TMC2041 DATASHEET (Rev. 1.02 / 2017-MAY-16)
4
1 Principles of Operation
22n
+VM
VS
Optional use lower
voltage down to 6V
+VM
VCP
charge pump
Step/Dir interface
100n
100n
100µF
O1A1
O1A2
VSA
Full Bridge A
Full Bridge B
N
S
5V Voltage
regulator
stepper
motor #1
5VOUT
100n
Sequencer &
Microplyer
4.7µ
Driver 1
2R2
O1B1
O1B2
BR1A
BR1B
VCC
470n
CSN/IO0
SCK/IO1
SDI/IO2
SDO
R1A
R1B
SPI interface
VS
TMC2041
NEXTADDR
SWIOP
100n
Single wire
interface
SWION
+VIO
O2A1
O2A2
Full Bridge A
Full Bridge B
N
S
stepper
motor #2
SW_SEL
Sequencer &
Microplyer
Driver 2
O2B1
O2B2
BR2A
BR2B
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
+VIO
Step/Dir interface
R2A
R2B
3.3V or 5V
I/O voltage
100n
Figure 1.1 Basic application and block diagram
The TMC2041 driver chip is a highly integrated step & direction stepper driver for two stepper motors.
The driver, chopper logic, and a 256 microstep sequencer are integrated into the TMC2041. It is pin
compatible to the TMC5041 and TMC5072, which provide internal ramping. The TMC2041 offers a
number of unique enhancements over similar products. It features automatic standstill current
reduction and coolStep for enhanced motor efficiency and provides stallGuard2 for sensorless homing.
1.1 Key Concepts
The TMC2041 implements several advanced features which are exclusive to TRINAMIC products. These
features contribute toward greater precision, greater energy efficiency, higher reliability, smoother
motion, and cooler operation in many stepper motor applications.
spreadCycle™ High-precision chopper algorithm available as an alternative to the traditional
constant off-time algorithm.
stallGuard2™
coolStep™
High-precision load measurement using the back EMF on the motor coils.
Load-adaptive current control which reduces energy consumption by as much as
75%.
In addition to these performance enhancements, TRINAMIC motor drivers offer safeguards to detect
and protect against shorted outputs, output open-circuit, overtemperature, and undervoltage
conditions for enhancing safety and recovery from equipment malfunctions.
1.2 Control Interfaces
The TMC2041 supports both, an SPI and a UART based single wire interface with CRC checking.
Selection of the actual interface is done via the configuration pin SW_SEL, which can be hardwired to
GND or VCC_IO depending on the desired interface. From a software point of view the TMC2041 is a
peripheral with a number of control and status registers. Most of them can either be written only or
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