage inputs leading to unstable measurement results. Also, a lowinductance, low-resistance PCB layout is essential. Any common GND path for the two sense resistors
must be avoided, because this would lead to coupling between the two current sense signals. A
massive ground plane is best. Please also refer to layout considerations in chapter 16.
The sense resistor needs to be able to conduct the peak motor coil current in motor standstill
conditions, unless standby power is reduced. Under normal conditions, the sense resistor conducts
less than the coil RMS current, because no current flows through the sense resistor during the slow
decay phases. A 0.5W type is sufficient for most applications up to 1.2A RMS current.
The peak sense resistor power dissipation is:
𝑃𝑅𝑆𝑀𝐴𝑋 = 𝐼𝐶𝑂𝐼𝐿 2 ∗ 𝑅𝑆𝐸𝑁𝑆𝐸
Attention
Be sure to use a symmetrical sense resistor layout and short and straight sense resistor traces of
identical length. Well matching sense resistors ensure best performance.
A compact layout with massive ground plane is best to avoid parasitic resistance effects.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
8
24
Motor Current Control
The basic motor current is set by the resistance of the sense resistors. Several possibilities allow
scaling down motor current, e.g. to adapt for different motors, or to reduce motor current in standstill
or low load situations.
Three modes of current setting can be chosen using the CFG3 pin:
CFG3: SETS MODE OF CURRENT SETTING
CFG3
GND
VCC_IO
open
Current Setting
Internal reference voltage. Current scale set by sense resistors, only.
Internal sense resistors. This setting gives best results when combined with
stealthChop voltage PWM chopper. Tie BRA and BRB directly to GND. See chapter
9 for details.
External reference voltage on pin AIN. Current scale set by sense resistors and
scaled by AIN. This allows fine tuning of current setting using a simple voltage
divider.
Select the sense resistor to deliver enough current for the motor at full current scale (VREF=2.5V).
RMS RUN CURRENT CALCULATION:
𝐼𝑅𝑀𝑆 =
𝑉𝐹𝑆
𝑅𝑆𝐸𝑁𝑆𝐸 +20𝑚Ω
∗
1
√2
STANDBY HOLD CURRENT CALCULATION:
𝐼𝑅𝑀𝑆 =
12
32
∗
𝑉𝐹𝑆
𝑅𝑆𝐸𝑁𝑆𝐸 +20𝑚Ω
∗
1
√2
with VFS = full scale voltage (see VSRT)
CURRENT REDUCTION BY ANALOG SCALING:
When analog scaling of VFS is enabled, the resulting voltage VFS‘ is calculated by:
′
𝑉𝐹𝑆
= 𝑉𝐹𝑆 ∗
𝑉𝐴𝐼𝑁
2.5𝑉
with VAIN the voltage on pin AIN_IREF in the range 0V to V5VOUT/2
For best precision of current setting, it is advised to measure and fine tune the current in the
application.
8.1 Analog Current Scaling AIN
When a high flexibility of the output current scaling is desired, the analog input of the driver can be
enabled for current control, rather than choosing a different set of sense resistors. This way, a simple
voltage divider can be used for the adaptation of a board to different motors. Therefore, leave the
CFG3 pin open.
AIN SCALES THE MOTOR CURRENT
The TMC2100 provides an internal reference voltage for current control, directly derived from the
5VOUT supply output. Alternatively, an external reference voltage can be used. This reference voltage
becomes scaled down for the chopper comparators. The chopper comparators compare the voltages
on BRA and BRB to the scaled reference voltage for current regulation. If analogue scaling is enabled
(CFG3 open), the external voltage on AIN is amplified and filtered and becomes used as reference
voltage. A voltage of 2.5V (or any voltage between 2.5V and 5V) gives the same current scaling as the
internal reference voltage. A voltage between 0V and 2.5V linearly scales the current between 0 and
the current scaling defined by the sense resistor setting. It is not advised to work with reference
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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voltages below about 0.5V to 1V, because analog noise caused by digital circuitry has an increased
impact on the chopper precision at low AIN voltages. For best precision, choose the sense resistors in
a way that the desired maximum current is reached with AIN in the range 2V to 2.4V. Be sure to
optimize the chopper settings for the normal run current of the motor.
