TMC5160 DATASHEET (Rev. 1.08 / 2018-NOV-19)
5
1 Principles of Operation
The TMC5160 motion controller and driver chip is an intelligent power component interfacing between
CPU and a high power stepper motor. All stepper motor logic is completely within the TMC5160. No
software is required to control the motor – just provide target positions. The TMC5160 offers a
number of unique enhancements which are enabled by the system-on-chip integration of driver and
controller. The sixPoint ramp generator of the TMC5160 uses stealthChop, dcStep, coolStep, and
stallGuard2 automatically to optimize every motor movement. The TMC5160 ideally extends the
TMC2100, TMC2130 and TMC5130 family to higher voltages and higher motor currents.
THE TMC5160 OFFERS THREE BASIC MODES OF OPERATION:
MODE 1: Full Featured Motion Controller & Driver
All stepper motor logic is completely within the TMC5160. No software is required to control the
motor – just provide target positions. Enable this mode by tying low pin SD_MODE.
MODE 2: Step & Direction Driver
An external high-performance S-ramp motion controller like the TMC4361 or a central CPU generates
step & direction signals synchronized to other components like additional motors within the system.
The TMC5160 takes care of intelligent current and mode control and delivers feedback on the state of
the motor. The microPlyer automatically smoothens motion. Tie SD_MODE high.
MODE 3: Simple Step & Direction Driver
The TMC5160 positions the motor based on step & direction signals. The microPlyer automatically
smoothens motion. No CPU interaction is required; configuration is done by hardware pins. Basic
standby current control can be done by the TMC5160. Optional feedback signals allow error detection
and synchronization. Enable this mode by tying pin SPI_MODE low and SD_MODE high.
+VM
22n
100V
100n
16V
100n
CE
+VM
VSA
12VOUT
5VOUT
CB2
CB
CB
HB2
CB1
TMC5160
470n
charge pump
HS
HS
11.5V Voltage
regulator
Ref. switch
processing
100n
2.2µ
2.2µ
5V Voltage
regulator
HB1
BMB1
RG
RG
2R2
&
o
Step &
Direction pulse
generation
p
VCC
e
h
r
t
t
o
linear 6 point
RAMP generator
S
l
o
BMB2
LB1
o
c
p
470n
h
r
C
l
a
e
t
s
r
e
l
LS
LS
v
o
r
t
i
RG
RG
d
n
o
c
t
o
n
o
CSN
SCK
SDI
m
i
LB2
t
o
M
SRBH
SPI interface
47R
47R
spreadCycle &
stealthChop
Chopper
RS
N
stepper
motor
SDO
SRBL
programmable
sine table
4*256 entry
e
c
S
a
Control register
set
f
r
x
e
t
n
I
+VM
CB
DIAG / INT out
and
Stepper driver
B.Dwersteg, ©
CA2
DIAG1/SWP
DIAG0/SWN
B.Dwersteg,
©
TRPINroAtMeIcCti2o0n14
TRINAMIC 2014
Single wire
interface
& diagnostics
HA2
CA1
470n
HS
HS
CB
RG
HA1
BMA1
coolStep™
RG
opt. ext. clock
12-16MHz
CLK_IN
VCC_IO
stallGuard2™
BMA2
LA1
dcStep™
+VIO
LS
LS
3.3V or 5V
I/O voltage
RG
RG
LA2
100n
Encoder
unit
SRAH
47R
47R
mode selection
A
B
N
RS
SRAL
pd
pd
pd
Encoder input /
dcStep control in S/D
mode
+VIO
Both GND: UART mode
+VIO
opt. driver enable
Figure 1.1 TMC5160 basic application block diagram (motion controller)
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
