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
Standby
ramp time
Standby
delay time
RMS current with CFG6_ENN = open
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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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