DRIVING AIN
The easiest way to provide a voltage to AIN is to use a voltage divider from a stable supply voltage
or a microcontroller’s DAC output. A PWM signal can also be used for current control. The PWM
becomes transformed to an analog voltage using an additional R/C low-pass at the AIN pin. The PWM
duty cycle controls the analog voltage. Choose the R and C values to form a low pass with a corner
frequency of several milliseconds while using PWM frequencies well above 10 kHz. AIN additionally
provides an internal low-pass filter with 3.5kHz bandwidth. The integration of an NTC into the voltage
divider feeding AIN allows the realization of temperature dependent motor current scaling. When a
precise reference voltage is available (e.g. from TL431A), the precision of the motor current regulation
can be improved when compared to the internal voltage reference.
Hint
Using a low reference voltage (e.g. below 1V), for adaptation of a high current driver to a low current
motor will lead to reduced analog performance. Adapting the sense resistors to fit the desired motor
current gives a better result.
2.5V
precision
reference
1-2.4V for fixed
current scaling
5VOUT or precise
reference voltage
R1
R2
Digital
current
control
0-2.4V for
current scaling
8 Bit DAC
R3
PWM output
of µC with
>20kHz
0-2.4V for
current scaling
22k
1µ
BC847
DAC Reference
IREF
Fixed resistor divider to set current scale
(use external reference for enhanced precision)
DAC Reference
IREF
Precision current scaler
Figure 8.1 Scaling the motor current using the analog input
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AIN_IREF
100k
AIN_IREF
Optional
digital
control
AIN_IREF
R1+R2»10K
DAC Reference
IREF
Simple PWM based current scaler
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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26
Internal Sense Resistors
The TMC2100 provides the option to eliminate external sense resistors. In this mode the external
sense resistors become omitted (shorted) and the internal on-resistance of the power MOSFETs is
used for current measurement (see Figure 4.2). As MOSFETs are both, temperature dependent and
subject to production stray, a tiny external resistor connected from +5VOUT to AIN/IREF provides a
precise absolute current reference. This resistor converts the 5 V voltage into a reference current. Be
sure to directly attach BRA and BRB pins to GND in this mode near the IC package. The mode is
enabled by tying CFG3 to VCCIO.
COMPARING INTERNAL SENSE RESISTORS VS. SENSE RESISTORS
Item
Ease of use
Cost
Current precision
Current Range
Recommended
Recommended
chopper
Internal Sense Resistors
Need to set OTP parameter first
(+) Save cost for sense resistors
Slightly reduced
200mA RMS to 1.2A RMS
External Sense Resistors
(+) Default
stealthChop,
spreadCycle shows slightly
reduced performance at >1A
stealthChop or spreadCycle
(+) Good
50mA to 1.4A RMS
While the RDSon based measurements bring benefits concerning cost and size of the driver, it gives
slightly less precise coil current regulation when compared to external sense resistors. The internal
sense resistors have a certain temperature dependence, which is automatically compensated by the
driver IC. However, for high current motors, a temperature gradient between the ICs internal sense
resistors and the compensation circuit will lead to an initial current overshoot of some 10% during
driver IC heat up. While this phenomenon shows for roughly a second, it might even be beneficial to
enable increased torque during initial motor acceleration.
PRINCIPLE OF OPERATION
A reference current into the VREF pin is used as reference for the motor current. In order to realize a
certain current, a single resistor (RREF) can be connected between 5VOUT and AIN (pls. refer the table
for the choice of the resistor). AIN input resistance is about 1kOhm. The resulting current into AIN is
amplified 3000 times. Thus, a current of 0.5mA yields a motor current of 1.5A peak. For calculation of
the reference resistor, the internal resistance of AIN needs to be considered additionally. When using
reference currents above 0.5 mA resulting in higher theoretical current settings of up to 2 A, the
resulting current decreases linearly when chip temperature exceeds a certain maximum temperature.
