TMC5031 DATASHEET (Rev. 1.11 / 2016-APR-28)
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1.2 SPI Control Interface
The SPI interface is a bit-serial interface synchronous to a bus clock. For every bit sent from the bus
master to the bus slave, another bit is sent simultaneously from the slave to the master.
Communication between an SPI master and the TMC5031 slave always consists of sending one 40-bit
command word and receiving one 40-bit status word.
The SPI command rate typically is a few commands per complete motor motion.
1.3 Software
From a software point of view the TMC5031 is a peripheral with a number of control and status
registers. Most of them can either be written only or read only, some of the registers allow both read
and write access. In case read-modify-write access is desired for a write only register, a shadow
register can be realized in master software.
1.4 Moving and Controlling the Motor
1.4.1 Integrated Motion Controller
The integrated 32 bit motion controller automatically drives the motors to target positions, or
accelerates to target velocities. All motion parameters can be changed on the fly. The motion
controller recalculates immediately. A minimum set of configuration data consists of acceleration and
deceleration values and the maximum motion velocity. A start and stop velocity is supported as well
as a second acceleration and deceleration setting. The integrated motion controller supports
immediate reaction to mechanical reference switches and to the sensorless stall detection stallGuard2.
Benefits are:
Flexible ramp programming
Efficient use of motor torque for acceleration and deceleration allows higher machine throughput
Immediate reaction to stop and stall conditions
1.5 Precision Driver with Programmable Microstepping
Wave
Current into the motor coils is controlled using a cycle-by-cycle chopper mode. Two chopper modes
are available: a traditional constant off-time mode and the new spreadCycle mode. Constant off-time
mode provides higher torque at the highest velocity, while spreadCycle mode offers smoother
operation and greater 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.
Programmable microstep shapes allow optimizing the motor performance.
Benefits are:
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Significantly improved microstepping with low cost motors
Motor runs smooth and quiet
Reduced mechanical resonances yields improved torque
1.6 stallGuard2 – Mechanical Load Sensing
stallGuard2 provides an accurate measurement of the load on the motor. It can be used for stall
detection as well as other uses at loads below those which stall the motor, such as coolStep load-
adaptive current reduction. This gives more information on the drive allowing functions like
sensorless homing and diagnostics of the drive mechanics.
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TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
