TMC5161 DATASHEET (Rev. 1.01 / 2018-NOV-20)
13
Pin
Pin
Type Function
Encoder A-channel input (when using internal ramp generator)
or
ENCA_DCIN_
CFG5
DI
(pd)
25
dcStep gating input for axis synchronization (SD_MODE=1,
SPI_MODE=1) or
Configuration input (SPI_MODE=0)
GNDD
26
27
Digital GND. Connect to GND plane near pin.
Encoder N-channel input (SD_MODE=0) or
dcStep ready output (SD_MODE=1).
With SD_MODE=0, pull to GND or VCC_IO, if the pin is not
used.
ENCN_DCO_
CFG6
DIO
Diagnostics output DIAG0.
Interrupt or STEP output for motion controller (SD_MODE=0,
SPI_MODE=1).
Use external pullup resistor with 47k or less in open drain
mode.
DIO
(pu+
pd)
DIAG0_SWN 28
DIAG1_SWP 29
Single wire I/O (negative) (only with SD_MODE=0 and
SPI_MODE=0)
Diagnostics output DIAG1.
Position compare or DIR output for motion controller
(SD_MODE=0, SPI_MODE=1).
DIO
(pd)
Use external pullup resistor with 47k or less in open drain
mode.
Single wire I/O (positive) (only with SD_MODE=0 and
SPI_MODE=0)
Enable input. The power stage becomes switched off (all
motor outputs floating) when this pin is driven high.
5V supply input for digital circuitry within chip. Provide 100nF
or bigger capacitor to GND (GND plane) near pin. Shall 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.
DRV_ENN
VCC
31
32
DI
CPO
CPI
33
34
Charge pump capacitor input. Tie to CPO using 22nF 100V
capacitor.
Motor supply voltage. Provide filtering capacity near pin with
short loop to GND plane. Must be tied to the positive bridge
supply voltage.
Charge pump voltage. Tie to VS using 100nF capacitor.
Motor supply voltage and common cooling terminal for all HS
MOSFETs. Connect to identical potential as VS. Provide filtering
capacity of 470nF or more with direct interconnection to GND
plane, optimally directly left and right of the device.
Motor driver output and cooling terminal for LS MOSFET.
Sense resistor connection.
Motor driver output and cooling terminal for LS MOSFET.
Bootstrap capacitor positive connection.
Bootstrap capacitor positive connection.
Motor driver output and cooling terminal for LS MOSFET.
Sense resistor connection.
Motor driver output and cooling terminal for LS MOSFET.
Do not connect. Internal low side gate. May be left out in PCB
footprint.
VS
35
37
VCP
VM
VM
OA2
RSA
OA1
CA1
CB2
OB2
RSB
OB1
OA2
RSA
OA1
CA1
CB2
OB2
RSB
OB1
NC1-NC4
NC1-NC4
www.trinamic.com
TRINAMIC [ TRINAMIC MOTION CONTROL GMBH & CO. KG. ]