For a 2 A setting it decreases from 2 A at up to 100 °C down to about 1.5 A at 150 °C.
CHOICE OF RREF FOR OPERATION WITHOUT SENSE RESISTORS
RREF [Ω]
6k8
7k5
8k2
9k1
10k
12k
15k
18k
22k
27k
33k
Peak current [A]
1.92
1.76
1.63
1.49
1.36
1.15
0.94
0.79
0.65
0.60
0.54
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RMS current [A]
1.35
1.24
1.15
1.05
0.96
0.81
0.66
0.55
0.45
0.42
0.38
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
27
In RDSon measurement mode, connect the BRA and BRB pins to GND using the shortest possible path
(i.e. lowest possible PCB resistance). RDSon based measurement gives best results when combined
with stealthChop. When using spreadCycle with RDSon based current measurement, slightly
asymmetric current measurement for positive currents (on phase) and negative currents (fast decay
phase) may result in chopper noise. This especially occurs at high die temperature and increased
motor current.
Note
The absolute current levels achieved with RDSon based current sensing may depend on PCB layout
exactly like with external sense resistors, because trace resistance on BR pins will add to the effective
sense resistance. Therefore we recommend to measure and calibrate the current setting within the
application.
Thumb rule
RDSon based current sensing works best for motors with up to 1 A RMS current. The best results are
yielded with stealthChop operation in combination with RDSon based current sensing.
For most precise current control and best results with spreadCycle, it is recommended to use external
1% sense resistors rather than RDSon based current control.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
28
10 Driver Diagnostic and Protection
The TMC2100 drivers supply a set of diagnostic and protection capabilities, like short to GND
protection and overtemperature detection and protection.
10.1 Temperature Measurement
The TMC2100 driver integrates a temperature sensor for protection against excess heat. In case the
temperature reaches 150 °C the TMC2100 reacts with automatic switching off. If the chip cools down
afterwards and its temperature reaches 120 °C, it recovers automatically and starts working.
Heat is mainly generated by the motor driver stages and the on-chip voltage regulator. The central
temperature detector can detect heat accumulation on the chip, i.e. due to missing convection cooling
or rising environment temperature. If continuous operation in hot environments is necessary, a more
precise processor based temperature measurement should be used to realize application specific
overtemperature detection. The thermal shutdown is just an emergency measure and temperature
rising to the shutdown level should be prevented by design.
Attention
Overtemperature protection cannot in all cases avoid thermal destruction of the IC. In case the rated
motor current is exceed, excess heat generation can quickly heat up the driver before the
overtemperature sensor can react. This is due to a delay in heat conduction over the IC die.
After triggering the overtemperature sensor, the driver remains switched off until the system
temperature falls below 120°C to avoid continuous heating to the shutdown level.
10.2 Short to GND Protection
The TMC2100 power stages are protected against a short circuit condition by an additional measurement of the current flowing through the high-side MOSFETs. This is important, as most short circuit
conditions result from a motor cable insulation defect, e.g. when touching the conducting parts
connected to the system ground. The short detection is protected against spurious triggering, e.g. by
ESD discharges, by retrying three times before switching off the motor.
Once a short condition is safely detected, the corresponding driver bridge (A or B) becomes switched
off and the error becomes indicated at the diagnostic ERROR output. In order to restart the motor,
disable and re-enable the driver. Note, that short protection cannot protect the system and the power
stages for all possible short events, as a short event is rather undefined and a complex network of
external components may be involved. Therefore, short circuits should basically be avoided.
10.3 Emergency Stop
The driver provides a negative active enable pin ENN to safely switch off all power MOSFETs. This
allows putting the motor into freewheeling. Further, it is a safe hardware function whenever an
emergency stop not coupled to software is required.
10.4 Diagnostic Output
The driver provides a negative active enable pin ENN to safely switch off all power MOSFETs. This
allows putting the motor into freewheeling. Further, it is a safe hardware function whenever an
emergency stop not coupled to software is required.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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ERROR
Power-on reset
Charge pump undervoltage (uv_cp)
drv_err
Overtemperature (ot)
Q S
INDEX
R
Short circuit (s2g)
Power stage disable (e.g. pin ENN)
Index pulse
Figure 10.1 Error and Index output
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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11 STEP/DIR Interface
The STEP and DIR inputs provide a simple, standard interface compatible with many existing motion
controllers. The microPlyer STEP pulse interpolator brings the smooth motor operation of highresolution microstepping to applications originally designed for coarser stepping.
11.1 Timing
Figure 11.2 shows the timing parameters for the STEP and DIR signals, and the table below gives
their specifications. Only rising edges are active. STEP and DIR are sampled and synchronized to the
system clock. An internal analog filter removes glitches on the signals, such as those caused by long
PCB traces. If the signal source is far from the chip, and especially if the signals are carried on cables,
the signals should be filtered or differentially transmitted.
+VCC_IO
DIR
SchmittTrigger
tSH
tDSU
tSL
tDSH
STEP
or DIR
Input
STEP
250k
0.56 VCC_IO
0.44 VCC_IO
Internal
Signal
Active edge
(DEDGE=0)
Active edge
(DEDGE=0)
0.26pF
Input filter
R*C = 65ns +-30%
Figure 11.1 STEP and DIR timing, Input pin filter
STEP and DIR interface timing
Parameter
step frequency (at maximum
microstep resolution)
fullstep frequency
STEP input low time *)
AC-Characteristics
clock period is tCLK
Symbol
fSTEP
Conditions
fFS
tSL
STEP input high time *)
tSH
DIR to STEP setup time
DIR after STEP hold time
STEP and DIR spike filtering time
*)
STEP and DIR sampling relative
to rising CLK input
tDSU
tDSH
tFILTSD
tSDCLKHI
Min
Typ
Max
½ fCLK
Unit
fCLK/512
rising and falling
edge
before rising edge
of CLK input
max(tFILTSD,
tCLK+20)
max(tFILTSD,
tCLK+20)
ns
20
20
36
ns
ns
ns
ns
60
85
tFILTSD
*) These values are valid with full input logic level swing, only. Asymmetric logic levels will increase
filtering delay tFILTSD, due to an internal input RC filter.
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ns
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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11.2 Changing Resolution
The TMC2100 includes an internal microstep table with 1024 sine wave entries to control the motor
coil currents. The 1024 entries correspond to one electrical revolution or four fullsteps. The microstep
resolution setting determines the step width taken within the table. Depending on the DIR input, the
microstep counter is increased (DIR=0) or decreased (DIR=1) with each STEP pulse by the step width.
The microstep resolution determines the increment respectively the decrement. At maximum
resolution, the sequencer advances one step for each step pulse. At half resolution, it advances two
steps. Increment is up to 256 steps for fullstepping. The sequencer has special provision to allow
seamless switching between different microstep rates at any time. When switching to a lower
microstep resolution, it calculates the nearest step within the target resolution and reads the current
vector at that position. This behavior especially is important for low resolutions like fullstep and
halfstep, because any failure in the step sequence would lead to asymmetrical run when comparing a
motor running clockwise and counterclockwise.
EXAMPLES:
Fullstep:
Cycles through table positions: 128, 384, 640 and 896 (45°, 135°, 225° and 315° electrical
position, both coils on at identical current). The coil current in each position
corresponds to the RMS-Value (0.71 * amplitude). Step size is 256 (90° electrical)
Half step:
The first table position is 64 (22.5° electrical), Step size is 128 (45° steps)
Quarter step: The first table position is 32 (90°/8=11.25° electrical), Step size is 64 (22.5° steps)
This way equidistant steps result and they are identical in both rotation directions. Some older drivers
also use zero current (table entry 0, 0°) as well as full current (90°) within the step tables. This kind of
stepping is avoided because it provides less torque and has a worse power dissipation in driver and
motor.
Step position
Half step 0
Full step 0
Half step 1
Half step 2
Full step 1
Half step 3
Half step 4
Full step 2
Half step 5
Half step 6
Full step 3
Half step 7
table position
64
128
192
320
384
448
576
640
704
832
896
960
current coil A
38.3%
70.7%
92.4%
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
current coil B
92.4%
70.7%
38.3%
-38.3%
-70.7%
-92.4%
-92.4%
-70.7%
-38.3%
38.3%
70.7%
92.4%
SETTING THE MICROSTEP RESOLUTION FOR STEP INPUT BY CFG1 AND CFG2
CFG2
GND
GND
GND
VCC_IO
VCC_IO
VCC_IO
open
open
open
CFG1
GND
VCC_IO
open
GND
VCC_IO
open
GND
VCC_IO
open
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Microsteps
1 (Fullstep)
2 (Halfstep)
2 (Halfstep)
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
4 (Quarterstep)
16 µsteps
Interpolation
N
N
Y, to 256 µsteps
N
N
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps
Y, to 256 µsteps
Chopper Mode
spreadCycle
stealthChop
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
32
11.3 microPlyer Step Interpolator and Stand Still Detection
For each active edge on STEP, microPlyer produces microsteps at 256x resolution, as shown in Figure
11.2. It interpolates the time in between of two step impulses at the step input based on the last
step interval. This way, from 2 microsteps (128 microstep to 256 microstep interpolation) up to 256
microsteps (full step input to 256 microsteps) are driven for a single step pulse.
The step rate for the interpolated 2 to 256 microsteps is determined by measuring the time interval of
the previous step period and dividing it into up to 256 equal parts. The maximum time between two
microsteps corresponds to 220 (roughly one million system clock cycles), for an even distribution of
256 microsteps. At 16 MHz system clock frequency, this results in a minimum step input frequency of
16 Hz for microPlyer operation. A lower step rate causes a standstill event to be detected. At that
frequency, microsteps occur at a rate of (system clock frequency)/2 16 ~ 256 Hz. When a stand still is
detected, the driver automatically begins standby current reduction if selected by CFG6_ENN.
Active edge
(dedge=0)
Active edge
(dedge=0)
Active edge
(dedge=0)
Active edge
(dedge=0)
Attention
microPlyer only works perfectly with a stable STEP frequency.
STEP
Interpolated
microstep
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
Motor
angle
2^20 tCLK
STANDSTILL
(stst) active
Figure 11.2 microPlyer microstep interpolation with rising STEP frequency (Example: 16 to 256)
In Figure 11.2, the first STEP cycle is long enough to set the stst bit standstill. Detection of standstill
will enable the standby current reduction. This bit is cleared on the next STEP active edge. Then, the
external STEP frequency increases. After one cycle at the higher rate microPlyer adapts the
interpolated microstep rate to the higher frequency. During the last cycle at the slower rate,
microPlyer did not generate all 16 microsteps, so there is a small jump in motor angle between the
first and second cycles at the higher rate.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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11.4 INDEX Output
An active INDEX output signals that the sine curve of motor coil A is at its positive zero transition.
This correlates to the zero point of the microstep sequence. Usually, the cosine curve of coil B is at its
maximum at the same time. Thus the index signal is active once within each electrical period, and
corresponds to a defined position of the motor within a sequence of four fullsteps. The INDEX output
this way allows the detection of a certain microstep pattern, and thus helps to detect a position with
more precision than a stop switch can do.
Current
COIL A
0
COIL B
Time
INDEX
Current
Time
STEPS
Time
Figure 11.3 Index signal at positive zero transition of the coil A sine curve
Attention
The duration of the index pulse corresponds to the duration of the microstep. When working without
interpolation at less than 256 microsteps, the index time goes down to two CLK clock cycles.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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12 External Reset
The chip is loaded with default values during power on via its internal power-on reset. In order to
reset the chip to power on defaults, any of the supply voltages monitored by internal reset circuitry
(VSA, +5VOUT or VCC_IO) must be cycled. VCC is not monitored. Therefore VCC must not be switched
off during operation of the chip. As +5VOUT is the output of the internal voltage regulator, it cannot
be cycled via an external source except by cycling VSA. It is easiest and safest to cycle VCC_IO in order
to completely reset the chip. Also, current consumed from VCC_IO is low and therefore it has simple
driving requirements. Due to the input protection diodes not allowing the digital inputs to rise above
VCC_IO level, all inputs must be driven low during this reset operation. When this is not possible, an
input protection resistor may be used to limit current flowing into the related inputs.
In case, VCC becomes supplied by an external source, make sure that VCC is at a stable value above
the lower operation limit once the reset ends. This normally is satisfied when generating a 3.3V
VCC_IO from the +5V supply supplying the VCC pin, because it will then come up with a certain delay.
13 Clock Oscillator and Input
The clock is the timing reference for all functions: the chopper, the step execution, the current control,
etc. Many parameters are scaled with the clock frequency, thus a precise reference allows a more
deterministic result. The on-chip clock oscillator provides timing in case no external clock is easily
available.
USING THE INTERNAL CLOCK
Directly tie the CLK input to GND near to the IC if the internal clock oscillator is to be used.
In case precise motor chopper operation is desired, it is supposed to work with an external clock
source.
USING AN EXTERNAL CLOCK
When an external clock is available, a frequency of 10 MHz to 16 MHz is recommended for optimum
performance. The duty cycle of the clock signal is uncritical, as long as minimum high or low input
time for the pin is satisfied (refer to electrical characteristics). Up to 18 MHz can be used, when the
clock duty cycle is 50%. Make sure, that the clock source supplies clean CMOS output logic levels and
steep slopes when using a high clock frequency. The external clock input is enabled with the first
positive polarity seen on the CLK input.
Attention
Switching off the external clock frequency prevents the driver from operating normally. Therefore be
careful to switch off the motor drivers before switching off the clock (e.g. using the enable input),
because otherwise the chopper would stop and the motor current level could rise uncontrolled. The
short to GND detection stays active even without clock, if enabled.
13.1 Considerations on the Frequency
A higher frequency may cause more electromagnetic emission of the system and more power
dissipation in the TMC2100 digital core and voltage regulator. Generally a frequency of 10 MHz to
16 MHz should be sufficient for most applications. For reduced requirements concerning the motor
dynamics, a clock frequency of down to 8 MHz (or even lower) can be considered.
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TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
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14 Absolute Maximum Ratings
The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near
more than one maximum rating at a time for extended periods shall be avoided by application
design.
Parameter
Supply voltage operating with inductive load (VVS ≥ VVSA)
Supply and bridge voltage max. *)
VSA when different from to VS
I/O supply voltage
digital VCC supply voltage (if not supplied by internal
regulator)
Logic input voltage
Maximum current to / from digital pins
and analog low voltage I/Os
5V regulator output current (internal plus external load)
5V regulator continuous power dissipation (VVM-5V) * I5VOUT
Power bridge repetitive output current
Junction temperature
Storage temperature
ESD-Protection for interface pins (Human body model,
HBM)
ESD-Protection for handling (Human body model, HBM)
Symbol
VVS, VVSA
VVMAX
VVSA
VVIO
VVCC
Min
-0.5
VI
IIO
-0.5
I5VOUT
P5VOUT
IOx
TJ
TSTG
VESDAP
-0.5
-0.5
-0.5
-50
-55
VESD
Max
49
50
VVS+0.5
5.5
5.5
Unit
V
V
V
V
V
VVIO+0.5
+/-10
V
mA
50
1
3.0
150
150
4
mA
W
A
°C
°C
kV
1
kV
*) Stray inductivity of GND and VS connections will lead to ringing of the supply voltage when driving
an inductive load. This ringing results from the fast switching slopes of the driver outputs in
combination with reverse recovery of the body diodes of the output driver MOSFETs. Even small trace
inductivities as well as stray inductivity of sense resistors can easily generate a few volts of ringing
leading to temporary voltage overshoot. This should be considered when working near the maximum
voltage.
15 Electrical Characteristics
15.1 Operational Range
Parameter
Junction temperature
Supply voltage (using internal +5V regulator)
Supply voltage (internal +5V regulator bridged: VVCC=VVSA=VVS)
I/O supply voltage
VCC voltage when using optional external source (supplies
digital logic and charge pump)
RMS motor coil current per coil (value for design guideline)
for QFN36 5x6 package resp. TQFP-48 package
Peak output current per motor coil output (sine wave peak)
using external or internal current sensing
Peak output current per motor coil output (sine wave peak)
for short term operation. Limit TJ ≤ 105°C, e.g. for 100ms
short time acceleration phase below 50% duty cycle.
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Symbol
TJ
VVS, VVSA
VVS
VVIO
VVCC
Min
-40
5.5
4.7
3.00
4.6
Max
125
46
5.4
5.25
5.25
Unit
°C
V
V
V
V
IRMS-QFN36
IRMS-TQFP48
IOx
1.2
1.4
2.0
A
IOx
2.5
A
A
TMC2100 DATASHEET (Rev. 1.07 / 2017-MAY-15)
36
15.2 DC and Timing Characteristics
DC characteristics contain the spread of values guaranteed within the specified supply voltage range
unless otherwise specified. Typical values represent the average value of all parts measured at +25 °C.
Temperature variation also causes stray to some values. A device with typical values will not leave
Min/Max range within the full temperature range.
Power supply current
DC-Characteristics
VVS = VVSA = 24.0V
Parameter
Total supply current, driver
disabled IVS + IVSA + IVCC
Total supply current, operating,
IVS + IVSA + IVCC
Idle supply current from VS,
charge pump operating
Static supply current from VSA
with VCC supplied by 5VOUT
Supply current, driver disabled,
dependency on CLK frequency
Internal current consumption
from 5V supply on VCC pin
IO supply current (typ. at 5 V)
Symbol
IS
Conditions
fCLK=16 MHz
IS
fCLK=16 MHz, 23.4 kHz
chopper, no load
fCLK=0 Hz,
driver disabled
fCLK=0Hz, includes
VCC supply current
fCLK variable,
additional to IVSA0
fCLK=16 MHz, 23.4 kHz
chopper
no load on outputs,
inputs at VIO or GND
Excludes pullup /
pull-down resistors
Motor driver section
DC- and Timing-Characteristics
VVS = 24.0 V
Parameter
RDSON lowside MOSFET
Symbol
RONL
RDSON highside MOSFET
RONH
slope, MOSFET turning on
tSLPON
slope, MOSFET turning off
tSLPOFF
Current sourcing, driver off
IOIDLE
Charge pump
DC-Characteristics
Parameter
Charge pump output voltage
Symbol
VVCP-VVS
Charge pump voltage threshold
for undervoltage detection
Charge pump frequency
VVCP-VVS
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IVS0
IVSA0
IVCCx
IVCC
IVIO
fCP
Conditions
measure at 100 mA,
25 °C, static state
measure at 100 mA,
25 °C, static state
measured at 700 mA
load current
(resistive load)
measured at 700 mA
load current
(resistive load)
OXX pulled to GND
Conditions
operating, typical
fchop
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